Yaskawa Motoman Paint Owner's Manual

DX200
OPERATOR’S MANUAL
FOR PAINTING
Upon receipt of the product and prior to initial operation, read these instructions below
thoroughly, and retain for future reference.
MOTOMAN INSTRUCTIONS
MOTOMAN- INSTRUCTIONS
DX200 INSTRUCTIONS
DX200 OPERATOR’S MANUAL (for each purpose)
DX200 MAINTENANCE MANUAL (Volume1)(Volume2)
173911-1CD
11
MANUAL NO. RE-CSO-A050 11
MANDATORY
•
This manual explains the various components of the DX200 system
and general operations. Read this manual carefully and be sure to
understand its contents before handling the DX200.
•
General items related to safety are listed in Chapter1: Safety of the
DX200 Instructions. To ensure correct and safe operation, carefully
read the DX200 Instruction before reading this manual.
CAUTION
•
Some drawings in this manual are shown with the protective covers
or shields removed for clarity. Be sure all covers and shields are
replaced before operating this product.
•
The drawings and photos in this manual are representative
examples and differences may exist between them and the
delivered product.
•
YASKAWA may modify this model without notice when necessary
due to product improvements, modifications, or changes in
specifications. If such modification is made, the manual number will
also be revised.
•
If your copy of the manual is damaged or lost, contact a YASKAWA
representative to order a new copy. Be sure to tell the
representative the manual number listed on the front cover.
•
YASKAWA is not responsible for incidents arising from unauthorized
modification of its products. Unauthorized modification voids your
product’s warranty.
ii
Notes for Safe Operation
Read this manual carefully before installation, operation, maintenance, or
inspection of your product.
In this manual, the Notes for Safe Operation are classified as “DANGER”,
“WARNING”, “CAUTION”, “MANDATORY”, or “PROHIBITED”.
DANGER
WARNING
CAUTION
Indicates an imminent hazardous
situation which, if not avoided, could
result in death or serious injury to
personnel.
Indicates a potentially hazardous
situation which, if not avoided, could
result in death or serious injury to
personnel.
Indicates a potentially hazardous
situation which, if not avoided, could
result in minor or moderate injury to
personnel and damage to equipment.
It may also be used to alert against
unsafe practices.
Always be sure to follow explicitly the
MANDATORY items listed under this heading.
PROHIBITED
Must never be performed.
Even items described as “CAUTION” may result in a serious accident in
some situations.
At any rate, be sure to follow these important items.
NOTE
To ensure safe and efficient operation at all times, be sure
to follow all instructions, even if not designated as “DANGER”, "WARNING" and "CAUTION".
iii
WARNING
•
Before operating the manipulator, check that servo power is turned
off when the emergency stop buttons on the front door of the DX
100 and programing pendant are pressed.
When the servo power is turned off, the SERVO ON LED on the
programing pendant is turned off.
Injury or damage to machinery may result if the emergency stop circuit
cannot stop the manipulator during an emergency. The manipulator
should not be used if the emergency stop buttons do not function.
Fig. : Emergency Stop Button
•
Once the emergency stop button is released, clear the cell of all
items which could interfere with the operation of the manipulator.
Then turn the servo power ON.
Injury may result from unintentional or unexpected manipulator motion.
Fig. : Release of EM
TURN
•
Observe the following precautions when performing teaching
operations within the P-point maximum envelope of the
manipulator:
– Be sure to use a lockout device to the safeguarding when going
inside.
Also, display the sign that the operation is being performed inside
the safeguarding and make sure no one closes the safeguarding.
– View the manipulator from the front whenever possible.
– Always follow the predetermined operating procedure.
– Ensure that you have a safe place to retreat in case of
emergency.
Improper or unintended manipulator operation may result in injury.
•
Confirm that no person is present in the P-point maximum envelope
of the manipulator and that you are in a safe location before:
– Turning on the power for the DX200.
– Moving the manipulator with the programming pendant.
– Running the system in the check mode.
– Performing automatic operations.
Injury may result if anyone enters the working envelope of the
manipulator during operation. Always press an emergency stop button
immediately if there are problems.
The emergency stop button is located on the right of the front door of
the DX 100 and programing pendant.
iv
CAUTION
•
Perform the following inspection procedures prior to conducting
manipulator teaching. If problems are found, repair them
immediately, and be sure that all other necessary processing has
been performed.
– Check for problems in manipulator movement.
– Check for damage to insulation and sheathing of external wires.
•
Always return the programming pendant to the hook on the cabinet
of the DX200 after use.
The programming pendant can be damaged if it is left in the
manipulator's work area, on the floor, or near fixtures.
•
Read and understand the Explanation of Warning Labels in the
DX200 Instructions before operating the manipulator.
Definition of Terms Used Often in This Manual
The MOTOMAN is the YASKAWA industrial robot product.
The MOTOMAN usually consists of the manipulator, the controller, the
programming pendant, and supply cables.
In this manual, the equipment is designated as follows.
Equipment
Manual Designation
DX200 controller
DX200
DX200 programming pendant
Programming pendant
Cable between the manipulator and the
controller
Manipulator cable
v
Descriptions of the programming pendant keys, buttons, and displays are
shown as follows:
Equipment
Manual Designation
Programming Character Keys
Pendant
/Symbol Keys
The keys which have characters or symbols
printed on them are denoted with [ ].
e.g. [ENTER]
Axis Keys
/Numeric Keys
[Axis Key] and [Numeric Key] are generic
names for the keys for axis operation and
number input.
Keys pressed
simultaneously
When two keys are to be pressed
simultaneously, the keys are shown with a “+”
sign between them, e.g. [SHIFT]+[COORD].
Mode Switch
Mode Switch can select three kinds of modes
that are denoted as follows: REMOTE, PLAY or
TEACH.
Button
The three buttons on the upper side of the
programming pendant are denoted as follows:
START, HOLD, or EMERGENCY STOP.
Displays
The menu displayed in the programming
pendant is denoted with { }.
e.g. {JOB}
Start button
Mode switch
Hold button
Emergency stop button
REMOTE
PLAY
TEACH
START
REMOTE
HOLD
TEACH
PLAY
TOOL SEL
LAYOUT
GO BACK
DIRECT
OPEN
COORD
PAGE
Multi
ENTRY
MAIN
MENU
X-
X+
Y-
Y+
Z-
Z+
SL-
U-
SERVO
ON
READY
SIMPLE
MENU
SELECT
CANCEL
ASSIST
SERVO ON
S+
AREA
X-
X+
Y-
Y+
Z-
Z+
8-
8+
R-
HIGH
SPEED
L+
B-
R+
B+
FAST
MANUAL SPEED
U+
T-
SLOW
T+
Shift key
INTER
LOCK
7
8
9
ROBOT
INFORM
LIST
4
5
6
BWD
FWD
EX.AXIS
WELD
ON/OFF
1
2
3
DELETE
INSERT
AUX
MOTION
TYPE
0
.
-
MODIFY
ENTER
SHIFT
TEST
START
SHIFT
Numeric keys
vi
Page key
Coordinate key
Axis keys
Enter key
Description of the Operation Procedure
In the explanation of the operation procedure, the expression "Select • • • "
means that the cursor is moved to the object item and [SELECT] is
pressed, or that the item is directly selected by touching the screen.
Registered Trademark
In this manual, names of companies, corporations, or products are
trademarks, registered trademarks, or brand names for each company or
corporation. The indications of (R) and TM are omitted.
vii
Contents
1
Introduction .................................................................................................................................... 1-1
1.1 DX200 Overview ................................................................................................................ 1-1
1.2 Programming Pendant ....................................................................................................... 1-2
1.2.1 Programming Pendant Overview.......................................................................... 1-2
1.2.2 Key Description..................................................................................................... 1-3
1.2.2.1 Character Keys / Symbol Keys................................................................ 1-3
1.2.2.2 Axis Keys and Numeric Keys .................................................................. 1-3
1.2.2.3 Keys Pressed Simultaneously ................................................................. 1-3
1.2.3 Programming Pendant Keys................................................................................. 1-4
1.2.4 Programming Pendant Display ........................................................................... 1-12
1.2.4.1 Five Display Areas................................................................................. 1-12
1.2.4.2 General-purpose Display Area .............................................................. 1-13
1.2.4.3 Main Menu Area .................................................................................... 1-18
1.2.4.4 Status Display Area ............................................................................... 1-18
1.2.4.5 Human Interface Display Area............................................................... 1-21
1.2.4.6 Menu Area ............................................................................................. 1-21
1.2.5 Screen Descriptions............................................................................................ 1-22
1.2.6 Character Input Operation .................................................................................. 1-23
1.2.6.1 Character Input...................................................................................... 1-23
1.2.6.2 Operation............................................................................................... 1-23
1.2.6.3 Alphanumeric Input ............................................................................... 1-24
1.2.6.4 Symbol Input ......................................................................................... 1-25
1.2.6.5 Register Word Function......................................................................... 1-26
1.2.7 Bilingual Function ............................................................................................... 1-34
1.2.8 Backlight Auto OFF............................................................................................. 1-35
1.3 Mode ................................................................................................................................ 1-36
1.3.1 Teach Mode........................................................................................................ 1-36
1.3.2 Play Mode........................................................................................................... 1-36
1.3.3 Remote Mode ..................................................................................................... 1-36
1.3.4 Teach Mode Priority............................................................................................ 1-36
1.4 Security Mode .................................................................................................................. 1-37
1.4.1 Types of Security Modes .................................................................................... 1-37
1.4.2 Changing Security Mode .................................................................................... 1-42
2 Manipulator Coordinate Systems and Operations .......................................................................... 2-1
2.1 Control Groups and Coordinate Systems .......................................................................... 2-1
2.1.1 Control Group ....................................................................................................... 2-1
2.1.2 Types of Coordinate Systems............................................................................... 2-2
2.2 General Operations............................................................................................................ 2-3
2.2.0.1 Check Safety ........................................................................................... 2-3
2.2.0.2 Select Teach Mode ................................................................................. 2-3
viii
Contents
2.2.0.3 Select Control Group............................................................................... 2-3
2.2.0.4 Select Coordinate System....................................................................... 2-3
2.2.0.5 Select Manual Speed .............................................................................. 2-4
2.2.0.6 Servo ON ................................................................................................ 2-4
2.2.0.7 Axis Operation......................................................................................... 2-4
2.2.0.8 HIGH SPEED .......................................................................................... 2-4
2.3 Coordinate Systems and Axis Operation........................................................................... 2-5
2.3.1 Joint Coordinates ................................................................................................. 2-5
2.3.2 Cartesian Coordinates.......................................................................................... 2-7
2.3.3 Cylindrical Coordinates......................................................................................... 2-8
2.3.4 Tool Coordinates ................................................................................................ 2-10
2.3.4.1 Selecting Tool ....................................................................................... 2-12
2.3.5 User Coordinates................................................................................................ 2-13
2.3.5.1 Selecting User Coordinates................................................................... 2-15
2.3.5.2 Examples of User Coordinate Utilization............................................... 2-16
2.3.6 External Axis ...................................................................................................... 2-16
2.3.7 Control Point Operation ...................................................................................... 2-17
2.3.7.1 Control Point Change ............................................................................ 2-20
2.3.8 Teaching Line Coordinates................................................................................. 2-22
2.3.8.1 Operations for Teaching Line Coordinates System............................... 2-24
2.3.8.2 Display Welding-related Information ..................................................... 2-27
3 Teaching ......................................................................................................................................... 3-1
3.1 Preparation for Teaching ................................................................................................... 3-1
3.1.1 Checking Emergency Stop Buttons...................................................................... 3-1
3.1.2 Setting the Teach Lock......................................................................................... 3-1
3.1.3 Registering a Job ................................................................................................. 3-2
3.1.3.1 Registering Job Names ........................................................................... 3-2
3.1.3.2 Registering Jobs ..................................................................................... 3-2
3.1.3.3 Registering Comments............................................................................ 3-3
3.1.3.4 Registering Control Groups..................................................................... 3-3
3.1.3.5 Switching to the Teaching Window ......................................................... 3-4
3.2 Teaching Operation ........................................................................................................... 3-5
3.2.1 Teaching Window ................................................................................................. 3-5
3.2.2 Interpolation Type and Play Speed ...................................................................... 3-6
3.2.2.1 Joint Interpolation .................................................................................... 3-6
3.2.2.2 Linear Interpolation ................................................................................. 3-7
3.2.2.3 Circular Interpolation ............................................................................... 3-8
3.2.2.4 Spline Interpolation ................................................................................. 3-9
3.2.3 Teaching Steps .................................................................................................. 3-11
3.2.3.1 Registering Move Instructions ............................................................... 3-11
3.2.3.2 Registering Reference Point Instructions .............................................. 3-18
3.2.3.3 Registering Timer Instructions............................................................... 3-19
ix
Contents
3.2.4 Overlapping the First and Last Steps ................................................................. 3-22
3.3 Checking Steps................................................................................................................ 3-23
3.3.1 [FWD/BWD] Operations...................................................................................... 3-23
3.3.1.1 Precautions When Using FWD / BWD Operations................................ 3-24
3.3.1.2 Selecting Manual Speed ....................................................................... 3-26
3.3.1.3 Moving to Reference Point .................................................................... 3-27
3.3.1.4 Test Operations ..................................................................................... 3-27
3.3.1.5 Machine Lock Operation........................................................................ 3-28
3.4 Modifying Steps ............................................................................................................... 3-29
3.4.1 Displaying the JOB CONTENT Window for Editing............................................ 3-33
3.4.1.1 Currently Called Up Job ........................................................................ 3-33
3.4.1.2 Calling Up Other Jobs ........................................................................... 3-33
3.4.2 Inserting Move Instructions................................................................................. 3-34
3.4.3 Deleting Move Instructions ................................................................................. 3-36
3.4.4 Modifying Move Instructions ............................................................................... 3-37
3.4.4.1 Modifying Position Data......................................................................... 3-37
3.4.4.2 Modifying Interpolation Type ................................................................. 3-37
3.4.5 Undo Operation .................................................................................................. 3-38
3.4.6 Modifying Reference Point Instructions .............................................................. 3-39
3.4.6.1 Deleting Reference Point Instructions ................................................... 3-39
3.4.6.2 Modifying Reference Point Instructions ................................................. 3-39
3.4.7 Modifying Timer Instructions............................................................................... 3-40
3.4.7.1 Deleting Timer Instructions.................................................................... 3-40
3.4.7.2 Modifying Timer Instructions.................................................................. 3-40
3.5 Modifying Jobs ................................................................................................................. 3-41
3.5.1 Calling Up a Job ................................................................................................. 3-41
3.5.2 Windows Related to Job ..................................................................................... 3-41
3.5.3 JOB HEADER Window ....................................................................................... 3-42
3.5.4 JOB CONTENT Window..................................................................................... 3-44
3.5.4.1 Switching the Address Area .................................................................. 3-45
3.5.5 COMMAND POSITION Window......................................................................... 3-49
3.5.6 JOB CAPACITY Window .................................................................................... 3-50
3.6 Editing Instructions........................................................................................................... 3-51
3.6.1 Instruction Group ................................................................................................ 3-52
3.6.2 Inserting Instructions........................................................................................... 3-53
3.6.3 Deleting Instructions ........................................................................................... 3-56
3.6.4 Modifying Instructions ......................................................................................... 3-56
3.6.5 Modifying Additional Numeric Data..................................................................... 3-60
3.6.6 Modifying Additional Items.................................................................................. 3-61
3.6.7 Inserting Additional Items ................................................................................... 3-62
x
Contents
3.6.8 Deleting Additional Items.................................................................................... 3-64
3.7 Editing Jobs ..................................................................................................................... 3-65
3.7.1 Selecting the Range ........................................................................................... 3-67
3.7.2 Copying .............................................................................................................. 3-68
3.7.3 Cutting ................................................................................................................ 3-68
3.7.4 Pasting ............................................................................................................... 3-69
3.7.5 Reverse Pasting ................................................................................................. 3-70
3.7.6 Commenting Out a Line...................................................................................... 3-71
3.7.6.1 Commenting Out One Line.................................................................... 3-71
3.7.6.2 Commenting Out Multiple Lines ............................................................ 3-73
3.7.6.3 Canceling the Comment Out of One Line ............................................. 3-75
3.7.6.4 Canceling the Comment Out of Multiple Lines ...................................... 3-77
3.7.6.5 Canceling All the Comment Out of Lines .............................................. 3-80
3.7.7 Prohibiting Editing Line-by-Line.......................................................................... 3-82
3.7.7.1 Prohibiting Editing One Line.................................................................. 3-82
3.7.7.2 Prohibiting Editing Multiple Lines .......................................................... 3-84
3.7.7.3 Canceling the Edit Lock of One Line ..................................................... 3-86
3.7.7.4 Canceling the Edit Lock of Multiple Lines.............................................. 3-88
3.7.7.5 Canceling All the Edit Lock of Lines ...................................................... 3-91
3.8 Test Operations ............................................................................................................... 3-92
3.8.1 Test Operation Procedures ................................................................................ 3-92
3.8.2 Manual Full-speed Function ............................................................................... 3-93
3.8.2.1 Setting Method ...................................................................................... 3-93
3.8.2.2 Operation Speed ................................................................................... 3-94
3.8.3 Test Operation (High Accuracy) ......................................................................... 3-95
3.8.3.1 Test Operation (High Accuracy) ............................................................ 3-95
3.8.3.2 Setting Method ...................................................................................... 3-97
3.8.4 Manual Speed Selection for Test Operations..................................................... 3-98
3.9 Other Job-editing Functions............................................................................................. 3-99
3.9.1 Editing Play Speed ............................................................................................. 3-99
3.9.1.1 Modification of Speed Type................................................................... 3-99
3.9.1.2 Relative Modification ............................................................................. 3-99
3.9.1.3 Modification by TRT (Traverse Time).................................................. 3-101
3.9.2 Editing Interpolation Type................................................................................. 3-103
3.9.3 Editing Condition Files...................................................................................... 3-104
3.9.4 User Variables .................................................................................................. 3-105
3.9.4.1 Setting Byte, Integer, Double Precision Integer, and Real Type
Variables ............................................................................................. 3-106
3.9.4.2 Setting Character Type Variables ....................................................... 3-108
3.9.4.3 Registering Variable Name ................................................................. 3-110
3.9.4.4 Displaying Position Variables .............................................................. 3-111
3.9.4.5 Setting Position Variables ................................................................... 3-112
3.9.4.6 Setting Position Variables Using the [Numeric Key]s.......................... 3-113
xi
Contents
3.9.4.7 Setting Position Variables Using the [Axis Key]s................................. 3-115
3.9.4.8 Deleting Data Set of Position Variables............................................... 3-116
3.9.4.9 Checking Positions by Position Variables ........................................... 3-116
3.9.4.10 Manipulator Types ............................................................................. 3-117
3.9.5 Flip/No Flip........................................................................................................ 3-118
3.9.6 R-axis Angle ..................................................................................................... 3-118
3.9.7 T-axis Angle...................................................................................................... 3-119
3.9.8 Front/Back ........................................................................................................ 3-119
3.9.9 Upper Arm/Lower Arm ...................................................................................... 3-121
3.9.10 S-axis Angle.................................................................................................... 3-121
3.9.11 Editing Local Variables ................................................................................... 3-122
3.9.11.1 Setting the Number of Local Variables .............................................. 3-124
3.9.12 Search ............................................................................................................ 3-126
3.9.12.1 Line Search ....................................................................................... 3-127
3.9.12.2 Step Search....................................................................................... 3-128
3.9.12.3 Label Search ..................................................................................... 3-129
3.9.12.4 Instruction Search ............................................................................. 3-131
3.9.12.5 Tag Search ........................................................................................ 3-133
4 Playback.......................................................................................................................................... 4-1
4.1 Preparation for Playback.................................................................................................... 4-1
4.1.1 Selecting a Job ..................................................................................................... 4-1
4.1.1.1 Calling a Job............................................................................................ 4-1
4.1.1.2 Registering the Master Job...................................................................... 4-2
4.1.1.3 Calling the Master Job............................................................................. 4-4
4.1.2 The PLAYBACK Window...................................................................................... 4-6
4.1.2.1 Display of Cycle Time.............................................................................. 4-6
4.1.2.2 Operation Cycle....................................................................................... 4-7
4.2 Playback .......................................................................................................................... 4-10
4.2.1 Playback Operation ............................................................................................ 4-10
4.2.1.1 Selecting the Start Device ..................................................................... 4-10
4.2.1.2 Servo On ............................................................................................... 4-10
4.2.1.3 Start Operation ...................................................................................... 4-10
4.2.2 Special Playback Operations.............................................................................. 4-11
4.2.2.1 Low Speed Operation............................................................................ 4-11
4.2.2.2 Limited Speed Operations ..................................................................... 4-12
4.2.2.3 Dry-run Speed Operations..................................................................... 4-12
4.2.2.4 Machine Lock Operation........................................................................ 4-13
4.2.2.5 Check Mode Operation.......................................................................... 4-13
4.2.2.6 Weaving Prohibit Setting during Check Mode Operation ...................... 4-13
4.2.2.7 Cancel All Special Operations ............................................................... 4-14
4.3 Stop and Restart .............................................................................................................. 4-15
4.3.1 Hold .................................................................................................................... 4-15
xii
Contents
4.3.1.1 Using the Programming Pendant .......................................................... 4-15
4.3.1.2 Using an External Input Signal (System Input)...................................... 4-15
4.3.2 Emergency Stop ................................................................................................. 4-16
4.3.2.1 Restart After Emergency Stop............................................................... 4-17
4.3.3 Stop by Alarm ..................................................................................................... 4-17
4.3.3.1 Restart After Stop by Alarm................................................................... 4-18
4.3.4 Others................................................................................................................. 4-19
4.3.4.1 Temporary Stop by Mode Change ........................................................ 4-19
4.3.4.2 Temporary Stop by the PAUSE Instruction ........................................... 4-19
4.4 Modifying Play Speed ...................................................................................................... 4-20
4.4.1 Speed Override .................................................................................................. 4-20
4.4.1.1 Setting Speed Overrides ....................................................................... 4-21
4.4.1.2 Modifying Play Speed ........................................................................... 4-22
4.4.1.3 Cancelling Speed Override Settings ..................................................... 4-22
4.4.2 Specification for Speed Override in AUTO Cycle Operation .............................. 4-23
4.4.2.1 Functional Overview.............................................................................. 4-23
4.4.2.2 Setting the Speed Override Function .................................................... 4-23
4.4.2.3 Performing the Speed Override Function.............................................. 4-26
4.4.2.4 Modifying the Speed Override Percentage ........................................... 4-26
4.4.2.5 Disabling the Speed Override Function................................................. 4-27
4.4.2.6 Enabling an Automatic Setting of Speed Override ................................ 4-29
4.4.2.7 Manual Speed in the TEACH Mode ...................................................... 4-29
4.4.2.8 Parameter ............................................................................................. 4-30
4.4.3 Specification for Speed Override with Input Signals........................................... 4-31
4.4.3.1 Functional Overview.............................................................................. 4-31
4.4.3.2 Performing the Speed Override Function.............................................. 4-32
4.4.3.3 Disabling the Speed Override Function................................................. 4-32
4.4.3.4 Parameters............................................................................................ 4-33
4.5 Playback with Reserved Start.......................................................................................... 4-34
4.5.1 Preparation for Reserved Start........................................................................... 4-34
4.5.1.1 Enabling Reserved Start ....................................................................... 4-35
4.5.1.2 Registering Reserved Start I/O Signal .................................................. 4-36
4.5.1.3 Registering Jobs to Stations.................................................................. 4-38
4.5.1.4 Deleting Registered Jobs from Stations ................................................ 4-40
4.5.2 Playback from Reserved Start............................................................................ 4-41
4.5.2.1 Start Operation ...................................................................................... 4-41
4.5.2.2 Checking Job Reservation Status ......................................................... 4-42
4.5.2.3 Resetting Job Reservation .................................................................... 4-43
4.5.3 Hold Operation ................................................................................................... 4-44
4.5.3.1 [HOLD] on the Programming Pendant .................................................. 4-44
4.5.3.2 Hold by External Input Signal (System Input)........................................ 4-44
4.5.3.3 Hold at the Station................................................................................. 4-45
4.6 Displaying Job Stack ....................................................................................................... 4-46
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Contents
5 Editing Jobs..................................................................................................................................... 5-1
5.1 Copying Jobs ..................................................................................................................... 5-2
5.1.0.1 Copying Jobs on the JOB CONTENT Window........................................ 5-2
5.1.0.2 Copying Jobs on the JOB LIST Window ................................................. 5-4
5.2 Deleting Jobs ..................................................................................................................... 5-6
5.2.0.1 Deleting Jobs on the JOB CONTENT Window........................................ 5-6
5.2.0.2 Deleting Jobs on the JOB LIST Window ................................................. 5-7
5.3 Modifying Job Names ........................................................................................................ 5-8
5.3.0.1 Modifying Job Names on the JOB CONTENT Window........................... 5-8
5.3.0.2 Modifying Job Names on the JOB LIST Window................................... 5-10
5.4 Editing Comments............................................................................................................ 5-12
5.5 Job Folder Function ......................................................................................................... 5-14
5.5.1 Displaying Jobs by Folders................................................................................. 5-14
5.5.1.1 Operation for Displaying Jobs by Folders.............................................. 5-14
5.5.1.2 Operation for Canceling Displaying Jobs by Folders............................. 5-16
5.5.2 Registering Jobs in Folders ................................................................................ 5-17
5.5.2.1 Registering Jobs in Folders (At a New Job Creation)............................ 5-17
5.5.2.2 Changing the Folder Registration of Jobs ............................................. 5-19
5.5.3 Changing the Folder Name................................................................................. 5-23
5.5.3.1 Changing the Folder Name While Displaying Folder List Window ........ 5-23
5.5.3.2 Changing the Folder Name While Displaying Jobs by Folders in
Job List Window .................................................................................... 5-24
5.5.4 Changing the Display Order While Displaying Jobs by Folders ......................... 5-25
5.6 Setting Edit Lock on Individual Job Units......................................................................... 5-27
5.7 Enabling the Modification of Position Data Only .............................................................. 5-28
5.8 Prohibit Displaying the Contents of a Job ........................................................................ 5-29
5.9 Prohibit: Saving The Job Data ......................................................................................... 5-32
6 Convenient Functions ..................................................................................................................... 6-1
6.1 One-touch Operation “Direct Open”................................................................................... 6-1
6.2 Parallel Shift Function ........................................................................................................ 6-3
6.2.1 Function Overview ................................................................................................ 6-3
6.2.1.1 Parallel Shift of Step ................................................................................ 6-4
6.2.1.2 Parallel Shift of Job ................................................................................. 6-4
6.2.2 Setting the Shift Value .......................................................................................... 6-5
6.2.2.1 Coordinate Systems ................................................................................ 6-5
6.2.2.2 Setting the Shift Value ............................................................................. 6-5
6.2.3 Registering Shift Instructions ................................................................................ 6-7
6.2.3.1 SFTON Instruction................................................................................... 6-8
6.2.3.2 SFTOF Instruction ................................................................................. 6-10
6.2.3.3 MSHIFT Instruction................................................................................ 6-11
6.2.4 Continuation of the Parallel Shift Function.......................................................... 6-13
6.2.5 Parallel Shift Function Operation Method ........................................................... 6-14
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Contents
6.2.6 Examples of Use ................................................................................................ 6-15
6.2.6.1 Example of Use of Shift Addition/Subtraction........................................ 6-15
6.2.6.2 Example of Use of MSHIFT Instruction ................................................. 6-16
6.3 Parallel Shift Job Conversion Function............................................................................ 6-17
6.3.1 Function Overview.............................................................................................. 6-17
6.3.2 Coordinate Systems for Conversion................................................................... 6-18
6.3.3 Executing the Parallel Shift Job Conversion....................................................... 6-22
6.3.3.1 Window Display..................................................................................... 6-22
6.3.3.2 Parallel Shift Job Conversion Operation ............................................... 6-24
6.3.4 Specifying the Shift Value by Position Variables ................................................ 6-30
6.3.4.1 Window Display..................................................................................... 6-30
6.3.4.2 Jobs Targeted for Conversion ............................................................... 6-32
6.3.4.3 Conversion of Coordinated Jobs ........................................................... 6-33
6.3.4.4 Operation Procedure ............................................................................. 6-37
6.4 PAM Function .................................................................................................................. 6-39
6.4.1 Function Overview.............................................................................................. 6-39
6.4.1.1 Input Ranges for Adjustment Data ........................................................ 6-39
6.4.2 Operating Methods ............................................................................................. 6-41
6.4.2.1 Setting Adjustment Data ....................................................................... 6-41
6.4.2.2 Executing the Adjustment ..................................................................... 6-43
6.5 Mirror Shift Function ........................................................................................................ 6-47
6.5.1 Function Overview.............................................................................................. 6-47
6.5.2 Pulse Mirror-shift Function.................................................................................. 6-48
6.5.2.1 Parameter Setting ................................................................................. 6-48
6.5.2.2 Object Job ............................................................................................. 6-48
6.5.2.3 Group Axes Specification ...................................................................... 6-48
6.5.2.4 Position Variables ................................................................................. 6-48
6.5.3 Robot-coordinates Mirror-shift Function ............................................................. 6-49
6.5.3.1 Object Job ............................................................................................. 6-49
6.5.3.2 Group Axes Specification ...................................................................... 6-49
6.5.3.3 Position Variables ................................................................................. 6-49
6.5.4 User-coordinates Mirror-shift Function ............................................................... 6-50
6.5.4.1 Object Job ............................................................................................. 6-50
6.5.4.2 Group Axes Specification ...................................................................... 6-50
6.5.4.3 Position Variables ................................................................................. 6-50
6.5.5 Notes on the Mirror Shift Function...................................................................... 6-51
6.5.6 Operation Procedures ........................................................................................ 6-52
6.5.6.1 Calling Up the JOB CONTENT Window................................................ 6-52
6.5.6.2 Mirror Shift Conversion.......................................................................... 6-52
6.5.6.3 Explanation of the Mirror Shift Window ................................................. 6-53
6.6 Multi Window Function..................................................................................................... 6-55
6.6.1 Function Overview.............................................................................................. 6-55
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Contents
6.6.2 Setting the Dividing Pattern of the General-Purpose Display Area .................... 6-55
6.6.2.1 Calling Up and Operating Methods of the Display Dividing Pattern
Setting Window...................................................................................... 6-56
6.6.3 Displaying the Multi Window............................................................................... 6-60
6.6.3.1 Multi Window Mode and Single Window Mode ..................................... 6-60
6.6.3.2 Displaying the Status of Plural (more than two) Window Dividing
Pattern Setting....................................................................................... 6-60
6.6.3.3 Displaying of Active Window and Non-Active Window .......................... 6-61
6.6.3.4 Limited Matters in Multi Window Mode.................................................. 6-61
6.6.4 Operation of Multi Window.................................................................................. 6-62
6.6.4.1 Switching of Multi Window Mode and Single Window Mode ................. 6-62
6.6.4.2 Switching of Active Window................................................................... 6-64
6.6.5 Switching the Axis Operation Control Group ...................................................... 6-66
6.6.5.1 S2C540 “Choosing Method of Notifying the Change of Axis Operation
Control Group when Switching the Active Window” .............................. 6-66
6.7 Simple Menu Function .................................................................................................... 6-68
6.7.1 Simple Menu....................................................................................................... 6-68
6.7.2 Registering the Layout Patterns to User Definition Menu................................... 6-69
6.7.2.1 Register with {REGIST} Button.............................................................. 6-69
6.7.2.2 Register by Key Operation .................................................................... 6-70
6.7.2.3 Conditions to Register the Layout ......................................................... 6-71
6.7.2.4 The Displayed Layout Name ................................................................. 6-71
6.7.3 Calling Up of the Registered Layout ................................................................... 6-72
6.7.3.1 Calling up .............................................................................................. 6-72
6.7.3.2 Conditions when Calling Up the Layout................................................. 6-73
6.7.4 Editing “USER DEFINITION” Menu .................................................................... 6-74
6.7.4.1 Displaying “USER DEFINITION” Window ............................................. 6-74
6.7.4.2 Displaying “USER DEFINITION MENU” window Under Main Menu ..... 6-75
6.7.4.3 Change the Name of Registered Layout Name..................................... 6-76
6.7.4.4 Deleting the Layout ............................................................................... 6-78
6.7.4.5 Delete All Layout ................................................................................... 6-80
6.7.5 Save/Load (to external memory devices) the User Definition Menu Data .......... 6-82
6.7.5.1 Saving the Data ..................................................................................... 6-82
6.7.5.2 Loading the Data ................................................................................... 6-84
6.8 Parameter Setting Function ............................................................................................. 6-86
6.8.1 Parameter Setting Function ................................................................................ 6-86
6.8.2 Teaching Condition Setting................................................................................. 6-88
6.8.3 Operation Condition Setting................................................................................ 6-91
6.8.4 Operate Enable Setting ...................................................................................... 6-94
6.8.5 Function Enable Setting...................................................................................... 6-96
6.8.6 Jog Condition Setting.......................................................................................... 6-98
6.8.7 Playback Condition Setting................................................................................. 6-99
6.8.8 Functional Condition Setting............................................................................. 6-101
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Contents
6.9 Jog Key Allocation ......................................................................................................... 6-102
6.9.1 Jog Key Allocation Function ............................................................................. 6-102
6.9.2 Jog Key Allocation Setting................................................................................ 6-103
6.9.2.1 Allocation of the Jog Key..................................................................... 6-103
6.9.2.2 Cancellation of Jog Key Allocation ...................................................... 6-105
6.9.2.3 Operating Method of Allocated External Axis...................................... 6-106
6.10 Energy-Saving Function .............................................................................................. 6-107
6.10.1 Energy-Saving Function ................................................................................. 6-107
6.10.2 Energy-Saving Setting Method....................................................................... 6-108
6.10.2.1 Valid/Invalid of Energy-Saving Setting .............................................. 6-108
6.10.2.2 Accumulated Energy-Saving Time Clearance................................... 6-110
6.10.3 Energy-Saving Status Confirmation Method .................................................. 6-112
6.10.3.1 Confirmation by the accumulated energy-saving time ...................... 6-112
6.10.3.2 Confirmation by System Signal Output ............................................. 6-112
6.11 Instruction Displaying Color Setting Function .............................................................. 6-113
6.11.1 Setting the Instruction Displaying Color on the Job Window .......................... 6-113
6.12 Present Manipulator Position Output Function ............................................................ 6-116
6.12.1 Function for Outputting Present Cartesian Position of Manipulator
to Register ...................................................................................................... 6-116
6.12.1.1 Outline ............................................................................................... 6-116
6.12.1.2 Parameters........................................................................................ 6-116
6.12.2 Function for Outputting Present Pulse Position to Register ........................... 6-120
6.12.2.1 Outline ............................................................................................... 6-120
6.12.2.2 Parameters........................................................................................ 6-120
6.12.3 Function for Outputting TCP Speed to Register ............................................. 6-123
6.12.3.1 Outline ............................................................................................... 6-123
6.12.3.2 Parameters........................................................................................ 6-123
6.12.4 Function for Outputting Each Axis Speed to Register .................................... 6-125
6.12.4.1 Outline ............................................................................................... 6-125
6.12.4.2 Parameters........................................................................................ 6-125
6.12.5 Function for Outputting Each Axis Position to Register.................................. 6-128
6.12.5.1 Outline ............................................................................................... 6-128
6.12.5.2 Parameters........................................................................................ 6-128
6.13 Softlimit Setting Function ............................................................................................. 6-131
6.13.1 About the Softlimit Setting Function ............................................................... 6-131
6.13.2 The Softlimit Setting Screen ........................................................................... 6-131
6.13.3 Setting the Softlimit by Numerical Value Input ............................................... 6-132
6.13.4 Set the Current Value to the Softlimit ............................................................. 6-133
6.13.5
Set the Softlimit (+)/ the Softlimit (-) to the Initial Maker Value...................... 6-135
6.13.6 Change the Coordinate Display of the Softlimit (+)/ the Softlimit (-)............... 6-136
6.14 Job Edit Function During Playback.............................................................................. 6-137
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Contents
6.14.1 Function .......................................................................................................... 6-137
6.14.2 Job Edit During Playback................................................................................ 6-137
6.14.2.1 Basic Operation ................................................................................. 6-137
6.14.2.2 Editing ............................................................................................... 6-140
6.14.2.3 Editing Multiple Jobs.......................................................................... 6-142
6.14.2.4 Canceling Write Request................................................................... 6-145
6.15 Logging Function ......................................................................................................... 6-147
6.15.1 Logging Function ............................................................................................ 6-147
6.15.2 Objected Data for Logging.............................................................................. 6-147
6.15.3 Number of Entries Stored in the Logs............................................................. 6-148
6.15.4 Operating Methods ......................................................................................... 6-149
6.15.4.1 Displaying Logs in List....................................................................... 6-149
6.15.4.2 Displaying Log Details ....................................................................... 6-151
6.15.4.3 Updating Logging Information ........................................................... 6-155
6.15.4.4 Deleting Logging Information............................................................. 6-156
6.15.4.5 Selecting Operations to Acquire Logs ............................................... 6-157
6.16 Analog Output Function Corresponding to Speed ....................................................... 6-159
6.16.1 Overview......................................................................................................... 6-159
6.16.2 Instructions ..................................................................................................... 6-160
6.16.2.1 Instructions for Analog Output Function Corresponding to Speed .... 6-160
6.16.2.2 Registration of Instructions ................................................................ 6-162
6.16.2.3 Analog Output Display....................................................................... 6-165
6.16.3 Examples ........................................................................................................ 6-166
6.16.3.1 Examples of Output Characteristics .................................................. 6-166
6.16.3.2 Example of Variation of Operating Speed and Analog Output
Value ................................................................................................. 6-167
6.16.4 Filter Process.................................................................................................. 6-168
6.16.4.1 When Parameter is Set to “0” ............................................................ 6-168
6.16.4.2 When Parameter is Set to Values Other Than “0”............................. 6-168
6.16.4.3 Parameter Setting ............................................................................. 6-168
6.16.5 Precautions..................................................................................................... 6-171
6.16.5.1 When Analog Output Corresponding to Speed is Interrupted ........... 6-171
6.16.5.2 When More than One Manipulator is Used ....................................... 6-171
6.17 QR Code Creation Function......................................................................................... 6-172
6.17.1 Outline ............................................................................................................ 6-172
6.17.2 Main Function ................................................................................................. 6-174
6.17.3 QR Code Creation Function Start-Up Method ................................................ 6-176
6.17.3.1 Start-up the function by pressing {SYSTEM INFO}
under the main menu→ {QR CODE}................................................. 6-176
6.17.3.2 Start-up the function by selecting {UTILITY}
under the pull down menu → {QR CODE DISPLAY} ........................ 6-178
6.17.3.3 Start-up the function by selecting {UTILITY}
under the pull down menu → {QR CODE ALL PAGE} ...................... 6-179
6.17.4 Display Configuration...................................................................................... 6-180
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Contents
6.17.5 Operation Method........................................................................................... 6-181
6.17.5.1 Data for QR Code Select Area .......................................................... 6-181
6.17.5.2 QR Code Display Area ...................................................................... 6-181
6.17.6 QR Code Structure ......................................................................................... 6-182
6.17.6.1 Basic Structure .................................................................................. 6-182
6.17.6.2 Data Header ...................................................................................... 6-183
6.17.6.3 System Information ........................................................................... 6-184
6.17.6.4 Alarm ................................................................................................. 6-185
6.17.6.5 Alarm History..................................................................................... 6-186
6.17.6.6 Monitoring Time................................................................................. 6-188
6.17.6.7 Home Position ................................................................................... 6-192
6.17.6.8 Current Position ................................................................................ 6-193
6.17.6.9 Servo Monitor .................................................................................... 6-198
6.17.7 MOTOMAN Touch!......................................................................................... 6-201
6.17.7.1 Installing Method of MOTOMAN Touch! (In case downloading from
Google Play is not available)............................................................. 6-201
6.17.7.2 Start-Up MOTOMAN Touch! Application........................................... 6-203
6.17.7.3 Setting of Call Center ........................................................................ 6-204
6.17.7.4 Registration of Customer Information................................................ 6-205
6.17.7.5 Reading of Product Code .................................................................. 6-206
6.17.7.6 Calling Up of the Product Code......................................................... 6-207
6.17.7.7 Inquiry Mail ........................................................................................ 6-208
6.17.7.8 Sending Method of Controller Data ................................................... 6-209
6.17.7.9 Attaching Method of Picture .............................................................. 6-211
6.17.7.10 Sending an E-Mail: Transmission type
(QR code transmission only) ........................................................... 6-212
6.17.7.11 Sending an E-Mail: Transmission type
(QR code transfer and incoming call) .............................................. 6-213
6.17.7.12 Sending an E-Mail :Transmission type
(Call back request with QR code).................................................... 6-214
6.18 Time Measuring Function ............................................................................................ 6-215
6.18.1 Time Measuring Function ............................................................................... 6-215
6.18.2 Timer Variable ................................................................................................ 6-215
6.18.3 Time Measuring Method................................................................................. 6-216
6.18.4 Setting for Time Measurement ....................................................................... 6-218
6.18.5 Displaying the Time Measuring Result in the Job Window............................. 6-219
7 External Memory Devices ............................................................................................................... 7-1
7.1 Memory Devices ................................................................................................................ 7-1
7.1.1 Compact Flash (CF Cards)................................................................................... 7-2
7.1.1.1 Recommended Compact Flash Cards .................................................... 7-2
7.1.1.2 Notes on handling Compact Flash .......................................................... 7-2
7.1.1.3 Inserting a Compact Flash ...................................................................... 7-3
7.1.2 USB Memory Stick ............................................................................................... 7-4
7.1.2.1 Recommended USB Memory Stick......................................................... 7-4
7.1.2.2 Notes on handling USB Memory Stick .................................................... 7-4
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Contents
7.1.2.3 Rules for USB Drive and USB Memory Stick .......................................... 7-5
7.1.2.4 Inserting a USB Memory Stick in the Programming Pendant.................. 7-6
7.1.2.5 Inserting a USB Memory Stick in the CPU Circuit Board
(JANCD-YCP21)...................................................................................... 7-7
7.2 Handling Data .................................................................................................................... 7-8
7.2.1 Data Classification ................................................................................................ 7-8
7.2.2 File Existence ..................................................................................................... 7-12
7.2.2.1 Saving by Overwriting............................................................................ 7-13
7.3 Operation Flow................................................................................................................. 7-14
7.3.0.1 Operating a Folder ................................................................................ 7-15
7.3.0.2 Saving Data ........................................................................................... 7-19
7.3.0.3 Loading Data ......................................................................................... 7-30
7.3.0.4 Verifying Data ........................................................................................ 7-39
7.3.0.5 Deleting Data......................................................................................... 7-42
7.3.0.6 Job Selection Mode ............................................................................... 7-45
8 Parameter ....................................................................................................................................... 8-1
8.1 Parameter Configuration.................................................................................................... 8-1
8.2 Motion Speed Setting Parameters ..................................................................................... 8-2
8.2.0.1 S1CxG000: IN-GUARD SAFE OPERATION MAX. SPEED.................... 8-2
8.2.0.2 S1CxG001: DRY-RUN SPEED ............................................................... 8-2
8.2.0.3 S1CxG002 to S1CxG009: JOINT SPEED FOR REGISTRATION .......... 8-2
8.2.0.4 S1CxG010 to S1CxG017: LINEAR SPEED FOR REGISTRATION........ 8-3
8.2.0.5 S1CxG018 to S1CxG025: POSITION ANGLE SPEED........................... 8-3
8.2.0.6 S1CxG026 to S1CxG029: JOG OPERATION ABSOLUTE VALUE
SPEED .................................................................................................... 8-3
8.2.0.7 S1CxG030 to S1CxG032: INCHING MOVE AMOUNT ........................... 8-4
8.2.0.8 S1CxG033 to S1CxG040: POSITIONING ZONE.................................... 8-4
8.2.0.9 S1CxG044: LOW-SPEED START........................................................... 8-6
8.2.0.10 S1CxG045 to S1CxG048: JOG OPERATION LINK SPEED................. 8-6
8.2.0.11 S1CxG056: WORK HOME POSITION RETURN SPEED..................... 8-6
8.2.0.12 S1CxG057: SEARCH MAX. SPEED ..................................................... 8-6
8.2.0.13 S2C201: POSTURE CONTROL AT CARTESIAN OPERATION
OF JOG ................................................................................................. 8-6
8.2.0.14 S2C202: OPERATION IN USER COORDINATE SYSTEM (WHEN
EXTERNAL REFERENCE POINT CONTROL FUNCTION USED) ...... 8-6
8.2.0.15 S2C320: CONTROLLED GROUP JOB TEACHING POSITION
CHANGE ............................................................................................... 8-7
8.2.0.16 S2C422: OPERATION AFTER RESET FROM PATH DEVIATION ...... 8-7
8.2.0.17 S2C423: OPERATION AFTER JOB...................................................... 8-7
8.2.0.18 S2C424: DEVIATED POSITION ........................................................... 8-8
8.2.0.19 S2C425: CIRCULAR INTERPOLATION TOOL POSITION
CONTROL ............................................................................................. 8-9
8.2.0.20 S2C653: EMERGENCY STOP CURSOR ADVANCE CONTROL
FUNCTION ............................................................................................ 8-9
8.2.0.21 S2C654: EMERGENCY STOP CURSOR ADVANCE CONTROL
FUNCTION CONT PROCESS COMPLETION POSITION ................. 8-10
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Contents
8.2.0.22 S2C655: EMERGENCY STOP ADVANCE CONTROL FUNCTION
WORK START INSTRUCTION STEP MOTION COMPLETION
DELAY TIME ....................................................................................... 8-10
8.2.0.23 S2C698: BASE AXIS OPERATION KEY ALLOCATION SETTING.... 8-10
8.2.0.24 S3C1098 to S3C1102: POSITION CORRECTING FUNCTION
DURING PLAYBACK .......................................................................... 8-11
8.3 Mode Operation Setting Parameters ............................................................................... 8-12
8.3.0.1 S2C195: SECURITY MODE WHEN CONTROL POWER SUPPLY IS
TURNED ON ......................................................................................... 8-12
8.3.0.2 S2C196: SELECTION OF CARTESIAN/CYLINDRICAL....................... 8-12
8.3.0.3 S2C197: COORDINATE SWITCHING PROHIBITED........................... 8-12
8.3.0.4 S2C198: EXECUTION UNITS AT “FORWARD” OPERATION............. 8-12
8.3.0.5 S2C199: INSTRUCTION (EXCEPT FOR MOVE) EXECUTION AT
“FORWARD” OPERATION ................................................................... 8-13
8.3.0.6 S2C203: CHANGING STEP ONLY....................................................... 8-13
8.3.0.7 S2C204: MANUAL SPEED STORING FOR EACH COORDINATE ..... 8-13
8.3.0.8 S2C206: ADDITIONAL STEP POSITION ............................................. 8-13
8.3.0.9 S2C207: MASTER JOB CHANGING OPERATION.............................. 8-14
8.3.0.10 S2C208: CHECK AND MACHINE-LOCK KEY OPERATION IN
PLAY MODE ....................................................................................... 8-14
8.3.0.11 S2C209: RESERVED WORK JOB CHANGING OPERATION........... 8-14
8.3.0.12 S2C210: MASTER OR SUBMASTER CALL OPERATION IN
PLAY MODE ....................................................................................... 8-14
8.3.0.13 S2C211: LANGUAGE LEVEL ............................................................. 8-15
8.3.0.14 S2C214: INSTRUCTION INPUT LEARNING FUNCTION .................. 8-15
8.3.0.15 S2C215: ADDRESS SETTING WHEN CONTROL POWER IS
TURNED ON ....................................................................................... 8-15
8.3.0.16 S2C216: JOB LIST DISPLAY METHOD AT JOB SELECTION .......... 8-15
8.3.0.17 S2C217: INITIAL OPERATION OF MANIPULATOR .......................... 8-16
8.3.0.18 S2C218: PLAYBACK EXECUTION AT CYCLE MODE “1- STEP” ..... 8-16
8.3.0.19 S2C219: EXTERNAL START.............................................................. 8-16
8.3.0.20 S2C220: PROGRAMMING PENDANT START .................................. 8-16
8.3.0.21 S2C221: SPEED DATA INPUT FORM ............................................... 8-17
8.3.0.22 S2C222: RESERVED START............................................................. 8-17
8.3.0.23 S2C224: JOB SELECTION AT REMOTE FUNCTION
(PLAY MODE) ..................................................................................... 8-17
8.3.0.24 S2C225: EXTERNAL MODE SWITCH ............................................... 8-17
8.3.0.25 S2C227: EXTERNAL CYCLE SWITCHING........................................ 8-17
8.3.0.26 S2C228: PROGRAMMING PENDANT CYCLE SWITCHING............. 8-18
8.3.0.27 S2C229: SERVO ON FROM EXTERNAL PP PROHIBITION............. 8-18
8.3.0.28 S2C230: PROGRAMMING PENDANT OPERATION WHEN “IO”
IS SELECTED FOR REMOTE MODE ................................................ 8-18
8.3.0.29 S2C234: STEP REGISTRATION AT TOOL NO. CHANGE................ 8-19
8.3.0.30 S2C293: REMOTE FIRST CYCLE MODE.......................................... 8-19
8.3.0.31 S2C294: LOCAL FIRST CYCLE MODE ............................................. 8-19
8.3.0.32 S2C312: POWER ON FIRST CYCLE MODE ..................................... 8-20
8.3.0.33 S2C313: TEACH MODE FIRST CYCLE MODE ................................. 8-20
8.3.0.34 S2C314: PLAY MODE FIRST CYCLE MODE .................................... 8-20
8.3.0.35 S2C316: START CONDITION AFTER ALARM-4107
(“OUT OF RANGE (ABSO DATA)”) .................................................... 8-20
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Contents
8.3.0.36 S2C395: SIGNAL NAME ALIAS FUNCTION ...................................... 8-21
8.3.0.37 S2C396: VARIABLE NAME ALIAS FUNCTION.................................. 8-22
8.3.0.38 S2C397: I/O VARIABLE CUSTOMIZE FUNCTION ............................ 8-23
8.3.0.39 S2C410: WORD REGISTRATION FUNCTION / WORD EDITING
FUNCTION SPECIFICATION ............................................................. 8-24
8.3.0.40 S2C413: JOB UNDELETE FUNCTION............................................... 8-24
8.3.0.41 S2C415 to S2C419: TIME RESET ...................................................... 8-26
8.3.0.42 S2C431: TOOL NO. SWITCHING....................................................... 8-27
8.3.0.43 S2C433: POSITION TEACHING BUZZER ......................................... 8-27
8.3.0.44 S2C434: JOB LINKING DESIGNATION (When Twin Synchronous
Function Used) .................................................................................... 8-27
8.3.0.45 S2C437: PLAYBACK OPERATION CONTINUATION FUNCTION .... 8-28
8.3.0.46 S2C544: I/O NAME DISPLAY FUNCTION FOR JOB ......................... 8-29
8.3.0.47 S2C684:ALL AXES ANGLE DISPLAY FUNCTION............................. 8-29
8.3.0.48 S2C713: CONTROL POINT OPERATION SETTING ON THE
SERVO TRACK................................................................................... 8-30
8.3.0.49 S2C1203: TOUCH OPERATION FUNCTION IN
GENERAL-PURPOSE DISPLAY AREA.............................................. 8-31
8.3.0.50 S2C1204: CURSOR MOVEMENT FUNCTION BY TOUCH
OPERATION ON JOB WINDOW ........................................................ 8-31
8.3.0.51 S2C372: ENABLE PATH REVERSE FUNCTION SETTING .............. 8-32
8.4 Parameters According to Interference Area..................................................................... 8-33
8.4.0.1 S1CxG400 to S1CxG415: PULSE SOFT LIMIT.................................... 8-33
8.4.0.2 S2C001: CUBE SOFT LIMIT CHECK ................................................... 8-33
8.4.0.3 S2C002: S-AXIS INTERFERENCE CHECK ......................................... 8-35
8.4.0.4 S2C003 to S2C066: CUBE/AXIS INTERFERENCE CHECK................ 8-36
8.4.0.5 S2C067 to S2C194: CUBE USING METHOD....................................... 8-38
8.4.0.6 S3C000 to S3C047: CUBE SOFT LIMIT............................................... 8-40
8.4.0.7 S3C048 to S3C063: S-AXIS INTERFERENCE AREA .......................... 8-40
8.4.0.8 S3C064 to S3C1087: CUBIC INTERFERENCE AREA......................... 8-40
8.4.0.9 S3C1089 to S3C1096: ROBOT INTERFERENCE AREA ..................... 8-40
8.4.0.10 S3C1097: A SIDE LENGTH OF WORK-HOME-POSITION CUBE..... 8-40
8.5 Parameters According to Status I/O ................................................................................ 8-41
8.5.0.1 S2C235: USER OUTPUT RELAY WHEN CONTROL POWER
IS ON..................................................................................................... 8-41
8.5.0.2 S4C000 to S4C015, S4C1100 to S4C1115: PARITY OF USER
INPUT GROUPS ................................................................................... 8-41
8.5.0.3 S4C016 to S4C031, S4C1116 to S4C1131: PARITY OF USER
OUTPUT GROUPS ............................................................................... 8-42
8.5.0.4 S4C032 to S4C047, S4C1132 to S4C1147: DATA OF USER
INPUT GROUPS ................................................................................... 8-43
8.5.0.5 S4C048 to S4C063, S4C1148 to S4C1163: DATA OF USER
OUTPUT GROUPS ............................................................................... 8-44
8.5.0.6 S4C064 to S4C079, S4C1164 to S4C1179: USER OUTPUT GROUP
TO BE INITIALIZED AT SWITCHING MODE ....................................... 8-45
8.5.0.7 S4C240: USER OUTPUT NO. WHEN MANIPULATOR DROP
ALLOWABLE RANGE ERROR OCCURS ............................................ 8-45
8.6 Parameters According to Coordinated or Synchronized Operation ................................. 8-46
8.6.0.1 S2C212: +MOV or +SMOV INSTRUCTION SPEED INPUT................. 8-46
8.6.0.2 S2C213: +MOV INSTRUCTION INTERPOLATION INPUT.................. 8-46
xxii
Contents
8.6.0.3 S2C231: OPERATION METHOD AT FWD/BWD OPERATION
OR TEST RUN BY INDEPENDENT CONTROL ................................... 8-46
8.6.0.4 S2C232: JOB AT CALLING MASTER OF SUBTASK BY
INDEPENDENT CONTROL .................................................................. 8-47
8.6.0.5 S2C264: STATION AXIS CURRENT VALUE DISPLAY FUNCTION ... 8-47
8.6.0.6 S2C265 to S2C288: STATION AXIS DISPLAYED UNIT ...................... 8-47
8.6.0.7 S2C420: POSTURE CONTROL OF SYNCHRONIZED
MANIPULATOR (When Twin Synchronous Function Used) ................. 8-48
8.6.0.8 S2C421: POSTURE CONTROL OF MANIPULATOR IN MULTI-JOB
(When Twin Synchronous Function Used) ............................................ 8-48
8.6.0.9 S2C687: OPERATION OF JOB WITHOUT CONTROL GROUP
SPECIFICATION................................................................................... 8-49
8.6.0.10 S2C688: EXECUTION OF “BWD” OPERATION ................................ 8-49
8.6.0.11 S3C1101: MAXIMUM DEVIATION ANGLE OF CURRENT
STATION POSITION (When Twin Synchronous Function Used) ....... 8-49
8.7 Parameters for Other Functions or Applications.............................................................. 8-50
8.7.0.1 S1CxG049 to S1CxG051: SMALL CIRCLE CUTTING ......................... 8-50
8.7.0.2 S1CxG052 to S1CxG053: SMALL CIRCLE CUTTING DIRECTION
LIMIT VALUE ........................................................................................ 8-50
8.7.0.3 S1CxG054 to S1CxG055: SMALL CIRCLE CUTTING OVERLAP
VALUE................................................................................................... 8-50
8.7.0.4 S1CxG063, S1CxG064: PATTERN CUTTING DIMENSION ................ 8-50
8.7.0.5 S1CxG065: MIRROR SHIFT SIGN INVERSION .................................. 8-50
8.7.0.6 S2C430: RELATIVE JOB OPERATION METHOD ............................... 8-50
8.7.0.7 S2C1135 : PROHIBIT WELDING SECTION SPEED OVERRIDE........ 8-51
8.7.0.8 S2C1137 : DISPLAY WELDING CONDITION FILE COMMENT ON
THE JOB WINDOW FUNCTION ........................................................... 8-51
8.7.0.9 S3C1111 to S3C1190: ANALOG OUTPUT FILTER CONSTANT ........ 8-51
8.7.0.10 S3C1191: CUT WIDTH CORRECTION VALU.................................... 8-51
8.8 Hardware Control Parameters ......................................................................................... 8-52
8.8.0.1 S2C646: ANTICIPATOR FUNCTION.................................................... 8-52
8.8.0.2 S4C327 to S4C390: SETTING OF OPERATING RELAY NO. ............. 8-53
8.8.0.3 S4C391 to S4C454: OPERATING METHOD OF RELAYS .................. 8-53
8.8.0.4 S2C786 to S2C788: COOLING FAN ALARM DETECTION ................. 8-53
8.8.0.5 S2C1170 to S2C1171: COOLING FAN ALARM DETECTION ............. 8-53
8.8.0.6 S2C789 to S2C792: COOLING FAN ALARM 1 OPERATION .............. 8-54
8.8.0.7 S2C793 to S2C796: COOLING FAN ALARM 2 OPERATION .............. 8-54
8.8.0.8 S2C797 to S2C800: COOLING FAN ALARM 3 OPERATION .............. 8-54
8.8.0.9
S2C1174: COOLING FAN ALARM 4 OPERATION ............................. 8-54
8.8.0.10 S2C1175: COOLING FAN ALARM 5 OPERATION ............................ 8-54
8.8.0.11 S2C801 to S2C804: FAN ALARM 1 WELDER STATUS .................... 8-54
8.8.0.12 S2C805 to S2C808: FAN ALARM 2 WELDER STATUS .................... 8-54
8.8.0.13 S2C809 to S2C812: FAN ALARM 3 WELDER STATUS .................... 8-55
8.8.0.14 S2C1178: FAN ALARM 4 WELDER STATUS .................................... 8-55
8.9 TRANSMISSION PARAMETERS.................................................................................... 8-56
8.10 Application Parameters.................................................................................................. 8-56
8.10.1 Arc Welding ...................................................................................................... 8-56
8.10.1.1 AxP000: APPLICATION ...................................................................... 8-56
xxiii
Contents
8.10.1.2 AxP003: WELDING ASSIGNMENT OF WELDING START
CONDITION FILE................................................................................ 8-56
8.10.1.3 AxP004: WELDING ASSIGNMENT OF WELDING END
CONDITION FILES ............................................................................. 8-56
8.10.1.4 AxP005: WELDING SPEED PRIORITY .............................................. 8-56
8.10.1.5 AxP009: WORK CONTINUING ........................................................... 8-56
8.10.1.6 AxP010: WELDING INSTRUCTION OUTPUT.................................... 8-57
8.10.1.7 AxP011, AxP012: MANUAL WIRE OPERATION SPEED................... 8-57
8.10.1.8 AxP013, AxP014: WELDING CONTROL TIME .................................. 8-57
8.10.1.9 AxP015 to AxP017: NUMBER OF WELDING CONTROL .................. 8-57
8.10.1.10 AxP026 to AxP029: TOOL ON/OFF USER OUTPUT NO.
(Jigless system) ................................................................................. 8-57
8.10.2 Handling Application ......................................................................................... 8-57
8.10.2.1 AxP002, AxP004: f1 KEY FUNCTION................................................. 8-57
8.10.2.2 AxP003, AxP005: f2 KEY FUNCTION................................................. 8-57
8.10.3 Spot Welding .................................................................................................... 8-58
8.10.3.1 AxP003: MAXIMUM NUMBER OF CONNECTED WELDERS ........... 8-58
8.10.3.2 AxP004: GUN FULL OPEN STROKE ON/OFF SIGNAL .................... 8-58
8.10.3.3 AxP005: STROKE CHANGE ANSWER TIME LIMIT .......................... 8-58
8.10.3.4 AxP006: PARITY SPECIFICATION FOR WELDING CONDITIONS .. 8-58
8.10.3.5 AxP007: ANTICIPATE TIME ............................................................... 8-59
8.10.3.6 AxP015: WELDING ERROR RESET OUTPUT TIME......................... 8-59
8.10.3.7 AxP016, AxP017: tip WEAR AMOUNT ALARM VALUE ..................... 8-59
8.10.4 General-purpose Application ............................................................................ 8-59
8.10.4.1 AxP009: WORK CONTINUE PROHIBIT ............................................. 8-59
8.10.5 Painting Application .......................................................................................... 8-59
8.10.5.1 AxP080: Specify the Robot With the Paint Gun 1 ............................... 8-59
8.10.5.2 AxP081: Specify the Robot With the Paint Gun 2 ............................... 8-59
8.10.5.3 AxP082: Specify the Robot With the Paint Gun 3 ............................... 8-59
8.10.5.4 AxP083: Specify the Robot With the Paint Gun 4 ............................... 8-59
9 Painting Application......................................................................................................................... 9-1
9.1 Function Keys .................................................................................................................... 9-1
9.2 Painting System Settings (PAINT SYSTEM CONFIG.) ..................................................... 9-2
9.3 Painting Device Characteristics (PAINT SPECIAL) ........................................................... 9-4
9.4 Painting Conditions (PAINT CONDITION)......................................................................... 9-7
9.5 Calibration Settings (CALIBRATION CONFIG.) ................................................................ 9-8
9.6 Time Chart Settings (TIME CHART CONFIG.)................................................................ 9-11
9.7 Time Chart (TIME CHART).............................................................................................. 9-12
9.8 Painting Data Settings (PAINT DATA CONFIG.)............................................................. 9-14
9.9 Painting Output Test (PAINT OUTPUT TEST) ................................................................ 9-15
9.10 IO Painting Condition Output (IO PAINT CONDITION OUTPUT CONFIG.) ................. 9-17
9.11 Mode Change Auto Reset of Spray ON/Atomization ON Signal.................................... 9-18
9.12 Registering Work Instructions ........................................................................................ 9-19
xxiv
Contents
9.12.1 SPYON ............................................................................................................. 9-19
9.12.2 SPYOF ............................................................................................................. 9-26
9.12.3 PAINTSET ........................................................................................................ 9-33
9.12.4 PAINTEND ....................................................................................................... 9-40
9.12.5 CALL ................................................................................................................ 9-46
9.13 Anticipation Output Function.......................................................................................... 9-58
9.13.1 Example ........................................................................................................... 9-58
9.13.1.1 Start Painting....................................................................................... 9-58
9.13.1.2 End Painting ........................................................................................ 9-60
9.13.2 Interruption ....................................................................................................... 9-63
9.13.2.1 SPYON................................................................................................ 9-63
9.13.2.2 SPYOF ................................................................................................ 9-64
10 Table of Basic Instructions.......................................................................................................... 10-1
10.1 Move Instructions........................................................................................................... 10-1
10.2 I/O Instructions............................................................................................................... 10-4
10.3 Control Instructions........................................................................................................ 10-6
10.4 Shift Instructions ............................................................................................................ 10-8
10.5 Operating Instructions.................................................................................................... 10-9
xxv
1
1.1
1
Introduction
DX200 Overview
Introduction
1.1
DX200 Overview
The main power switch and the door lock are located on the front of the
DX200 controller. The emergency stop button is installed in the upper
right corner of the cabinet door and the programming pendant hangs from
a hook below the button.
For information on setup, installation, and connection of the DX200
system, refer to the “DX200 INSTRUCTIONS”.
Fig. 1-1(a): DX200 Front View
Primary Power Supply Cable
Door lock
Door lock
Fig. 1-1(b): DX200 Front View (for Painting)
Door lock
Painting Unit
Door lock
Primary Power Supply Cable
Main power switch
Door lock
Door lock
1-1
Main power switch
1
1.2
1.2
1.2.1
Introduction
Programming Pendant
Programming Pendant
Programming Pendant Overview
The programming pendant is equipped with the keys and buttons used to
conduct manipulator teaching operations and to edit jobs.
Fig. 1-2: PP Overview
Start button
Mode switch
START
REMOTE
Menu area
General-purpose
display area
PLAY
Hold button
Emergency
stop button
HOLD
TEACH
JOB
EDIT
DISPLAY
JOB CONTENT
J:TEST01
CONTROL GROUP:R1
0000 NOP
0001 SET B000 1
0002 SET B001 0
0003 MOVJ VJ=80.00
0004 MOVJ VJ=80.00
0005 DOUT OT#(10) ON
0006 TIMER T=3.00
0007 MOVJ VJ=80.00
0008 MOVJ VJ=100.00
0009 MOVJ VJ=100.00
0010 MOVJ VJ=100.00
0011 MOVJ VJ=100.00
UTILITY
S:0000
TOOL:
Insertion slot for
Compact Flash
MOVJ VJ=0.78
Main Menu
TOOL SEL
LAYOUT
Cursor key
X-
S-
Y-
L-
Z-
U-
E-
Enable switch
Located on the back of
the programming pendant.
When you lightly squeeze it,
the power turns ON.
When you firmly squeeze it,
the power turns OFF.
GO BACK
DIRECT
OPEN
COORD
PAGE
Multi
ENTRY
MAIN
MENU
SERVO
ON
READY
SIMPLE
MENU
X+
SELECT
ASSIST
X-
X+
Y-
Y+
Z-
Z+
8-
8+
R-
HIGH
SPEED
Y+
AREA
CANCEL
SERVO ON
S+
Page key
Turn on servo power
Short Cut
L+
B-
R+
B+
FAST
Z+
MANUAL SPEED
U+
E+
T-
SLOW
SHIFT
INTER
LOCK
7
8
9
ROBOT
INFORM
LIST
4
5
EX.AXIS
WELD
ON/OFF
1
AUX
MOTION
TYPE
0
Select key
Manual speed keys
T+
TEST
START
SHIFT
6
BWD
FWD
2
3
DELETE
INSERT
.
-
MODIFY
ENTER
Axis keys
Enable switch (option)
Enter key
Motion
Numeric keys / Function keys
Type key Press to input numbers.
These keys are also used as function keys
to input instructions, etc. Key’s function is
automatically switched when function keys
are available.
1-2
1
1.2
1.2.2
1.2.2.1
Introduction
Programming Pendant
Key Description
Character Keys / Symbol Keys
The keys which have character/symbol printed on them are denoted
with [ ]. For example,
is shown as [ENTER].
The Numeric keys have additional functions along with their number
values. Dual function keys are used in the context of the operation being
performed. For example:
[TIMER].
1.2.2.2
may be described in the text as [1] or
Axis Keys and Numeric Keys
The keys pictured in the following are referred to as the [Axis Key] and
[Numeric Key] when described.
Axis Keys
1.2.2.3
Numeric Keys
Keys Pressed Simultaneously
When two keys are to be pressed simultaneously, the keys are shown with
a “+” sign between them, such as [SHIFT]+[COORD].
1-3
1
1.2
1.2.3
Introduction
Programming Pendant
Programming Pendant Keys
[START]
Starts the manipulator motion in playback
operation.
• The lamp on this button is lit during the play
operation.
The lamp also lights when the playback operation is
started by the system input START signal.
The lamp turns OFF when the playback operation is
stopped by alarm occurrence, HOLD signal, or mode
change.
[HOLD]
Holds the manipulator motion.
• This button is enabled in any mode.
• The lamp on this button is lit only while the button is being pressed. Although the lamp turns
OFF when the button is released, the manipulator stays stopped until a START command is
input.
• The HOLD lamp automatically lights in the following cases to indicate that the system is in
HOLD status. The start and axis operations are
disabled while the lamp is lit.
1. The HOLD signal of system input is ON.
2. The HOLD request is being sent from an
external device in remote mode.
3. In the HOLD status caused by an error
occurred in working process such as wire
sticking at arc welding.
[E.STOP] button
Turns OFF the servo power.
• When the servo power is turned OFF, the
SERVO ON LED on the programing pendant will
extinguish.
• An emergency stop message is displayed on the
screen.
[MODE]
Selects the Play mode, Teach mode, or Remote
mode.
PLAY: Play Mode
The playback of taught job is enabled.
The START signal from an external device is disabled.
REMOTE
PLAY
TEACH
TEACH: Teach Mode
The axis operation and edition from the programming
pendant are enabled.
The START signal from an external device is disabled.
REMOTE: Remote Mode
The operation by external signals is enabled.
[START] is invalid during the remote mode.
1-4
1
1.2
Introduction
Programming Pendant
Enable Switch
[SELECT]
Turns ON the servo power.
When the Enable Switch is lightly squeezed while the
SERVO ON LED is blinking and the Mode Switch is set
to “TEACH”, the power is turned ON.
And when this switch is released or firmly squeezed
while the power is turned ON, the power turns OFF.
Works as described below.
• Selects menu items in {Main Menu} area and the
menu area.
• Makes the selected item ready to be set in the
general-purpose display area.
• Displays multiple messages in the human interface display area.
Cursor
Moves the cursor in the direction of the arrow.
• The size of the cursor and the range/place
where the cursor can move will vary depending
on the window.
• If the UP cursor button is pressed when the cursor is on the first line, the cursor will move to the
last line of the job. Conversely, if the cursor is
on the last line of the job and the DOWN cursor
button is pressed, the cursor will jump to the first
line of the job.
[SHIFT] + UP
Scrolls the screen upward.
[SHIFT] + DOWN
Scrolls the screen downward.
[SHIFT] + RIGHT
Scrolls the screen to the right.
[SHIFT] + LEFT
Scrolls the screen to the left.
[MAIN MENU]
Displays {Main Menu}.
If this key is pressed while {Main Menu} is displayed,
{Main Menu} disappears.
[MAIN MENU] + UP
Increases the brightness of the screen.
[MAIN MENU] + DOWN
Decreases the brightness of the screen.
[SIMPLE MENU]
Displays the simple menu.
If this key is pressed while the simple menu is
displayed, the simple menu disappears.
[SHIFT] + [SIMPLE MENU]
Register the layout displayed in the general-purpose
area to the user definition menu.
Press [SIMPLE MENU] for three seconds to display the
pop-up menu window.
1-5
1
1.2
Introduction
Programming Pendant
[SERVO ON READY]
Enables the servo power supply to be turned ON.
Press this key to enable the servo power supply to be
turned ON if the servo power supply is shut OFF by the
emergency stop or overrun signal.
When this key is pressed:
• In the play mode, the servo power supply is
turned ON if the safeguarding is securely
closed.
• In the teach mode, the SERVO ON lamp flashes
and the servo power supply is turned ON when
the Enable switch is ON.
• The SERVO ON lamp is lit while the servo
power is ON.
[ASSIST]
Displays the menu to assist the operation for the
currently displayed window.
Pressing this key with [SHIFT] or [INTERLOCK]
displays the help guidance for the operation.
• [SHIFT] + [ASSIST]
The function list of key combinations with
[SHIFT] appears.
• [INTERLOCK] + [ASSIST]
The function list of key combinations with
[INTERLOCK] appears.
The APP21 pendant has no [ASSIST] keys. To display
the function list of the keys pressed simultaneously,
select {SETUP} – {SIMULTANEOUS KEY HELP} under
the main menu.
[CANCEL]
Cancels the current status.
• Deletes the sub menu in {Main Menu} area and
the menu area.
• Cancels the input data or the input status in the
general-purpose display area.
• Cancels the multiple views in the human interface display area.
• Cancels the occurred error.
[SHIFT] + [CANCEL]
When the job content is shown and the undo function is
enabled, the assist menu is shown.
[MULTI]
Works for the multi mode.
If this button is pressed when the multi mode is ON, the
active window switches.
[SHIFT] + [MULTI]
Switches between the multi-window display and the
single-window display when the multi mode is ON.
1-6
1
1.2
Introduction
Programming Pendant
[COORD]
Select the operation coordinate system when the
manipulator is operated manually.
• The coordinates can be selected from the six
coordinate systems, such as joint, cartesian,
cylindrical, tool, user and teaching line. Each
time this key is pressed, the coordinate system
is switched in the following order:
"JOINT""WLD/CYL""TOOL""USER"
"TEACHING LINE (only for arc welding purpose)”
• The selected coordinate system is displayed on
the status display area.
[SHIFT] + [COORD]
The coordinate number can be changed when the
"TOOL" or "USER" coordinate system is selected.
[DIRECT OPEN]
Displays the content related to the current line.
• To display the content of a CALL job or condition
file, move the cursor to the next line and press
[DIRECT OPEN]. The file will be displayed for
the selected line. Display content will vary
depending on the type of instruction used in the
job.
Example:
For a CALL instruction, the content of the called job will
be displayed.
For a work instruction, the content of the condition file
will be displayed.
For Input/output instructions, the input/output condition
will be displayed.
• The lamp on this button is lit while the direct
open is ON. Press this button while the lamp is
lit to return to the previous window.
[PAGE]
Displays the next page.
The page can be switched only when the lamp on this
button is lit.
[SHIFT] + [PAGE]
Switches to the previous page.
1-7
1
1.2
Introduction
Programming Pendant
[AREA]
Moves the cursor in the following order : “Menu
Area””General-Purpose Display Area””Human
Interface Display Area””Main Menu Area”. If no
item is displayed, the cursor does not move.
[SHIFT] + [AREA]
The language can be switched when the bilingual
function is valid. (Bilingual function is optional.)
[AREA] + DOWN
Moves the cursor from the general-purpose display
area to the operation button when the operation button
is displayed.
[AREA] + UP
Moves the cursor to the general-purpose display area
when the cursor is on the operation button.
[SHIFT]
Changes the functions of other keys by pressing
together.
Can be used with [SIMPLE MENU], [ASSIST], [MULTI],
[COORD], [AREA], [MOTION TYPE], [ROBOT], [EX.
AXIS], the cursor or [Numeric Key] to access alternate
functions.
Refer to the description of each key for the alternate
[SHIFT] functions.
[INTERLOCK]
Changes the functions of other keys by pressing
together.
Can be used with [ASSIST], [TEST START], [FWD], or
[Numeric Key] (Numeric key customize function),
[ROBOT].
Refer to the description of each key for the alternate
[INTERLOCK] functions.
[INFORM LIST]
Displays instruction lists of commands available
for job editing.
[ROBOT]
Enables the robot axis operation.
[ROBOT] is active for the system where multiple
manipulators are controlled by one DX200 or the
system with external axes.
[SHIFT] + [ROBOT]
The robot under axis operation can be switched to a
robot axis which is not registered to the currently
selected job.
[INTERLOCK] + [ROBOT]
Switches the application when several applications are
set to a robot.
[EX. AXIS]
Enables the external axis (base axis or station axis)
operation.
[EX.AXIS] is active for the system with external axes.
[SHIFT] + [EX. AXIS]
The external axis under axis operation can be switched
to an external axis which is not registered to the
currently selected job.
1-8
1
1.2
Introduction
Programming Pendant
[MOTION TYPE]
Selects the interpolation type for playback
operation.
The selected interpolation type is shown in the status
display area on the screen.
• Each time this key is pressed, the interpolation
type changes in the following order:
"MOVJ"" MOVL""MOVC""MOVS"
[SHIFT] + [MOTION TYPE]
The interpolation mode changes in the following order:
"STANDARD"" EXTERNAL REFERENCE
POINT"*" CONVEYOR"*
Interpolation type can be changed in any mode.
*: These modes are purchased options.
[TEST START]
Moves the manipulator through taught steps in a
continuous motion when [TEST START] and
[INTERLOCK] are simultaneously pressed.
The manipulator can be moved to check the path of
taught steps. Operation stops immediately when this
key is released.
• The manipulator operates according to the currently selected operation cycle: "AUTO", "1CYCLE", or "STEP".
• The manipulator operates at the taught speed.
However, if the taught speed exceeds the maximum teaching speed, the operation proceeds at
the maximum teaching speed.
[FWD]
Moves the manipulator through the taught steps
while this key is pressed.
• Only move instructions are executed (one
instruction at a time, no welding instructions).
[INTERLOCK] + [FWD]
All instructions are executed.
[REFP] + [FWD]
Moves to the reference point of the cursor line. See
chapter 3.3.1.3 “Moving to Reference Point” at
page 3-27 .
The manipulator operates at the selected manual
speed. Make sure that the selected manual speed is
the desired one before starting operation.
[BWD]
Moves the manipulator through the taught steps in
the reverse direction while this key is pressed.
• Only move instructions are executed (no weld
commands).
The manipulator operates at the selected manual
speed. Make sure that the selected manual speed is
the desired one before starting operation.
1-9
1
1.2
Introduction
Programming Pendant
[DELETE]
Deletes the registered instruction.
• Deletion completes when [ENTER] is pressed
while this key lamp is lit.
[INSERT]
Inserts a new instruction.
• Insertion completes when [ENTER] is pressed
while this key lamp is lit.
[MODIFY]
Modifies the taught position data or instruction.
• Modification completes when [ENTER] is
pressed while this key lamp is lit.
[ENTER]
Registers instructions, data, current position of the
manipulator, etc.
• When [ENTER] is pressed, the instruction or
data displayed in the input buffer line moves to
the cursor position to complete a registration,
insertion, or modification.
[MANUAL SPEED]
Sets the speed for manual operation. This speed is
also valid for operations with [FWD] and [BWD].
• There are four speed levels (slow, medium, fast,
and inching). The speed changes as described
below. The selected speed is displayed on the
status area.
Each time [FAST] is pressed, manual speed changes in
the following order:
"INCH""SLOW""MED""FST".
Each time [SLOW] is pressed, manual speed changes
in the following order:
"FST""MED""SLOW""INCH"
1-10
1
1.2
Introduction
Programming Pendant
[HIGH SPEED]
Makes the manipulator move at high speed while
this button and one of the axis keys are pressed
simultaneously during manual operation. No need
to change the setting of speed.
• The speed for [HIGH SPEED] is specified in
advance.
[Axis Key]
Moves specified axes on manipulator.
• The manipulator axes only move while the key is
pressed.
• Multiple axes can be operated simultaneously by
pressing two or more keys at the same time.
The manipulator operates in the selected coordinate
system at the selected manual speed. Make sure that
the selected coordinate system and the manual speed
are the desired ones before starting the axis operation.
It is possible to allocate any external axes to [E-] + [E+],
[8-] + [8+] keys to operate them. Refer to chapter 6.9
“Jog Key Allocation” at page 6-102.
[Numeric Key]
Enters the number or symbol when the ">" prompt
appears on the input line.
• “.” is the decimal point. “-” is a minus sign or
hyphen.
[Numeric Key] is also used as function keys. Refer to
the explanation of each function for details.
1-11
1
1.2
1.2.4
Introduction
Programming Pendant
Programming Pendant Display
The programming pendant display is a 5.7 inch color display.
Alphanumeric characters can be used.
1.2.4.1
Five Display Areas
The general-purpose display area, menu area, human interface display
area, and main menu area among the following five areas can be moved
by pressing [AREA], or can be selected by directly touching the screen.
Menu area
Status display area
Main menu area
General-purpose display area
Human interface
display area
Each window displayed during operations is provided with its name on the
upper left of the general-purpose display area.
1-12
1
1.2
1.2.4.2
Introduction
Programming Pendant
General-purpose Display Area
On the general-purpose display area, various settings and contents such
as jobs and characteristics files can be displayed and edited.
Displays also can be switched by scrolling the window, moving the cursor
and switching pages.

Scrolling the window
If the display content is oversized in the general-purpose display area, the
display area can be resized by scrolling the window.
Follow the procedure below to scroll the window.
• Scrolling the window using the cursor:
Refer to chapter 1.2.3 “Programming Pendant Keys” at page 1-4.
• Scrolling the window by touch operation:
While touching the general-purpose display area, move it up and
down or sideways, and release the touch.
(ex.) Touch the job window and slide it upwards (Scrolling towards
the lower part of the window).
1-13
1
1.2

Introduction
Programming Pendant
Moving the cursor
The cursor may be displayed on some windows. Follow the procedure
below to move the cursor position.
• Moving the cursor using the cursor:
Refer to chapter 1.2.3 “Programming Pendant Keys” at page 1-4.
• Moving the cursor by touch operation:
Touch the position available for cursor moving in the general-purpose display area, and release the touch.
When the cursor by touch operation in the job window is moved, it is
necessary to perform the following operations. (Operations can be
switched by parameters.)
(1) Press [INTERLOCK] + Touch operation
(2) Touch operation + Confirming dialog
(3) Cannot move the cursor by touch operation.
(1) Press [INTERLOCK] + method of touch operation
1.Set the cursor moving specification (S2C1204) to 0 by touch
operation on the job window.
2.While pressing [interlock], touch the position available for cursor
moving on the job window.
1-14
1
1.2
Introduction
Programming Pendant
(2) Touch operation + method of confirmation dialog
1.Set the cursor moving specification (S2C1204) to 1 by touch
operation on the job window.
2.Touch the position available for cursor moving on the job window.
3.Select “YES” for the cursor moving confirmation dialog box.

Page switching
When the [PAGE] lamp light is ON, the pages can be switched.
Follow the procedure below to switch the pages.
• Page switching by [PAGE]:
Refer to chapter 1.2.3 “Programming Pendant Keys” at page 1-4.
• Displaying the next page by touch operation:
While touching the general-purpose display area, move it to the left
side, and release the touch.
• Displaying the previous page by touch operation:
While touching the general-purpose display area, move it to the right
side, and release the touch.
1-15
1
1.2

Introduction
Programming Pendant
Operation buttons
On some windows, the operation button appears.
The operation process can be executed by pressing [SELECT] or by
touching operation.
To move the cursor from the general-purpose area to the operation button,
press [AREA] + [↓]cursor.
To move the cursor to the general-purpose display area from the operation
button, press [AREA] + [↑] cursor or press [CANCEL].
For the operation in the operation button area, use [←] or [→] and press
[SELECT]
EXECUTE
: Continues operation displayed in the general-purpose area with the
displayed contents.
CANCEL
: Cancels the contents in the general-purpose area and returns to the
previous window.
COMPLETE
: Completes the setting operation displayed on the general-purpose display
area.
STOP
: Stops operation when loading, saving, or verifying with an external memory
device.
RELEASE
: Releases the overrun and shock sensor function.
RESET
: Resets an alarm. (Cannot reset major alarms.)
PAGE
: On the page that can be switched by specifying the page number, directly
input the desired page number and press [ENTER].
General-purpose
display area
Operation buttons
• On the page where a list is selected, select a desired page number on the
list by pressing [↓] or [↑], and then press [ENTER].
1-16
1
1.2
Introduction
Programming Pendant
NOTE
• To disable touching operation in the general-purpose display area, change the parameter S2C1203 (Touch operation function specifications in the general-purpose area).
Refer to chapter 8.3.0.49 “S2C1203: TOUCH OPERATION FUNCTION IN GENERAL-PURPOSE DISPLAY
AREA” at page 8-31
• To switch the cursor moving method by touch operation on
the job window, change the parameter S2C1204 (Cursor
moving specifications by touch operation on the job window).
Refer to chapter 8.3.0.50 “S2C1204: CURSOR MOVEMENT FUNCTION BY TOUCH OPERATION ON JOB
WINDOW” at page 8-31
1-17
1
1.2
1.2.4.3
Introduction
Programming Pendant
Main Menu Area
Each menu and submenu are displayed in {Main Menu} area. Press
[MAIN MENU] or touch {Main Menu} on the left bottom of the window to
display {Main Menu}.
1.2.4.4
Status Display Area
The Status Display area shows controller status. The displayed
information will vary depending on the controller mode (Play/Teach).
T
M. Saving Data
L. Touch operation disable
K. Weak battery
J. Multi Mode
I. Page
A. Group operation axis
B. Operation coordinate system
C. Manual speed
D. Security mode
E. Operation cycle
H. Tool number
G. Mode
F. State under execution
A. Control Group
Displays the active control group for systems equipped with station axes
or several robot axes.
to
: Robot Axes
to
: Base Axes
to
: Station Axes
1-18
1
1.2
Introduction
Programming Pendant
B. Operation Coordinate System
Displays the selected coordinate system. Switched by pressing
[COORD].
: Joint Coordinates
: Cartesian Coordinates
: Cylindrical Coordinates
: Tool Coordinates
: User Coordinates
: Teaching Line Coordinates (arc welding purpose)
C. Manual Speed
Displays the selected speed. For details, refer to
chapter 2.2.0.5 “Select Manual Speed” at page 2-4.
: Inching
: Low Speed
: Medium Speed
: High Speed
D. Security Mode
: Operation Mode
: Edit Mode
: Management Mode
: Safety Mode
: One Time Manage Mode
E. Operation Cycle
Displays the present operation cycle.
: Step
: Cycle
: Continuous
1-19
1
1.2
Introduction
Programming Pendant
F. State Under Execution
Displays the present system status (STOP, HOLD, ESTOP, ALARM, or
RUN).
: Stop Status
: Hold Status
: Emergency Stop Status
: Alarm Status
: Operating Status
G. Mode
T
: Teach mode
P
: Play mode
H. Tool Number
From
to
: Displayed the tool No. which is chosen by a robot
when the tool No. switch function is valid.
(S2C431=1).
I. Page
: Displayed when the page can be switched.
J. Multi Mode
: Displayed when the multi window mode is set.
K. Weak Battery of Memory
: Displayed when the battery of memory is weak.
L. Touch Panel Operation Disable
: Displayed the touch panel operation is disabled.
: Displayed when the battery of memory is weak
and the touch panel operation is disabled.
M. Saving Data
: Displayed while saving the data.
1-20
1
1.2
1.2.4.5
Introduction
Programming Pendant
Human Interface Display Area
An error(s) or a message(s) is displayed in the human interface display
area.
Turn on servo power
When an error is displayed, operations cannot be performed until the error
is canceled. Press [CANCEL] to allow for operations.
When two or more errors occur,
appears in the message display area.
Activate the message display area and press [SELECT] to view the list of
current errors.
5/9
Cannot load macro job at current security mode
Cannot insert/modify/delete for group axis detachment
Cannot insert/modify/delete for axis detachment
HELP
CLOSE
To close the error list, select "CLOSE" or press [CANCEL].
1.2.4.6
Menu Area
The menu area is used to edit a job, manage jobs, and execute various
utilities.
1-21
1
1.2
1.2.5
Introduction
Programming Pendant
Screen Descriptions
• The menu displayed in the programming pendant is denoted with { }.
The above menu items are denoted with {DATA}, {EDIT}, {DISPLAY},
AND {UTILITY}.
• The window can be displayed according to the view desired.
Full Window View
Upper Window View
Middle Window View
Lower Window View
1-22
1
1.2
1.2.6
Introduction
Programming Pendant
Character Input Operation
Move the cursor to the data for which characters are to be input, and press
[SELECT] to display the software keypad.
1.2.6.1
Character Input
To input characters, the software keypad is shown on the programming
pendant display.
There are three types of software keypads: the alphanumeric keypads
each for upper-case and lower-case characters and the symbol keypad.
To switch between the alphanumeric keypads and the symbol keypad,
touch the button tab on the screen or press [PAGE]. To switch the
alphanumeric keypads between upper-case and lower-case characters,
touch “CapsLock OFF” or “CapsLock ON”.
1.2.6.2
Operation
Keypad
Button on the
Programming
Pendant
Explanation
Cursor
Moves the cursor (focus).
[SELECT]
Selects a character.
SELECT
[CANCEL]
Clears all the characters being
typed.
Pressing this second time cancels
the software keypad.
[ENTER]
Enters the input characters.
Button Tab
Switches the keypads displayed on
the programming pendant.
-
Closes the software keypad.
Numeric Keys
Enters numbers.
to
1-23
1
1.2
1.2.6.3
Introduction
Programming Pendant
Alphanumeric Input
Number input is performed with the [Numeric Key] or on the following
alphanumeric input window. Numbers include 0 to 9, the decimal point (.),
and the minus sign/hyphen (-).
Note however, that the decimal point cannot be used in job names.
Press the [PAGE] to display the alphanumeric input window. Move the
cursor to the desired letter and press [SELECT] to enter the letter.
For Numbers and Upper-case Characters
For Numbers and Lower-case Characters
1-24
1
1.2
1.2.6.4
Introduction
Programming Pendant
Symbol Input
Press the [PAGE] to display the symbol input window.
Move the cursor to the desired symbol and press [SELECT] to enter the
symbol.
Note that only some symbols are available for naming jobs.
For Symbols
SUPPLE
-MENT
When the focus is in a text field of [Result], it is able to move
a cursor position by pressing [Shift]+[ → ] or [Shift]+[ ← ].
1-25
1
1.2
1.2.6.5
Introduction
Programming Pendant
Register Word Function
This function enables to use the registered word when input a character
by registering the word (character string) in advance.
To use this function simplifies to input the same character strings.
It is able to register the 32 words of eight characters.
SUPPLE
-MENT
There is a limit to enter the character by input contents. If a
registered word includes a limited character, it is unable to
use the word.
e.g. Unable to use the lower case characters, a decimal
point and symbols to the job name.
Select {SET WORD} from {SETUP} in {Main Menu}.
– Register word window is displayed
– The registered words are displayed in the word area.
– If there is not any registered word, unable to select [Name order],
[Delete] and [Delete All] in the button area.
Word area
1-26
Button area
1
1.2

Introduction
Programming Pendant
Word Registration
It is able to register the 32 words of eight characters.
Register a word by selecting [REGISTER WORD] button while the word
editing is valid (S2C410=1) during using the keyboard, or register the
word in the word register screen.
e.g. Register the word “TEST”.
Select {KEYBORD}.
Enter “TEST” by using the keyboard, and select “Regist”.
– The dialog box appears.
1-27
1
1.2
Introduction
Programming Pendant
Select [REGISTER WORD].
– The word area appears.
– Confirm that [{TEST} is in the word area.

Back Space
Delete the last character of the input character string.
Select {Back space} in the word register screen.
– Delete the last character of the input character string.

Cancel
Cancel the input character string.
Select {Cance} in the word register screen.
– Cancel the character string if there is a character string is input.
– End the word register screen if there is not any character string.
1-28
1
1.2

Introduction
Programming Pendant
Use of Words
e.g. Use the registered word {TEST}.
Select {REGISTER WORD}.
– The word area is displayed.
SUPPLE
-MENT
There is a limit to enter the character by input contents. If a
registered word includes a limited character, it is unable to
use the word.
e.g. Unable to use the lower case characters, a decimal
point and symbols to the job name.
Select {TEST} in the word area.
– The registered word “TEST” appears in the input area.
Select {KEYBORD}.
Move the focus to “1” by the programming pendant, and press [Select].
1-29
1
1.2
Introduction
Programming Pendant
– The “1” is added after “TEST” is displayed in the {Result}.
While “TEST1” is displayed in the {Result}, select {Regist}.
The dial box, which says {“TEST1” Word registration succeeded. }
appears, and the registration is completed.
1-30
1
1.2

Introduction
Programming Pendant
Change the Arrangement of the Words to Display
Able to change the arrangement of the words to display.
1. Name order display
Select {Name Order} in the button area.
– Displayed by the name order of the words.
– {Name Order} button changes to {Register order} button.
2. Register order display
Select {Register order} in the button area.
– Displayed by the register order of the words.
– {Register order} button changes to {Name Order} button.
1-31
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1.2

Introduction
Programming Pendant
Delete the Word
Able to delete the registered words.
Delete the words while the word editing is valid (S2C410=1) during using
the keyboard, or delete the word in the word register screen.
e.g. Delete registered word “TEST”.
Select {REGISTER WORD}.
The word area appears.
Select “TEST” in the word area, and select {Delete} in the button area.
– The dialog box, which asks “TEST” Do you delete a word?, appears.
Select “Yes”.
“TEST” in the word area is deleted.
1-32
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1.2

Introduction
Programming Pendant
Delete All Words
Able to delete all registered words.
Delete while the word editing is valid (S2C410=1) during using the
keyboard, or delete the word in the word register screen.
• Delete all registered words.
Select {Delete All} in the button area.
– The dialog box, which asks “Do you delete all words?”, appears.
Select “Yes”.
– The all words are deleted.
1-33
1
1.2
1.2.7
Introduction
Programming Pendant
Bilingual Function
When the bilingual function (optional) is enabled, two languages can be
displayed alternately by ONE-TOUCH operation.
1. Press [SHIFT] + [AREA]
English and Japanese can be switched each time the [AREA] and the
[SHIFT] are pressed simultaneously.
The two languages cannot be displayed alternately in the
following conditions.
SUPPLE
-MENT
• During character or number input operations, and when a
confirmation dialog is on the window.
• During axis operation, next-back or test mode in the teach
mode.
NOTE
Use alphanumeric characters (single byte) for items registered by users, such as job names and comments.
Non-alphanumeric characters cannot be displayed correctly
in languages other than Japanese and English.
1-34
1
1.2
1.2.8
Introduction
Programming Pendant
Backlight Auto OFF
If no key or touch operation is performed on the programming pendant for
10 minutes, the backlight will automatically turn OFF to reduce power
consumption.
However, if an alarm has occurred, the backlight will not automatically turn
OFF, even if there has been no key or touch operation for 10 minutes.
If a key or touch operation was performed while the backlight on the
programming pendant was OFF, the backlight will turn ON again.
However, the first key or touch operation turns ON the backlight only.
It performs no other operation.
1-35
1
1.3
1.3
Introduction
Mode
Mode
The following three modes are available for DX200.
• Teach Mode
• Play Mode
• Remote Mode
1.3.1
Teach Mode
In the teach mode, the following can be done.
• Preparation and teaching of a job
• Modification of a registered job
• Setting of various characteristic files and parameters
1.3.2
Play Mode
In the play mode, the following can be done.
• Playback of a taught job
• Setting, modification, or deletion of various condition files
1.3.3
Remote Mode
In the remote mode, the operations such as Servo ON Ready, Start, Cycle
Change, Call Master Job can be commanded by external input signals.
The operations by external input signals become enabled in the remote
mode, while [START] on the programming pendant becomes disabled.
The data transmission function (optional function) is also available in the
remote mode.
The following table shows how each operation is input in each mode.
Mode Teach Mode
Play Mode
Remote Mode
Operation
Servo ON Ready
PP
PP
External input signal
Start
Invalid
PP
External input signal
Cycle Change
PP
PP
External input signal
Call Master Job
PP
PP
External input signal
Note: “PP” indicates the programming pendant.
1.3.4
Teach Mode Priority
In the teach mode, following operations are disabled:
1. Playback using [START].
2. Playback from external input signals.
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1
1.4
1.4
1.4.1
Introduction
Security Mode
Security Mode
Types of Security Modes
The following three types of security modes are available for DX200.
Any operation in the edit mode and the management mode requires a
password. The password must contain between 4 and 8 letters, numbers,
or symbols.
• Operation Mode
The operator can monitor the line operation and start and stop the
manipulator. Repairs, etc. can be performed if any abnormalities are
detected.
• Edit Mode
Teaching, robot jog operations, and editing of jobs and various condition files can be performed in addition to the operations enabled in
the operation mode.
• Management Mode
The operator who performs setup and maintenance for the system
can set the machine control parameter, set the time, change the
password, etc. in addition to the operations enabled in the edit mode.
• Safety Mode
The operator who performs the safety management of the system
can edit the safety functional relevant files in addition to the operations enabled in the management mode. When the functional safety
function which is an optional function is enabled, the security is
changed to the safety mode in which files such as tool files can be
edited. For the details of the safety mode, refer to “DX200 OPTIONS
INSTURCTIONS FOR FUNCTIONAL SAFETY BOARD OPERATION”.
• One Time Manage Mode
Maintenance operations in higher security mode than management
mode can be performed. The one time security code provided by
Yaskawa is required to input.
Restriction of the loading of the batch data (CMOS.BIN)/parameter
batch (ALL.PRM)/function definition parameter (FD.PRM) is released in
addition to the operations enabled in the safety mode.
Inputting of the password is required when operating in the edit,
management and safety mode.
For the password of edit and management modes, 4 or more to less than
16 of characters/numbers should be specified, and 9 or more to less than
16 of characters/numbers are required to the safety mode password.
1-37
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1.4
Introduction
Security Mode
Table 1-1: Menu & Security Mode (Sheet 1 of 4)
Main Menu
Sub Menu
JOB
JOB
VARIABLE
IN/OUT
Allowed Security Mode
DISPLAY
EDIT
Operation
Edit
SELECT JOB
Operation
Operation
CREATE NEW JOB1)
Edit
Edit
MASTER JOB
Operation
Edit
JOB CAPACITY
Operation
-
RES. START (JOB)1)
Edit
Edit
RES. STATUS2)
Operation
-
CYCLE
Operation
Operation
TRASH JOB LIST3)
Edit
Edit
JOB EDIT (PLAY)
Edit
Edit
PLAY EDIT JOB LIST
Edit
Edit
BYTE
Operation
Edit
INTEGER
Operation
Edit
DOUBLE
Operation
Edit
REAL
Operation
Edit
STRING
Operation
Edit
POSITION (ROBOT)
Operation
Edit
POSITION (BASE)
Operation
Edit
POSITION (ST)
Operation
Edit
LOCAL VARIABLE
Operation
-
TIMER
Operation
Edit
EXTERNAL INPUT
Operation
Edit
EXTERNAL OUTPUT
Operation
Edit
UNIVERSAL INPUT
Operation
Operation
UNIVERSAL OUTPUT
Operation
Operation
SPECIFIC INPUT
Operation
-
SPECIFIC OUTPUT
Operation
-
RIN
Operation
-
REGISTER
Operation
Management
AUXILIARY RELAY
Operation
-
CONTROL INPUT
Operation
-
PSEUDO INPUT SIG
Operation
Management
NETWORK INPUT
Operation
-
NETWORK OUTPUT
Operation
-
ANALOG OUTPUT
Operation
-
SV POWER STATUS
Operation
-
LADDER PROGRAM
Management Management
I/O ALARM
Management Management
I/O MESSAGE
Management Management
TERMINAL
Operation
Edit
I/O SIMULATION LIST
Operation
Operation
SERVO ON FACTOR
Management -
RB STOP FACTOR MONITOR
Operation
1-38
-
1
1.4
Introduction
Security Mode
Table 1-1: Menu & Security Mode (Sheet 2 of 4)
Main Menu
Sub Menu
ROBOT
CURRENT POSITION
SYSTEM INFO
EX.MEMORY
PARAMETER
Allowed Security Mode
DISPLAY
EDIT
Operation
-
COMMAND POSITION
Operation
-
SERVO MONITOR
Management -
WORK HOME POS
Operation
Edit
SECOND HOME POS
Operation
Edit
DROP AMOUNT
Management Management
POWER ON/OFF POS
Operation
-
TOOL
Edit
Edit
INTERFERENCE
Management Management
SHOCK SENS LEVEL
Operation
Edit
USER COORDINATE
Edit
Edit
HOME POSITION
Management Management
MANIPULATOR TYPE
Management -
ANALOG MONITOR
Management Management
OVERRUN&S-SENSOR1)
Operation
Operation
LIMIT RELEASE1)
Edit
Edit
ARM CONTROL1)
Management Management
SHIFT VALUE
Operation
SOFTLIMIT SETTING
Management Management
-
SHOCK SENS LV.(CURRENT)
Operation
-
VERSION
Operation
-
MONITORING TIME
Operation
Management
CONTROLLER INFORMATION Operation
-
ALARM HISTORY
Operation
Management
I/O MSG HISTORY
Operation
Management
LOGDATA
Operation
Management
USER DEFINITION MENU
Operation
Edit
QR CODE
Operation
Operation
SECURITY
Operation
Operation
LOAD
Edit
-
SAVE
Operation
-
VERIFY
Operation
-
DELETE
Operation
-
DEVICE
Operation
Operation
FOLDER
Operation
Management
INITIALIZE1)
Operation
-
S1CxG
Management Management
S2C
Management Management
S3C
Management Management
S4C
Management Management
A1P
Management Management
A2P
Management Management
A3P
Management Management
A4P
Management Management
A5P
Management Management
A6P
Management Management
A7P
Management Management
1-39
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1.4
Introduction
Security Mode
Table 1-1: Menu & Security Mode (Sheet 3 of 4)
Main Menu
Sub Menu
PARAMETER
A8P
Allowed Security Mode
DISPLAY
SETUP
SAFETY FUNC
PM
DISPLAY
SETUP
EDIT
Management Management
RS
Management Management
S1E
Management Management
S2E
Management Management
S3E
Management Management
S4E
Management Management
S5E
Management Management
S6E
Management Management
S7E
Management Management
S8E
Management Management
TEACHING COND.
Edit
OPERATE COND.
Management Management
OPERATE ENABLE
Management Management
FUNCTION ENABLE
Management Management
JOG COND.
Management Management
Edit
PLAYBACK COND.
Management Management
FUNCTION COND.
Management Management
DISPLAYING COLOR COND.
Edit
LOGDATA COND.
Management Management
Edit
DATE/TIME
Management Management
GRP COMBINATION
Management Management
SET WORD
Edit
Edit
RESERVE JOB NAME
Edit
Edit
USER ID
Edit
Edit
SET SPEED
Management Management
KEY ALLOCATION
Management Management
JOG KEY ALLOC.
Edit
RES. START (CNCT)
Management Management
AUTO BACK SET
Management Management
Management
WRONG DATA LOG
Edit
Management
ENERGY SAVING FUNCTION
Edit
Management
ENCODER MAINTENANCE
Edit
Management
SETTM SETUP
Edit
Management
M-SAFETY SIGNAL ALLOC
Operation
Safety
TIMER DELAY SET
Operation
Safety
SAFETY LOGIC CIRCUIT
Operation
Safety
PM (REDUCER)
Operation
Management
PM (HARDWARE)
Management Management
INSPECTION NOTICE
Operation
INSPECTION RECORD
Operation
Management
CHANGE FONT
Operation
Operation
CHANGE BUTTON
Operation
Operation
INITIALIZE LAYOUT
Operation
Operation
CHANGE WINDOW PATTERN
Operation
Operation
1-40
Edit
1
1.4
Introduction
Security Mode
Table 1-1: Menu & Security Mode (Sheet 4 of 4)
Main Menu
Sub Menu
Allowed Security Mode
DISPLAY
EDIT
Operation
Edit
ARC END COND.
Operation
Edit
ARC AUX COND.
Operation
Edit
ARC WELDING ARC START COND.
WELDER COND.
Operation
Edit
ARC WELD DIAG.
Operation
Edit
WEAVING
Operation
Edit
ARC MONITOR
Operation
Edit
ARC MONITOR (SAMPL)
Operation
-
APPLI COND.
Management Management
HANDLING
HANDLING DIAGNOSIS
Operation
Edit
SPOT
WELDING
WELD DIAGNOSIS
Operation
Edit
I/O ALLOCATION
Management Management
GUN CONDITION
Management Management
SPOT WELDER COND.
Management Management
APPLICATION CONDITION
SETTING
Management Management
WELD DIAGNOSIS
Operation
Edit
GUN PRESSURE
Edit
Edit
PRESSURE
Edit
Edit
I/O ALLOCATION
Management Management
GUN CONDITION
Management Management
CLEARANCE SETTING
Operation
SPOT WELDER COND.
Management Management
TIP INSTALLATION
Operation
SPOT
WELDING
(MOTOR GUN)
Edit
Management
APPLICATION SETTING
Management Management
GENERAL
WEAVING
Operation
Edit
GENERAL DIAG.
Operation
Edit
PAINT
PAINT SYSTEM CONFIG.
Management Management
PAINT SPECIAL
Management Management
PAINT CONDITION
Operation
Edit
CALIBRATION CONFIG.
Operation
Edit
TIME CHART CONFIG.
Management Management
COMMON TO
ALL
APPLICATIONS
TIME CHART
Operation
Edit
PAINT DATA CONFIG.
Operation
Edit
PAINT OUTPUT TEST
Management Management
I/O VARIABLE CUSTOMIZE
Operation
Operation
1 Displayed in the teach mode only.
2 Displayed in the play mode only.
3 Displays only when the Job undelete function is enabled.
Note: For the operation methods when the functional safety function is
enabled, refer to “DX200 OPTIONS INSTRUCTIONS FOR FUNCTIONAL
SAFETY BOARD OPERATION”.
1-41
1
1.4
1.4.2
Introduction
Security Mode
Changing Security Mode
1. Select {SYSTEM INFO} under {Main Menu}.
– The sub menu appears.
2. Select {SECURITY}.
– The SECURITY window appears
– The security mode can be selected from operation mode, edit mode,
management mode, or safety mode.
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1
1.4
Introduction
Security Mode
3. Select the desired security mode.
– When the selected security mode is higher than the currently set
mode, the Password input status window appears.
4. Input the password as required.
– At the factory, the password number is preset as follows:
Edit Mode: [0000000000000000]
Management Mode: [9999999999999999]
Safety Mode: [5555555555555555]
5. Press [ENTER].
– The security mode is changed to when the input password is
correct.
1-43
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1.4
Introduction
Security Mode
Follow the procedures below when changing the security to the one time
manage mode.
1. Change the security to the management mode.
– Selection of the mode is available among “OPERATION MODE”,
“EDITING MODE”, “MANAGEMENT MODE”, “SAFETY MODE”,
and “ONE TIME MANAGE MODE” when the mode is changed to the
management mode.
2. Select “ONE TIME MANAGE MODE”.
3. A key pad for character input is displayed. Input the one time security
code provided by Yaskawa.
4. The security mode is changed to the one time manage mode when the
input security code is correct.
1-44
2
2.1
2
Manipulator Coordinate Systems and Operations
2.1
2.1.1
Manipulator Coordinate Systems and Operations
Control Groups and Coordinate Systems
Control Groups and Coordinate Systems
Control Group
For the DX200, a group of axes to be controlled at a time is called “Control
Group”, and the group is classified into three units: “ROBOT” as a
manipulator itself, “BASE” that moves the manipulator in parallel, and
“STATION” as jigs or tools other than “ROBOT” and “BASE”. BASE and
STATION are also called external axes.
Robot
This is the axis for the
manipulator itself.
Station
This is any axis other than the robot and base. It indicates the
tilt or rotating axis of the fixture.
Base
This is the axis that moves the entire manipulator.
It corresponds to the servo track.
It controls the path of traveling manipulators.
2-1
2
2.1
2.1.2
Manipulator Coordinate Systems and Operations
Control Groups and Coordinate Systems
Types of Coordinate Systems
The following coordinate systems can be used to operate the manipulator:
• Joint Coordinates
Each axis of the manipulator moves independently.
• Cartesian Coordinates
The tool tip of the manipulator moves parallel to any of the X-, Y-,
and Z-axes.
• Cylindrical Coordinates
The θ axis moves around the S-axis. The R-axis moves parallel to
the L-axis arm. For vertical motion, the tool tip of the manipulator
moves parallel to the Z-axis.
• Tool Coordinates
The effective direction of the tool mounted in the wrist flange of the
manipulator is defined as the Z-axis. This axis controls the coordinates of the end point of the tool.
• User Coordinates
The XYZ-cartesian coordinates are defined at any point and angle.
The tool tip of the manipulator moves parallel to the axes of them.
• Teaching Line Coordinates
The XYZ-Cartesian coordinates will be set from two steps and the Zaxis direction of the robot coordinates. The tool tip of the manipulator moves parallel to the coordinates. They can be used only for an
arc welding purpose.
U-axis
R-axis
B-axis
T-axis
Z-axis
Z-axis
L-axis
r-axis
Y-axis
S-axis
-axis
X-axis
Joint Coordinates
r-axis
Cartesian Coordinates
Cylindrical Coordinates
Z-axis
Z-axis
Y-axis
X-axis
X-axis
Y-axis
X-axis
Z-axis
Tool Coordinates
Y-axis
User Coordinates
2-2
Teaching Line Coordinates
2
2.2
2.2
2.2.0.1
Manipulator Coordinate Systems and Operations
General Operations
General Operations
Check Safety
Before any operation of the DX200, read Section 1 “Safety” of “DX200
INSTRUCTIONS” again and keep safe around the robot system or
peripherals.
2.2.0.2
Select Teach Mode
Set the mode switch on the programming pendant to “teach”.
2.2.0.3
Select Control Group
If the DX200 has several Control Groups or Coordinate Control Systems
(optional function), select control group first.
If two or more ROBOT, BASE, STATION are registered, switch control
group by pressing [SHIFT] + [ROBOT] or [SHIFT] + [EX. AXIS].
After selecting a job, the control group registered in the selected job is
enabled. The control group registered in the edit job can be switched by
pressing [ROBOT] or [EX. AXIS].
Check the selected control group at the status display area on the
programming pendant.
2.2.0.4
Select Coordinate System
Select a coordinate system by pressing [COORD].
Each time [COORD] is pressed, the coordinate system switches in the
following order:
JointCartesian (Cylindrical)ToolUserTeaching Line (only for
arc welding purpose).
Check the selected coordinate on the status display area on the
programming pendant.
2-3
2
2.2
2.2.0.5
Manipulator Coordinate Systems and Operations
General Operations
Select Manual Speed
Select manual speed of operation by pressing [FAST] or [SLOW]. The
selected speed is effective not only for axis operation but [FWD] or [BWD]
operation.
NOTE
In operating the manipulator manually by the programming
pendant, the maximum speed of center point is limited at
250 mm/s.
• Each time [FAST] is pressed, the speed switches in the order of
“INCH”“SLOW”“MED”“FAST”.
INCH
SLW
MED
FST
• Each time [SLOW] is pressed, the speed switches in the order of
“FAST”“MED”“SLOW”“INCH”.
FST
MED
SLW
INCH
Check selected manual speed on the status area of Programming
Pendant.
2.2.0.6
Servo ON
Press [SERVO ON READY], then SERVO ON LED starts blinking.
Squeeze the Enable switch, then SERVO ON LED starts lighting.
2.2.0.7
Axis Operation
Make sure of safety around the manipulator. Press [Axis Key] then axis
moves according to the selected control group, coordinates, and manual
speed. See chapter 2.3 “Coordinate Systems and Axis Operation” at
page 2-5.
2.2.0.8
HIGH SPEED
Press [HIGH SPEED] while pressing [Axis Key] to make the manipulator
move faster than the usual speed.
SUPPLE
-MENT
The [HIGH SPEED] is disabled when “INCH” is selected for
the manual speed.
2-4
2
2.3
2.3
2.3.1
Manipulator Coordinate Systems and Operations
Coordinate Systems and Axis Operation
Coordinate Systems and Axis Operation
Joint Coordinates
When operating in joint coordinates mode, the S, L, U, R, B, and T-axes of
the manipulator move independently. The motion of each axis is
described in the table below.
Table 2-1: Axis Motion in Joint Coordinates
Axis Name
Major
Axes
Wrist
Axes
SUPPLE
-MENT
Axis Operation Key
Motion
S-axis
Main unit rotates right and left.
L-axis
Lower arm moves forward and
backward.
U-axis
Upper are moves up and down.
R-axis
Wrist rolls right and left.
B-axis
Wrist moves up and down.
T-axis
Wrist turns right and left.
E-axis
Lower arm turns right and left.
• When two or more [Axis Key]s are pressed at the same
time, the manipulator will perform a compound movement.
However, if two different directional keys (such as [S -] + [S
+]) for the same axis are pressed at the same time, the
axis will not operate.
(When [S -] + [S +] + [L +] are pressed, only the axis corresponding to [L +] will operate.)
2-5
2
2.3
Manipulator Coordinate Systems and Operations
Coordinate Systems and Axis Operation
U-axis
T-axis
R-axis
B-axis
B-axis
R-axis
U-axis
T-axis
L-axis
E-axis
L-axis
S-axis
S-axis
6-Axis Manipulator
7-Axis Manipulator
When "ALL AXES ANGLE DISPLAY FUNCTION" is
enabled, {ABSO. ANGLE} or {GROUND ANGLE} appears
on the CURRENT POSITION window.
In case {ABSO. ANGLE} or {GROUND ANGLE} is selected
at CURRENT POSITION COORDINATE, directions of Laxis, R-axis and T-axis angle differ from the pulse display.
NOTE
When operating in joint coordinates mode, check the movement direction and pay great attention to perform the operation.
For details, refer to chapter 8.3.0.47 “S2C684:ALL AXES
ANGLE DISPLAY FUNCTION” .
2-6
2
2.3
2.3.2
Manipulator Coordinate Systems and Operations
Coordinate Systems and Axis Operation
Cartesian Coordinates
In the cartesian coordinates, the manipulator moves parallel to the X-, Y-,
or Z-axes. The motion of each axis is described in the table below.
Table 2-2: Axis Motion in Cartesian Coordinates
Axis Name
Basic
Axes
Wrist Axes
SUPPLE
-MENT
Axis Operation Key
Motion
X-axis
Moves parallel to X-axis.
Y-axis
Moves parallel to Y-axis.
Z-axis
Moves parallel to Z-axis.
Motion about TCP is executed. See
chapter 2.3.7 “Control Point Operation” at page 2-17.
• When two or more [Axis Key]s are pressed at the same
time, the manipulator will perform compound movement.
However, if two different directional keys (such as [X -] + [X
+]) for the same axis are pressed at the same time, the
axis will not operate.
(When [X -] + [X +] + [Y +] are pressed, only the axis corresponding to [Y +] will operate.)
Z-axis
Y-axis
X-axis
2-7
2
2.3
Manipulator Coordinate Systems and Operations
Coordinate Systems and Axis Operation
Fig. 2-1: Moves parallel to X- or Y-axis
Fig. 2-2: Moves parallel to Z-axis
Y-axis
Z-axis
X-axis
2.3.3
Cylindrical Coordinates
In the cylindrical coordinates, the manipulator moves as follows. The
motion of each axis is described in the table below.
Table 2-3: Axis Motion in Cylindrical Coordinates
Axis Name
Basic
Axes
Motion
θ-axis
Main unit rolls around S-axis.
r-axis
Moves perpendicular to Zaxis.
Z-axis
Moves parallel to Z-axis.
Wrist Axes
SUPPLE
-MENT
Axis Operation Key
Motion about TCP is executed. See
chapter 2.3.7 “Control Point Operation” at
page 2-17.
• When two or more [Axis Key]s are pressed at the same
time, the manipulator will perform compound movement.
However, if two different directional keys (such as [Z -] + [Z
+]) for the same axis are pressed at the same time, the
axis will not operate.
(When [Z -] + [Z +] + [Y +] are pressed, only the axis corresponding to [Y +] will operate.)
2-8
2
2.3
Manipulator Coordinate Systems and Operations
Coordinate Systems and Axis Operation
Z-axis
r-axis
-axis
r-axis
Fig. 2-3: Rolls around q-axis
Fig. 2-4: Moves perpendicular to r-axis
r-axis
r-axis
2-9
2
2.3
2.3.4
Manipulator Coordinate Systems and Operations
Coordinate Systems and Axis Operation
Tool Coordinates
In the tool coordinates, the manipulator moves parallel to the X-, Y-, and Zaxes, which are defined at the tip of the tool. The motion of each axis is
described in the table below.
Table 2-4: Axis Motion in Tool Coordinates
Axis Name
Basic
Axes
Axis Operation Key
X-axis
Moves parallel to X-axis.
Y-axis
Moves parallel to Y-axis.
Z-axis
Moves parallel to Z-axis.
Wrist Axes
SUPPLE
-MENT
Motion
Motion about TCP is executed. See
chapter 2.3.7 “Control Point Operation” at page 2-17.
• When two or more [Axis Key]s are pressed at the same
time, the manipulator will perform compound movement.
However, if two different directional keys (such as [X -] + [X
+]) for the same axis are pressed at the same time, the
axis will not operate.
(When [X -] + [X +] + [Y +] are pressed, only the axis corresponding to [Y +] will operate.)
X-axis
X-axis
Y-axis
Y-axis
Z-axis
X-axis
Y-axis
Z-axis
Z-axis
The tool coordinates are defined at the tip of the tool, assuming that the
effective direction of the tool mounted on the manipulator wrist flange is
the Z-axis. Therefore, the tool coordinates axis direction moves with the
wrist.
In the tool coordinates motion, the manipulator can be moved using the
effective tool direction as a reference regardless of the manipulator
position or orientation. These motions are best suited when the
manipulator is required to move parallel while maintaining the tool
orientation with the workpieces.
2-10
2
2.3
Manipulator Coordinate Systems and Operations
Coordinate Systems and Axis Operation
SUPPLE
-MENT
For tool coordinates, the tool file should be registered in
advance. For further details, refer to “8.3 Tool Data Setting”
of coordinates “DX200 INSTRUCTIONS” (RE-CTO-A220).
2-11
2
2.3
2.3.4.1
Manipulator Coordinate Systems and Operations
Coordinate Systems and Axis Operation
Selecting Tool
Tool numbers are used to specify a tool when more than one tool is used
on the system.
You may select from the registered tool files when you switch tools on the
manipulator.
SUPPLE
-MENT
This operation can be performed only when the number of
tool is more than one.
To use several tool files with one manipulator, set the following parameter.
S2C431: Tool number switch specifying parameter
1: Can be switched
0: Cannot be switched
1. Press the [COORD] and select the tool coordinates
.
– Each time [COORD] is pressed, the coordinate system switches in
the following order:
JointCartesian (Cylindrical)ToolUserTeaching Line (only for
arc welding purpose).
Check the change on the status display area.
2. Press [SHIFT] + [COORD].
– The TOOL NO. SELECT window appears.
3. Move the cursor to the tool to use.
– The TOOL NO. SELECT window above shows an example; “TOOL
NO. 0 TORCH MT-3501” is selected.
4. Press [SHIFT] + [COORD].
– The window goes back to the previous window.
2-12
2
2.3
2.3.5
Manipulator Coordinate Systems and Operations
Coordinate Systems and Axis Operation
User Coordinates
In the user coordinates, the manipulator moves parallel to each axis of the
coordinates which are set by the user. Up to 24 coordinate types can be
registered. Each coordinate has a user number and is called a user
coordinate file.
The figure and the table below describe the motion of each axis when the
[Axis Key] is pressed.
Table 2-5: Axis Motion in User Coordinates
Axis Name
Basic
Axes
Wrist Axes
SUPPLE
-MENT
Axis Operation Key
Motion
X-axis
Moves parallel to X-axis.
Y-axis
Moves parallel to Y-axis.
Z-axis
Moves parallel to Z-axis.
Motion about TCP is executed. See
chapter 2.3.7 “Control Point Operation” at page 2-17.
• When two or more [Axis Key]s are pressed at the same
time, the manipulator will perform compound movement.
However, if two different directional keys (such as [X -] + [X
+]) for the same axis are pressed at the same time, the
axis will not operate.
(When [X -] + [X +] + [Y +] are pressed, only the axis corresponding to [Y +] will operate.)
2-13
2
2.3
Manipulator Coordinate Systems and Operations
Coordinate Systems and Axis Operation
Fig. 2-5: Moves parallel to X or Y-axis
Y-axis
X-axis
Z-axis
Z-axis
Y-axis
Fig. 2-6: Moves parallel to Z-axis
X-axis
X-axis
Y-axis
Z-axis
Station, etc.
Y-axis
2-14
2
2.3
2.3.5.1
Manipulator Coordinate Systems and Operations
Coordinate Systems and Axis Operation
Selecting User Coordinates
Follow these procedures to select the desired coordinate system from
among the registered user coordinates.
1. Press [COORD] to select the user coordinates
.
– Each time [COORD] is pressed, the coordinate system switches in
the following order:
JointCartesian (Cylindrical)ToolUser.
Check the change on the status display area.
2. Press [SHIFT] + [COORD].
– The USER COORD SELECT window appears.
SUPPLE
-MENT
For more information on registration of the user coordinates,
refer to “8.8 User Coordinate Setting” of “DX200 INSTRUCTIONS” (RE-CTO-A220).
3. Select the desired user number.
2-15
2
2.3
2.3.5.2
Manipulator Coordinate Systems and Operations
Coordinate Systems and Axis Operation
Examples of User Coordinate Utilization
The user coordinate settings allow easy teaching in various situations.
For example:
• When multiple positioners are used,
manual operation can be simplified by setting the user coordinates
for each fixture.
User coordinates
Fixture
Fixture
Fixture
User coordinates
• When performing arranging or stacking operations,
the incremental value for shift can be easily programmed by setting
user coordinates on a pallet.
• When performing conveyor tracking operations,
the moving direction of the conveyor is specified.
Conveyor
2.3.6
External Axis
The external axis can be operated by selecting “BASE” or “STATION” for
the control group. The motion of each axis is described in the table below.
2-16
2
2.3
Manipulator Coordinate Systems and Operations
Coordinate Systems and Axis Operation
Axis Name
BASE or
STATION
2.3.7
Axis Operation Key
Motion
1st axis
The 1st axis moves.
2nd axis
The 2nd axis moves.
3rd axis
The 3rd axis moves.
Control Point Operation
Motion about TCP (Tool Center Point) can only change the wrist
orientation at a fixed TCP position in all coordinate systems except the
joint coordinates. The motion of each axis is described in the table below.
Table 2-6: Axis Motion in Motion about TCP
Axis Name
Axis Operation Key
Motion
Major Axes
TCP moves. These movements
differ depending on cartesian,
cylindrical, tool and user
coordinates.
Wrist Axes
Wrist axes move with the TCP
fixed. These movements differ
depending on cartesian,
cylindrical, tool and user
coordinates.
E-axis
* Available only for the manipulator
with seven axes
The posture of arm changes while
the position and posture of the tool
remain fixed. (The Re degree
changes.)
SUPPLE
-MENT
• When two or more [Axis Key]s are pressed at the same
time, the manipulator will perform compound movement.
However, if two different directional keys (such as [X -] + [X
+]) for the same axis are pressed at the same time, the
axis will not operate.
(When [X -] + [X +] + [Y +] are pressed, only the axis corresponding to [Y +] will operate.)
2-17
2
2.3
Manipulator Coordinate Systems and Operations
Coordinate Systems and Axis Operation
Re is an element to indicate the posture of the manipulator
with seven axes and does not change by the specified coordinates.
The definition of Re is shown below.
SUPPLE
-MENT
Fig. 2-7: Torch Welding
Fig. 2-8: Gun Spot Welding
TCP
2-18
2
2.3
Manipulator Coordinate Systems and Operations
Coordinate Systems and Axis Operation
Turning of each wrist axis differs in each coordinate system.
• In cartesian or cylindrical coordinates, wrist axis rotations are based
on the X-, Y-, or Z-axis.
Z-axis
−
+
Y-axis
−
+
+
Z-axis
−
X-axis
Y-axis
X-axis
• In tool coordinates, wrist axis rotations are based on X-, Y-, or Z-axis
of the tool coordinates.
X-axis
−
+
−
Z-axis
+
Y-axis
2-19
+
−
2
2.3
Manipulator Coordinate Systems and Operations
Coordinate Systems and Axis Operation
• In user coordinates, wrist axis rotations are based on X-, Y-, or Z-axis
of the user coordinates.
Z-axis
+
-
Y-axis
-
-
+
X-axis
+
Z-axis
Y-axis
X-axis
2.3.7.1
Control Point Change
The tool tip position (TCP) is the target point of axis operations and is set
as the distance from the flange face. The control point change operation
is an axis operation that involves selecting a tool from the list of registered
tools (Refer to chapter 2.3.4.1 “Selecting Tool” at page 2-12), and then
manipulating the axes while changing the TCP. This can be performed
with all coordinates except the joint coordinates. The axis operation is the
same as that of the motion about TCP.
<Example 1>TCP Change Operation with Multiple Tools
(1) Set the TCPs for Tool 1 and Tool 2 as P1 and P2, respectively.
(2) When Tool 1 is selected to perform an axis operation, P1 (Tool 1’s
TCP) is the target point of the operation. Tool 2 follows Tool 1 and
is not controlled by the axis operation.
(3) On the other hand, When Tool 2 is selected to perform an axis
operation, P2 (Tool 2’s TCP) is the target point of the axis operation. In this case, Tool 1 just follows Tool 2.
Fig. 2-9: Selection of Tool 1 and axis Fig. 2-10: Selection of Tool 2 and
operations with controlling P1
axis operations with controlling P2
Tool 2
Tool 1
P1
P2
P1
Workpiece
Workpiece
2-20
P2
2
2.3
Manipulator Coordinate Systems and Operations
Coordinate Systems and Axis Operation
<Example 2>TCP Change Operation with a Single Tool
(1) Set the two corners of the workpiece that the tool is holding as
TCP P1 and P2 respectively.
(2) By selecting two TCPs alternately, the workpiece can be moved as
shown below:
Fig. 2-11: Motion about TCP with P1
selected
Fig. 2-12: Motion about TCP with P2
selected
Workpiece
Workpiece
P1
P1
P2
P2
SUPPLE
-MENT
For registration of the tool file, refer to “8.3 Tool Data Setting”
of “DX200 INSTRUCTIONS” (RE-CTO-A220).
2-21
2
2.3
2.3.8
Manipulator Coordinate Systems and Operations
Coordinate Systems and Axis Operation
Teaching Line Coordinates
The teaching line coordinates is the coordinates that are set from the two
successive steps and the Z-axis direction of the robot coordinates. They
can be used only for the arc welding purpose.
Each axis of the teaching line coordinates system
X-axis
Motion direction
Tangential direction in a circular arc path
Y-axis
Gy is outer product direction of the Z-axis of base coordinates and X-axis of
teaching line coordinates.
θR is the angle of Gy and Z-axis of tool coordinates.
θL is the angle of -Gy and Z-axis of tool coordinates.
When θR is smaller than θL, Y-axis of teaching line coordinates is Gy.
When θL is smaller than θR, Y-axis of teaching line coordinates is -Gy.
Z-axis
Z-axis of teaching line coordinates is the outer product direction of the X-axis
of base coordinates and Gy.
Fig. 2-13: Teaching Line Coordinates
Z-axis
Tool Coordinates
Tool Coordinates
Z-axis
Z-axis
θL
θR
θL
θR
Gy
Step n-1
Gy
Y-axis
Step n-1
Y-axis
Step n
Step n
θL
X-axis
(Motion direction)
θL
> θR
< θR
X-axis
(Motion direction)
Fig. 2-14: Linear Interpolation and the Teaching Line Coordinates
Step instructionsࠉTeaching line coordinate
system instructions
Step3
䠵
䠴
Step1
Step2
NOP
1
MOVL
2
MOVL
3
MOVL
None
2
1
3
4
5
Fig. 2-15: Circular Interpolation and the Teaching Line Coordinates
Step instructions Teaching line coordinate
system instructions
Step2
NOP
X
Y
Step3
None
1
MOVC
2
MOVC
1
2
3
3
MOVC
4
5
6
Step1
2-22
2
2.3

Manipulator Coordinate Systems and Operations
Coordinate Systems and Axis Operation
Torch Angle and Travel Angle
Torch angles and travel angles
Torch
angle
The angle of Y-axis of teaching line coordinates and the direction
that projected Z-axis of tool coordinates on YZ-plane of teaching
line coordinates.
Travel
angle
The angle subtracted 90 degrees from the angle of X-axis of
teaching line coordinates and Z-axis of tool coordinates.
Fig. 2-16: Torch Angle and Travel Angle
Teaching line
Coordinates
Z-axis
Tool Coordinates
Z-axis
B
Teaching line
Coordinates
Y-axis
Teaching line
Coordinates
X-axis
A
View A
Teaching line
Coordinates
Z-axis
View B
Tool Coordinates
Z-axis
Torch angle Teaching line
Coordinates
Y-axis
2-23
Tool Coordinates
Z-axis
Travel angle
Teaching line
Coordinates
X-axis
2
2.3
2.3.8.1
Manipulator Coordinate Systems and Operations
Coordinate Systems and Axis Operation
Operations for Teaching Line Coordinates System
In the teaching line coordinates system, the manual operation can be
done as follows:
Table 2-7: Axis operation for the teaching line coordinates system
Axis Name
Axis Operation Key
Motion
Basic X-axis
Axes
Moves parallel to X-axis.
Y-axis
Moves parallel to Y-axis.
[SHIFT]+[Y-], [SHIFT]+[Y+]
Moves parallel to Gy-axis.
Z-axis
Moves parallel to Z-axis.
[INTERLOCK]+[Z-], [INTERLOCK]+[Z+]
Moves parallel to the tool coordinates
Z-axis.
Wrist Axes
The torch angle changes when the
position of TCP (Tool Center Point) is
fixed.
[SHIFT]+[x-], [SHIFT]+[x+]
Tool posture changes around X-axis
with the TCP fixed.
The travel angle changes when the
position of TCP (Tool Center Point) is
fixed.
[SHIFT]+[y-], [SHIFT]+[y+]
Tool posture changes around Gy-axis
with the TCP fixed.
Tool posture changes around Z-axis of
tool coordinates with the TCP fixed.
[SHIFT]+[z-], [SHIFT]+[z+]
Tool posture changes around Z-axis
with the TCP fixed.
Axis operation for the teaching line coordinates system
SUPPLE
-MENT
• When two or more [Axis Key]s are pressed at the same
time, the manipulator will perform compound movement.
However, if two different directional keys (such as [X -] + [X
+]) for the same axis are pressed at the same time, the axis
will not operate.
(When [X -] + [X +] + [Y +] are pressed, only the axis corresponding to [Y +] will operate.)
2-24
2
2.3
Manipulator Coordinate Systems and Operations
Coordinate Systems and Axis Operation
Fig. 2-17: Operation for the Torch Angle and Travel Angle
Torch Angle
Z-axis of
Teaching Line
Coordinates
Limited operating range
for the Torch angle
Torch Angle
+ direction
Torch Angle
+ direction
Y-axis of
Teaching Line
Coordinates
Y-axis of
Teaching Line
Coordinates
(Gy)
Torch Angle
- direction
Torch Angle
- direction
Travel Angle
Z-axis of
Tool Coordinates
Travel Angle
+ direction
Travel Angle
- direction
X-axis of
Teaching Line
Coordinates
Limited operating range
for the Travel angle
Travel Angle
+ direction
Travel Angle
- direction
In steps for circular interpolation or spline interpolation, perform manual
operation after performing FWD, BWD or test operations.
2-25
2
2.3
Manipulator Coordinate Systems and Operations
Coordinate Systems and Axis Operation
In the following operations and cases, manual operation for teaching line
coordinate is limited.
Table 2-8: Limited Manual Operation for Teaching Line Coordinate
Condition
Restrictions
Job is not selected.
Cannot perform manual
operation.
The number of steps in the JOB is less than 2.
The cursor is at the 1st step.
The current step and the previous step are the
same position, or the distance between these
steps are short.
Motion direction is the same as the Z-axis
direction of the base coordinate.
Move instruction of current step is MOVJ.
Move instruction of current step is IMOV.
The torch angle is about ± 90°.
The following manual
operation cannot be done.
• Teaching line coordinate
Y-axis
• Torch Angle
The travel angle is about ± 90°.
The following manual
operation cannot be done.
• Teaching line coordinate
Y-axis
• Torch Angle
• Travel Angle
2-26
2
2.3
2.3.8.2
Manipulator Coordinate Systems and Operations
Coordinate Systems and Axis Operation
Display Welding-related Information
1
2
3
Torch angle (-90.000 ~ 90.000)
CURRENT: Degree of torch angle of current teaching line coordinates
COMMAND: Target position of moving operation to torch angle/travel
angle
Travel angle (-90.000 ~ 90.000)
CURRENT: Degree of travel angle of current teaching line coordinates
COMMAND: Target position of moving operation to torch angle/travel
angle
Downward angle (-90.000 ~ 90.000)
CURRENT: Current downward angle
The angle that is subtracted by 90 degrees from the angle
of Z-axis of the base coordinates and X-axis of the teaching
line coordinates.
In the following operations and cases, INFORMATION RELATED ARC is
not displayed.
• Selecting a job
• Editing a job
• Moving the cursor
• The cursor is at the 1st step.
• The current step and the previous step are the same position, or the
distance between these steps are short.
• The move instruction of current step is MOVJ.
• The move instruction of current step is IMOV.
• Motion direction is the same as the Z-axis of base coordinate.
2-27
2
2.3

Manipulator Coordinate Systems and Operations
Coordinate Systems and Axis Operation
Switching Welding-related Information Display
Able to switch a state of ARC INFORMATION display to hide or show.
1. Select the {JOB} under {Main Menu}.
2. Select {JOB CONTENT}.
– Job content window appears.
3. Select {DISPLAY} in the menu area.
– A pull-down menu appears.
4. Select {ARC INFORMATION}.
– Welding-related information is displayed.
2-28
2
2.3

Manipulator Coordinate Systems and Operations
Coordinate Systems and Axis Operation
Moving Operation to Torch Angle/Travel Angle
Able to move the manipulator to the torch angle/travel angle which are
specified to the COMMAND (target position) in the ARC INFORMATION.
1. Display the ARC INFORMATION.
2. Touch the ARC INFORMATION.
– The arc information becomes active.
3. Select a data input area of the torch angle or travel angle.
4. Input numeric value by [Numeric Key].
5. Press [ENTER].
– The COMMAND is set.
2-29
2
2.3
Manipulator Coordinate Systems and Operations
Coordinate Systems and Axis Operation
6. Press [NEXT].
– The confirmation dialog box appears to confirm to move the
manipulator to the torch angle/travel angle.
NOTE
In the multi-window mode, moving operation to the torch
angle/travel angle is unavailable. If [NEXT] is pressed
when the cursor is on a move instruction, the next motion of
the move instruction is operated.
7. Press [YES].
– The confirmation dialog box disappears.
– When the arc information is active, the confirmation dialog doesn’t
appear again.
8. By pressing [NEXT] again, the manipulator moves to the target
position.
– The manipulator stops when the manipulator arrives to the target
position.
– The manipulator stops when [NEXT] is released.
2-30
3
3.1
3
Teaching
Preparation for Teaching
Teaching
3.1
Preparation for Teaching
To ensure safety, the following operations should always be performed
before teaching:
• Check the emergency stop buttons to be sure they function properly.
• Set the mode switch to “TEACH”.
Then,
• Register a job.
3.1.1
Checking Emergency Stop Buttons
The Servo ON button on the programming pendant should be lit while the
power is ON for the servo system. Perform the following operation to
ensure that the emergency stop buttons on both the DX200 and the
programming pendant are functioning correctly before operating the
manipulator.
1. Press E. STOP button.
– Press the emergency stop button on the DX200 or the programming
pendant.
2. Confirm the servo power is turned OFF.
– The SERVO ON button on the programming pendant lights while
servo supply is turned ON.
– When the emergency stop button is pressed and the servo power is
turned OFF, the SERVO ON lamp will turn OFF.
3. Press [SERVO ON READY] of the programming pendant.
– After confirming correct operation, press [SERVO ON READY]. The
servo power will be ready to turn ON.
– The servo power can be turned ON while the SERVO ON button
lamp blinks.
3.1.2
Setting the Teach Lock
For safety purposes, always set the mode switch to “TEACH” before
beginning to teach.
While the teach lock is set, the mode of operation is tied to the teach mode
and the machines cannot be played back using either [START] or external
input.
3-1
3
3.1
3.1.3
Teaching
Preparation for Teaching
Registering a Job
Specify the name, comments (as required), and control group to register a
job.
3.1.3.1
Registering Job Names
Job names can use up to 32 alphanumeric and symbol characters. These
different types of characters can coexist within the same job name.
The following rules apply to the designation of job names:
• A maximum of 32 characters can be used for a job name.
• If the job name is already used, an input error is caused.
<Example>
0 0 1
3.1.3.2
JO B - 1
Registering Jobs
1. Select {JOB} under {Main Menu}.
– The sub-menu appears.
2. Select {CREATE NEW JOB}.
– The NEW JOB CREATE window appears.
3-2
WO R K - A
3
3.1
Teaching
Preparation for Teaching
3. Input job name.
– Move the cursor to JOB NAME, and press [SELECT]. Input job
names using the character input operation. For information on
character input operation, refer to chapter 1.2.6 “Character Input
Operation” at page 1-23.
4. Press [ENTER].
3.1.3.3
Registering Comments
Register a comment using up to 32 alphanumeric and symbol characters
as required.
1. Enter a comment.
– In the NEW JOB CREATE window, move the cursor to the comment
and press [SELECT]. For information on character input operation,
refer to chapter 1.2.6 “Character Input Operation” at page 1-23.
2. Press [ENTER].
3.1.3.4
Registering Control Groups
Select the control group that has been registered in advance. If external
axes (BASE or STATION) or multiple robot systems are not used, the
registration of control groups is not required.
3-3
3
3.1
3.1.3.5
Teaching
Preparation for Teaching
Switching to the Teaching Window
After the name, comments (can be omitted), and the control groups have
been registered, switch the window to the teaching window as follows.
1. In the NEW JOB CREATE window, press [ENTER] or select
“EXECUTE”.
– Job name, comments, and control groups are all registered. Then,
the JOB CONTENT window appears. NOP and END instructions
are automatically registered.
3-4
3
3.2
3.2
3.2.1
Teaching
Teaching Operation
Teaching Operation
Teaching Window
Teaching is conducted in the JOB CONTENT window. The JOB
CONTENT window contains the following items:
B. Cursor
C. Instruction, additional
items, comments, etc.
A. Line numbers
A. Line Numbers
The number of the job line is automatically displayed. Line numbers are
automatically updated if lines are inserted or deleted.
B. Cursor
The cursor for manipulator control. For the FWD, BWD, and test operation, the manipulator motion starts from the line this cursor points.
C. Instructions, Additional Items, Comments, Etc.
MOVJ
VJ = 50.00
Tag Numerical Data
Instruction
Additional Item
Instructions
: These are instructions needed to process or perform an
operation. In the case of MOVE instructions, the
instruction corresponding to the interpolation type is
automatically displayed at the time position is taught.
Additional items
: Speed and time are set depending on the type of
instruction. When needed, numerical or character data
is added to the condition-setting tags.
3-5
3
3.2
3.2.2
Teaching
Teaching Operation
Interpolation Type and Play Speed
Interpolation type determines the path along which the manipulator moves
between playback steps. Play speed is the rate at which the manipulator
moves.
Normally, the position data, interpolation type, and play speed are
registered together for a robot axis step. If the interpolation type or play
speed settings are omitted during teaching, the data used from the
previously taught step is automatically used.
3.2.2.1
Joint Interpolation
The joint interpolation is used when the manipulator does not need to
move in a specific path toward the next step position. When the joint
interpolation is used for teaching a robot axis, the move instruction is
MOVJ. For safety purposes, use the joint interpolation to teach the first
step.
When [MOTION TYPE] is pressed, the move instruction on the input
buffer line changes.
<Play Speed Setting Window>
• Speeds are indicated as percentages of the maximum rate.
• Setting “0:Speed Omit” sets the same speed as the previous determination.
1. Move the cursor to the play speed.
2. Set the play speed by pressing [SHIFT] + the cursor.
– The joint speed value increases or decreases.
Fast
100.00
50.00
25.00
12.50
6.25
3.12
1.56
Slow
0.78 (%)
3-6
3
3.2
3.2.2.2
Teaching
Teaching Operation
Linear Interpolation
The manipulator moves in a linear path from one taught step to the next.
When the linear interpolation is used to teach a robot axis, the move
instruction is MOVL. Linear interpolation is used for work such as
welding. The manipulator moves automatically changing the wrist position
as shown in the figure below.
<Play Speed Setting Window (same for circular and spline interpolation)>
• There are two types of displays, and they can be switched depending on the application.
1. Move the cursor to the play speed.
2. Set the play speed by pressing [SHIFT] + the cursor.
– The play speed value increases or decreases.
Fast 1500.0
750.0
375.0
187.0
93.0
46.0
23.0
Slow
11 (mm/s)
3-7
Fast 9000
4500
2250
1122
558
276
138
Slow
66 (cm/min)
3
3.2
3.2.2.3
Teaching
Teaching Operation
Circular Interpolation
The manipulator moves in an arc that passes through three points. When
circular interpolation is used for teaching a robot axis, the move instruction
is MOVC.

Single Circular Arc
When a single circular movement is required, teach the circular
interpolation for three points, P1 to P3, as shown in the following figure. If
joint or linear interpolation is taught at P0, the point before starting the
circular operation, the manipulator moves from P0 to P1 in a straight line.
Table 3-1: Interpolation Type for Single Circular Arc
Point Interpolation Instruction
Type
Automatically becomes
a straight line.
P0

P0
Joint or
Linear
MOVJ
MOVL
P1
P2
P3
Circular
MOVC
P4 P4
Joint or
Linear
MOVJ
MOVL
P2
P1
P3
Continuous Circular Arcs
When two or more successive circular movements with different
curvatures are required, the two circular movements can be continued by
adding “FPT” tag to the step whose curvature is needed to be changed.
Table 3-2: Interpolation Type for Continuous Circular Arcs
Point Interpolation Instruction
Type
P2
P5
P3
P0
P1
P4
P6
P0
Joint or
Linear
MOVJ
MOVL
P1
P2
Circular
MOVC
P3
Circular
MOVC
FPT
P4
P5
Circular
MOVC
P6
Joint or
Linear
MOVJ
MOVL
In case the “FPT” tag is not added, two or more successive circular
movements must be separated from each other. Thus, as shown in P4 of
the following figure, the linear interpolation step or the joint must be
inserted at an identical point in which the end point of the preceding
circular movement coincide with the beginning point of the following
circular movement.
However, if the step at the identical point is taught, the continuous
movements cannot be performed.
3-8
3
3.2
Teaching
Teaching Operation
Point Interpolation Instruction
Type
Joint or linear
motion type
P2
P0
P1
P7
P3
P4
P5
P6
P8
P0
Joint or
Linear
MOVJ
MOVL
P1
P3
Circular
MOVC
P4
Joint or
Linear
MOVJ
MOVL
P5
P6
P7
Circular
MOVC
P8
Joint or
Linear
MOVJ
MOVL
<Play Speed>
• The play speed set display is identical to that for the linear interpolation.
• The speed taught at P2 is applied from P1 to P2. The speed taught
at P3 is applied from P2 to P3.
• If a circular operation is taught at high speed, the actual arc path has
a shorter radius than that taught.
3.2.2.4
Spline Interpolation
When performing operations such as welding, cutting, and applying
primer, using the spline interpolation makes teaching for workpieces with
irregular shapes easier. The path of motion is a parabola passing through
three points. When spline interpolation is used for teaching a robot axis,
the move instruction is MOVS.

Single Spline Curve
When a single spline curve movement is required, teach the spline
interpolation for three points, P1 to P3, as shown in the figure below. If
joint or linear interpolation is taught at point P0, the point before starting
the spline interpolation, the manipulator moves from P0 to P1 in a straight
line.
Table 3-3: Interpolation Type for Single Spline Curve
Point Interpolation Instruction
Type
P0
Joint or
Linear
MOVJ
MOVL
P1
P2
P3
Spline
MOVS
P4
Joint or
Linear
MOVJ
MOVL
P2
Automatically becomes
a straight line.
3-9
3
3.2

Teaching
Teaching Operation
Continuous Spline Curves
The manipulator moves through a path created by combining parabolic
curves. This differs from the circular interpolation in that steps with
identical points are not required at the junction between two spline curves.
Table 3-4: Interpolation Type for Continuous Spline Curves
Point Interpolation Instruction
Type
P2
Identical-point
step not required
P5
P0
P6
P3
P1
P0
Joint or
Linear
MOVJ
MOVL
P1
to
P5
Spline
MOVS
P6
Joint or
Linear
MOVJ
MOVL
P4
When the parabolas overlap, a composite motion path is created.
Start path
End path
<Play Speed>
• The play speed setting window is identical to that for the linear interpolation.
• As with the circular interpolation, the speed taught at P2 is applied
from P1 to P2, and the speed taught at P3 is applied from P2 to P3.
NOTE
Teach points so that the distances between the three points
are roughly equal. If there is any significant difference, an
error will occur on playback and the manipulator may operate in an unexpected, dangerous manner. Ensure that the
ratio of distances between steps m:n is within the range of
0.25 to 0.75.
P2
P1
3-10
n
m
P3
3
3.2
3.2.3
3.2.3.1
Teaching
Teaching Operation
Teaching Steps
Registering Move Instructions
Whenever one step is taught, one move instruction is registered. There
are two ways to teach a step. Steps can be taught in sequence as shown
in the following left figure fig. 3-1 “Registering Move Instructions” or they
can be done by inserting steps between already registered steps, as
shown in the right figure fig. 3-2 “Inserting Move Instructions”
This paragraph explains the teaching of fig. 3-1 “Registering Move
Instructions” , the operations involved in registering new steps.
Fig. 3-1: Registering Move Instructions
Step 1
Fig. 3-2: Inserting Move Instructions
Step Insertion
P1
Step 2
Step 2
Step 3
Step 1
Step 3
Teaching of fig. 3-2 “Inserting Move Instructions” is called “Inserting
move instruction”, to distinguish it from the method shown in fig. 3-1
“Registering Move Instructions” . For more details on this operation, see
chapter 3.4.2 “Inserting Move Instructions” at page 3-34. The basic
operations for registration and insertion are the same. The only difference
is pressing [INSERT] in the case of insertion. For registration (fig. 3-1
“Registering Move Instructions” ), the instruction is always registered
before the END instruction. Therefore, it is not necessary to press
[INSERT]. For insertion (fig. 3-2 “Inserting Move Instructions” ), [INSERT]
must be pressed.
3-11
3
3.2

Teaching
Teaching Operation
Setting the Position Data
1. Select {JOB} under {Main Menu}.
– The sub-menu appears.
2. Select {JOB}.
– The contents of the currently-selected job is displayed.
3. Move the cursor on the line immediately before the position where a
move instruction to be registered.
4. Grip the Enable switch.
– Grip the Enable switch to turn the servo power ON.
5. Move the manipulator to the desired position using [Axis Key].
– Use [Axis Key] to move the manipulator to the desired position.
3-12
3
3.2

Teaching
Teaching Operation
Selecting the Tool Number
1. Press [SHIFT] + [COORD].
– When selecting the “JOINT”, “XYZ/CYLINDRICAL”, or “TOOL”
coordinates, press [SHIFT] + [COORD] and the TOOL NO. SELECT
window will be shown.
2. Move the cursor to the desired tool number.
– The currently-selected tool number by the cursor is displayed.
3. Press [SHIFT] + [COORD].
– The JOB CONTENT window appears.
Using Multiple Tools with One Manipulator
SUPPLE
-MENT
• When multiple tools are to be used with one manipulator,
set parameter S2C431 to 1.
• See chapter 2.3.4 “Tool Coordinates” at page 2-10 for
details on this operation.

Setting the Interpolation Type
1. Press [MOTION TYPE].
2. Select the desired interpolation type.
– When [MOTION TYPE] is pressed, MOVJMOVLMOVC
MOVS are displayed in order in the input buffer line.
3-13
3
3.2

Teaching
Teaching Operation
Setting the Play Speed
1. Move the cursor to the instruction.
2. Press [SELECT].
– The cursor moves to the input buffer line.
3. Move the cursor to the play speed to be set.
4. Press [SHIFT] + the cursor [↑] or [↓] simultaneously.
– The joint speed moves up and down.
5. Press [ENTER].
– The MOV instruction is registered.
Move instruction
is registered.
Follow the above instructions when conducting teaching. (Tool number,
interpolation type, or play speed does not need to be set if it is same as
the previous step.)
SUPPLE
-MENT
To make the setting so that the play speed tag is not displayed as a default, select {EDIT} from the menu and then
select “ENABLE SPEED TAG” to delete “∗”.
• The position level can be set at the same time that the
move instruction is registered.
SUPPLE
-MENT
• To display the position level tag as a default, select {EDIT}
from the menu and then select “ENABLE POS LEVEL
TAG”.
Position Level: The position level is the degree of approximation of the
manipulator to a taught position.
The position level can be added to move instructions MOVJ (joint
interpolation) and MOVL (linear interpolation).
If the position level is not set, the precision depends on the operation
speed. Setting an appropriate level moves the manipulator in a path
suitable to circumferential conditions and the workpiece.
3-14
3
3.2
Teaching
Teaching Operation
The relationship between path and accuracy for position levels is as
follows.
Position level 0
P2
P3
Position level 1
Position level 2
Position level 3
Position level 4
Position Levels
Accuracy
0
Teaching position
1
to
8
Fine
|
Rough
Positioning level 8
P1

Setting the Position Level
1. Select move instruction.
– The DETAIL EDIT window appears.
2. Select the position level “UNUSED”.
– The selection dialog box appears.
3-15
3
3.2
Teaching
Teaching Operation
3. Select “PL”.
– The position level is displayed. The position initial value is 1.
4. Press [ENTER].
– To change the position level, select the level in the input buffer line,
type the value using [Numeric Key], and press [ENTER]. The
position level’s move instruction is registered.
5. Press [ENTER].
3-16
3
3.2
Teaching
Teaching Operation
For example, to perform the movement steps shown below, set as follows:
P1
P2 P4
P5
P3
P6
Steps P2, P4, and P5 are simple passing points, and do not require
accurate positioning. Adding PL=1 to 8 to the move instructions of these
steps moves the manipulator around the inner corners, thereby reducing
the cycle time.
If complete positioning is necessary as P3 or P6, add PL=0.
<EXAMPLE>
Passing points P2, P4, and P5:
MOVL V=138 PL=3
Positioning point P3 and P6:
MOVL V=138 PL=0
3-17
3
3.2
3.2.3.2
Teaching
Teaching Operation
Registering Reference Point Instructions
Reference point instructions (REFP) set an auxiliary point such as a wall
point for weaving. Reference point Nos. 1 to 8 are assigned for each
application. Follow these procedures to register reference point
instructions.
1. Select {JOB} under {Main Menu}.
2. Select {JOB}.
3. Move the cursor.
– Move the cursor to the line immediately before the position where
the reference point to be registered.
Place immediately
before where
reference point is
to be registered.
4. Grip the Enable switch.
– The servo power is turned ON.
5. Press [Axis Key].
– Move the manipulator to the position to be registered as the
reference point.
6. Press [REFP] or select “REFP” from the inform list.
– The reference point instruction is displayed in the input buffer line.
7. Change the reference point number in one of the following ways.
– Move the cursor to the reference point number, and press [SHIFT] +
the cursor to change the reference point number; or
– Press [SELECT] when the cursor is on the reference point number.
Then, the data input buffer line appears. Input the number and
press [ENTER].
8. Press [INSERT].
– The [INSERT] lamp lights.
When registering before the END instruction, pressing [INSERT] is
not needed.
9. Press [ENTER].
– The REFP instruction is registered.
Reference point
is registered.
SUPPLE
-MENT
The programming pendant does not have the [REFP] for the
application of spot welding, motor gun, and of material handling, assembling, and cutting.
3-18
3
3.2
3.2.3.3
Teaching
Teaching Operation
Registering Timer Instructions
The timer instruction stops the manipulator for a specified time. Follow
these procedures to register timer instructions.
1. Select {JOB} under {Main Menu}.
2. Select {JOB}.
3. Move the cursor.
– Move the cursor to one line before the position where the timer
instruction is to be registered.
One line before
where timer
instruction is
to be registered.
4. Press [TIMER].
– The TIMER instruction is displayed on the input buffer line.
5. Change the timer value.
– Move the cursor to the timer value and change it by pressing
[SHIFT] + the cursor. The timer unit of adjustment is 0.01 seconds.
– If [Numeric Key]s are used for inputting the timer value, press
[SELECT] when the cursor is on the timer value. The data input line
appears. Input the value and press [ENTER].
6. Press [INSERT].
– The [INSERT] lamp lights.
– When registering before the END instruction, pressing [INSERT] is
not needed.
7. Press [ENTER].
– The TIMER instruction is registered.
3-19
3
3.2

Teaching
Teaching Operation
Changing Timer Value
1. Press [TIMER].
2. Press [SELECT].
– The DETAIL EDIT window for the TIMER instruction appears.
3. Input the timer value on the instruction DETAIL EDIT window.
(1) When
is selected, the items available to be changed are displayed in the dialog box.
(2) Select the particular item to be changed.
– When a number is to be changed, move the cursor to the number
and press [SELECT]. Input the desired value using the [Numeric
Key]s, and press [ENTER].
4. Press [ENTER].
– The DETAIL EDIT window is closed and the JOB CONTENT window
appears again. Modified content is displayed in the input buffer line.
3-20
3
3.2
Teaching
Teaching Operation
5. Press [INSERT].
– The [INSERT] lamp lights.
– When registering before the END instruction, pressing [INSERT] is
not needed.
6. Press [ENTER].
– The TIMER instruction is registered.
3-21
3
3.2
3.2.4
Teaching
Teaching Operation
Overlapping the First and Last Steps
Why is overlapping the first and last step necessary?
Assume that the job shown below is to be repeated. The
manipulator moves from the last step (Step 6) to the first
step (Step 1). If Step 6 and Step 1 are the same position, the
manipulator moves directly Step 5 to Step 1, thereby improving work efficiency.
Step 6
SUPPLE
-MENT
Step 6 after
change
Step 5
Step 1
The position of step 6 is
changed to overlap with
step 1.
Step 2
Step 4
Step 3
1. Move the cursor to the first step line.
2. Press [FWD].
– The manipulator moves to the first step position.
3. Move the cursor to the last step line.
– The cursor starts blinking.
– When the cursor line position and the manipulator position are
different in the JOB CONTENT window, the cursor blinks.
4. Press [MODIFY].
– The key lamp lights.
5. Press [ENTER].
– The position data for the first step is registered on the line of the last
step.
– At this time, only the position data can be changed in the last step.
Interpolation type and play speed do not change.
3-22
3
3.3
3.3
3.3.1
Teaching
Checking Steps
Checking Steps
[FWD/BWD] Operations
Check whether the position of the taught steps is appropriate using [FWD]
or [BWD] on the programming pendant. Each time [FWD] or [BWD] is
pressed, the manipulator moves by a single step.
[FWD]: Moves the manipulator ahead in step number sequence.
Only the move instruction is executed when [FWD] is pressed.
[INTERLOCK] + [FWD]: All instructions are executed alternately.
[BWD]: Moves the manipulator backward a step at a time in reverse step
number sequence. Only the move instruction is executed.
NOTE
For safety, set manual speed at
or below.
1. Move the cursor to the step to be checked.
2. Press [FWD] or [BWD].
– The manipulator reaches the following / previous step and stops.
With using parameters, the movement at [FWD] operation
can be set.
SUPPLE
-MENT
Refer to chapter 8.3.0.4 “S2C198: EXECUTION UNITS AT
“FORWARD” OPERATION” at page 8-12 and
chapter 8.3.0.5 “S2C199: INSTRUCTION (EXCEPT FOR
MOVE) EXECUTION AT “FORWARD” OPERATION” at
page 8-13.
3-23
3
3.3
3.3.1.1
Teaching
Checking Steps
Precautions When Using FWD / BWD Operations

FWD Movements
• The manipulator moves in step number sequence. Only move
instructions are executed when [FWD] is pressed. To execute all
instructions, press [INTERLOCK] + [FWD].
• The manipulator stops after playing a single cycle. It does not move
after the END instruction is reached, even if [FWD] is pressed. However, at the end of a called job, the manipulator moves the instruction
next to the CALL instruction.
Called Jobs
Step 1
Step 2
Step 4
Step 3
(RET instruction)
(END instruction)
Manipulator stops.
Step 4
Step 3
Step 5
Step 6
(CALL instruction)

Step 7
(END instruction)
BWD Movements
• The manipulator moves in reverse step number sequence. Only
move instructions are executed.
• The manipulator does not move after the first step is reached, even if
[BWD] is pressed. However, at the beginning of a called job, the
manipulator moves to the instruction immediately before the CALL
instruction.
Called Jobs
Step 1
Step 2
Step 3
Step 4
Step 5
Manipulator stops.
Step 1
Step 2
Step 3
(CALL instruction)

Circular Movements with [FWD/BWD] Operations
• The manipulator moves in a straight line to the first step of the circular interpolation.
• There must be three circular interpolation steps in a row to move the
manipulator in an arc.
• If [FWD] or [BWD] operation is restarted after being stopped to move
the cursor or to perform search, the manipulator moves in a straight
line to the next step.
• If [FWD] or [BWD] operation is restarted after being stopped to move
the axis as shown below, the manipulator moves in a straight line to
P2, the next circular interpolation. Circular motion is restored from
P2 to P3.
Moves with linear interpolation.
: Motion path for FWD/BWD key operation
P2
: Motion using axis keys
: Motion path during playback
P1
P3
3-24
3
3.3

Teaching
Checking Steps
Spline Curve Movements with FWD/BWD Operations
• The manipulator moves in a straight line to the first step of spline
interpolation.
• There must be three spline curve motion steps in a row to perform a
spline curve operation.
• Depending on the position where the [FWD] / [BWD] operation is
performed, the alarm “IRREGULAR DISTANCES BETWEEN
TEACHING POINTS” may occur.
Note that FWD/BWD inching operations change the path of the
manipulator and caution is therefore required. Performing these
operations also increases the likelihood that the “IRREGULAR
DISTANCES BETWEEN TEACHING POINTS” will occur.
• If the [FWD] or [BWD] operation is restarted after being stopped to
move the cursor or perform a search, the manipulator moves in a
straight line to the next step.
• If the [FWD] or [BWD] operation is restarted after being stopped to
move the axis as shown below, the manipulator moves in a straight
line to P2, the next spline curve motion step. Spline curve motion is
restored from P2 onward. However, the path followed between P2
and P3 is somewhat different from the path followed at playback.
Linear motion
: Motion path for FWD/BWD key operation
P2
: Motion using axis keys
: Motion path during playback
P1
P3
• If the manipulator is moved to P3 with [FWD], stopped, and then
returned to P2 with [BWD], the path followed between P2 and P3 is
different for each of the following: the first FWD operation, the BWD
operation, and the consequent FWD operation.
P2
P4
P1
P3
3-25
3
3.3
3.3.1.2
Teaching
Checking Steps
Selecting Manual Speed
When [FWD] or [BWD] is pressed, the manipulator moves at the
manual speed selected at that time. Selected manual speed can
be checked by the manual speed indication on the programming
pendant.
Manual speed is set with [FAST] and [SLOW]. FWD operation can be
performed at a high speed by pressing [HIGH SPEED]. Follow these
procedures to select a manual speed.
• Each time [FAST] is pressed, the speed switches in the order of
“INCH”“SLOW”“MED””FAST”.
INCH
SLW
MED
FST
• Each time [SLOW] is pressed, the speed switches in the order of
“FAST”“MED”“SLOW”“INCH”.
FST
MED
SLW
INCH
• FWD/BWD operation is performed with SLW speed even if
NOTE
INCH is selected.
• [HIGH SPEED] is available only for the FWD operation but
not for BWD operation.
3-26
3
3.3
3.3.1.3
Teaching
Checking Steps
Moving to Reference Point
To check the position of a taught reference point, follow these procedures
to move the manipulator to the reference point.
1. Move the cursor to the reference point instruction line to be checked.
2. Press [REFP] + [FWD].
– The manipulator moves to the reference point of the cursor line.
SUPPLE
-MENT
3.3.1.4
The programming pendant does not have the [REFP] for the
application of spot welding, general purposes (= material
handling, assembling, cutting) or motor gun.
Test Operations
Playback operations can be simulated in the teach mode with test
operations. This function is convenient for checking continuous paths and
operation instructions.
Test operation differs in the following ways from actual playback in the
play mode.
• Operation speeds greater than the maximum teaching
NOTE
speed are reduced to the maximum teaching speed.
• Work instruction output, such as arc output, is not executed.
Note that the motion path for the playback operation is replayed during the
test operation. Therefore, make sure that there is no obstacle around the
manipulator and great caution should be exercised when the test
operation is performed.
Motion Path for Test Operation
C
B
Motion Path for Playback Operation
Motion Path for Test Operation
Job Example
NOP
MOVJ VJ=50.0
MOVL V=1500.0
MOVL V=1500.0
:
A
NOTE
A
B
C
There may be a slight difference between the motion path
for the test operation and the motion path for the playback
operation due to a mechanical error or control delay, etc.
3-27
3
3.3
Teaching
Checking Steps
Test operation is performed by pressing [INTERLOCK] and [TEST
START]. For safety purposes, these keys will only function while the keys
are held down.
1. Select {JOB} under {Main Menu}.
2. Press {JOB}.
– The test operation JOB CONTENT window appears.
3. Press [INTERLOCK] + [TEST START].
– The manipulator starts the test cycle operation.
– However, after the operation starts, the motion continues even if
[INTERLOCK] is released.
– The manipulator moves only while these keys are held down.
– The manipulator stops immediately when [TEST START] is
released.
NOTE
3.3.1.5
Always check safety conditions before pressing [INTERLOCK] + [TEST START] to start the manipulator in motion.
Machine Lock Operation
When “MACHINE LOCK” is enabled, the [FWD] / [BWD] operation or the
test operation can be performed to check the status of input and output
without moving the manipulator.
1. Press [AREA].
2. Select {UTILITY}.
3. Select {SETUP SPECIAL RUN}.
– The SPECIAL TEACH window appears.
4. Select “MACHINE LOCK”.
– Press [SELECT] to switch “VALID” and “INVALID”.
NOTE
• The setting of “MACHINE LOCK” is maintained even after
the mode is switched: If the machine lock is set to “VALID”
in the teach mode, it is still “VALID” after switching to the
play mode.
The same applies when the mode is switched from the
play mode to the teach mode.
• Note that the machine lock becomes “INVALID” if the following operation is performed.
• Execution of “CANCEL ALL SELECT” in the SPECIAL
PLAY window.
• Turning off the main power.
3-28
3
3.4
3.4
Teaching
Modifying Steps
Modifying Steps
Begin move instruction
insertion.
Begin move instruction
deletion.
Move step cursor to
location where you want
to insert the instruction.
Move cursor to location
of instruction to be
deleted.
Perform axis operations.
Press [DELETE].
Set interpolation type.
Press [ENTER].
Set play speed.
Deletion completed.
Set position level when
necessary.
Press [INSERT].
Press [ENTER].
Insertion completed.
3-29
3
3.4
Teaching
Modifying Steps
Move step cursor to
step to be modified.
Modifying position data
Modifying interpolation type
Move to position to be
modified using the
axis operation keys.
Perform axis
operations to position
to be modified.
Press [MODIFY].
Delete MOV
instruction.
Press [ENTER].
Press [MOTION TYPE]
and select motion
type.
Modification
completed.
Insert MOV
instruction.
Modification
completed.
NOTE
It is not possible to change a move instruction to a reference point instruction and vice versa.
3-30
3
3.4
Teaching
Modifying Steps
Begin REFP instruction
modification.
Deletions
Modifications
Move step cursor to the
REFP instruction to be
deleted, and move the
manipulator to the
position.
Move step cursor to the
REFP instruction to be
modified.
Perform axis operations.
Press [DELETE].
Press [REFP].
Press [ENTER].
Press [MODIFY].
Deletion completed.
Press [ENTER].
Modification completed.
3-31
3
3.4
Teaching
Modifying Steps
Begin TIMER Instruction
Modification.
Deletions
Modifications
Move edit cursor to the
TIMER instruction to be
deleted.
Move edit cursor to the
TIMER instruction to be
modified.
Press [DELETE].
Press [TIMER].
Press [ENTER].
Enter timer value.
Deletion completed.
Press [MODIFY].
Press [ENTER].
Modification completed.
3-32
3
3.4
3.4.1
3.4.1.1
Teaching
Modifying Steps
Displaying the JOB CONTENT Window for Editing
Currently Called Up Job
1. Select {JOB} under {Main Menu}.
2. Select {JOB}.
– The JOB CONTENT window appears.
3.4.1.2
Calling Up Other Jobs
NOTE
In any other than the teach mode, set the mode switch to
“TEACH”.
1. Select {JOB} under {Main Menu}.
2. Select {SELECT JOB}.
– The JOB LIST window appears.
3. Select the job name to be called.
3-33
3
3.4
3.4.2
Teaching
Modifying Steps
Inserting Move Instructions
NOTE
Move instructions cannot be inserted when the servo power
is OFF.
Step where move instruction is to be inserted
Path after insertion
Path before insertion
1. Move the cursor to the line immediately before the insert position.
The line immediately
before where the
move instruction
is to be added.
0006
0007
0008
0009
MOVL V=276
TIMER T=1.00
DOUT OT#(1) ON
MOVJ VJ=100.0
2. Press [Axis Key].
– Turn ON the servo power and press [Axis Key] to move the
manipulator to the position to be inserted.
NOTE
Confirm the move instruction on the input buffer line and set
desired interpolation type and play speed.
3. Press [INSERT].
– The key lamp will light.
NOTE
When the inserting position is immediately before the END
instruction, pressing [INSERT] is not needed.
4. Press [ENTER].
– The move instruction is inserted after the cursor line.
The move instruction
is added.
0006
0007
0008
0009
0010
MOVL V=276
TIMER T=1.00
DOUT OT#(1) ON
MOVL V=558
MOVJ VJ=100.0
5. Press [ENTER].
– <Examples of Inserting a Move Instruction>
• When a move instruction is inserted in the following job, it is
placed on different lines according to the setting in the
3-34
3
3.4
Teaching
Modifying Steps
TEACHING CONDITION window.
Before inserting the move instruction
0006
MOVL V=276
Cursor line
0007
0008
0009
TIMER T=1.00
DOUT OT#(1) ON
MOVJ VJ=100.0
After the insertion:
when inserting before the next step
Added
instruction
0006
0007
0008
0009
0010
MOVL V=276
TIMER T=1.00
DOUT OT#(1) ON
MOVL V=558
MOVJ VJ=100.0
Added
instruction
After the insertion:
when inserting after the cursor line
0006
0007
0008
0009
0010
MOVL V=276
MOVL V=558
TIMER T=1.00
DOUT OT#(1) ON
MOVJ VJ=100.0
Positions where the move instructions are inserted.
NOTE
The default location for insertions is “before the next step”,
but it is also possible to insert “after the cursor line”. This
setting is made in the “Move Instruction Register Method” in
the TEACHING CONDITION window.
3-35
3
3.4
3.4.3
Teaching
Modifying Steps
Deleting Move Instructions
Step where move instruction is to be deleted
Path before deletion
Path after deletion
1. Move the cursor to the move instruction to be deleted.
0003
0004
0005
Move instruction
to be deleted
MOVL V=138
MOVL V=558
MOVJ VJ=50.00
If the manipulator position differs from the cursor position on
the window, the cursor blinks. Stop the blinking by either of
the following procedures.
NOTE
1. Press [FWD] and move the manipulator to the position
where the move instruction is to be deleted.
2. Press [MODIFY] → [ENTER] to change the position data
of the blinking cursor position to the current manipulator
position.
2. Press [DELETE].
– The key lamp will blink.
3. Press [ENTER].
– The step indicated by cursor line is deleted.
0003
0004
MOVL V=138
MOVJ VJ=50.00
3-36
3
3.4
Teaching
Modifying Steps
3.4.4
Modifying Move Instructions
3.4.4.1
Modifying Position Data
1. Move the cursor to the MOV instruction to be modified.
– Display the JOB CONTENT window and move the cursor to the
move instruction to be changed.
2. Press [Axis Key].
– Turn ON the servo power and press [Axis Key] to move the
manipulator to the desired position.
3. Press [MODIFY].
– The key lamp will blink.
4. Press [ENTER].
– The position data in the present position is registered.
SUPPLE
-MENT
3.4.4.2
For MOV instructions for which position variables have been
set, the position variables will not be changed.
Modifying Interpolation Type
NOTE
Modifying only interpolation type is impossible. The interpolation type can be modified as a choice for modifying the
position data.
1. Move the cursor to the move instruction to be modified.
– Display the JOB CONTENT window, and move the cursor to the
move instruction for which interpolation type is to be changed.
2. Press [FWD].
– Turn ON the servo power and press [FWD] to move the manipulator
to the position of the move instruction.
3. Press [DELETE].
– The key lamp will blink.
4. Press [ENTER].
– The cursor line step is deleted.
5. Press [MOTION TYPE].
– Press [MOTION TYPE] to change the interpolation type.
– Each time [MOTION TYPE] is pressed, the input buffer line
instruction alternates.
6. Press [INSERT].
7. Press [ENTER].
– The interpolation type and position data are changed at the same
time.
3-37
3
3.4
3.4.5
Teaching
Modifying Steps
Undo Operation
After inserting, deleting, or modifying an instruction, the operation can be
undone.
The UNDO operation becomes enabled by selecting {EDIT} → {ENABLE
UNDO}, and becomes disabled by selecting {EDIT} → {∗ENABLE UNDO}
while editing a job.
NOTE
• The undo operation can be performed even after the
manipulator is moved by the FWD or BWD operation or
test operation after inserting, deleting, or modifying a
move instruction. However, the undo operation cannot be
performed if other instructions are edited or a job is executed in the play mode after editing the move instruction.
• The undo operation works only for the last five edited
instructions only.
1. Press [ASSIST] or [SHIFT]+[CANCEL] for the APP21 pendant.
– The assist menu appears.
UNDO
REDO
2. Select {UNDO}.
– The last operation is undone.
3. Select {REDO}.
– The last UNDO operation is undone.
3-38
3
3.4
Teaching
Modifying Steps
3.4.6
Modifying Reference Point Instructions
3.4.6.1
Deleting Reference Point Instructions
If the manipulator position differs from the cursor position,
an error message is displayed. If this occurs, follow either
of the procedures below.
NOTE
• Press [REFP] + [FWD] to move the manipulator to the
position to be deleted.
• Press [MODIFY] then [ENTER] to change the reference
point position data to the current position of the manipulator.
1. Move the cursor to the reference point instruction to be deleted.
2. Press [DELETE].
– The key lamp will blink.
3. Press [ENTER].
– The reference point instruction at the cursor line is deleted.
3.4.6.2
Modifying Reference Point Instructions
1. Move the cursor to the reference point instruction to be modified.
2. Move the manipulator with [Axis Key]s.
– Turn ON the servo power and use [Axis Key]s to move the
manipulator to the desired position.
3. Press [REFP].
4. Press [MODIFY].
– The key lamp will light.
5. Press [ENTER].
– The reference point instruction at the cursor line is changed.
3-39
3
3.4
Teaching
Modifying Steps
3.4.7
Modifying Timer Instructions
3.4.7.1
Deleting Timer Instructions
1. Move the cursor to the timer instruction to be deleted.
0003
0004
0005
Timer instruction
to be deleted
MOVJ VJ=50.00
TIMER T=1.00
MOVL V=138
2. Press [DELETE].
– The key lamp will light.
3. Press [ENTER].
– The timer instruction at the cursor line is deleted.
0003
0004
3.4.7.2
MOVJ VJ=50.00
MOVL V=138
Modifying Timer Instructions
1. Move the cursor to the timer instruction to be modified.
0003
0004
0005
MOVJ VJ=50.00
TIMER T=1.00
MOVL VJ=138
2. Press [SELECT].
3. Move the cursor to the input buffer line timer value.
– Move the cursor to the input buffer line timer value and press
[SHIFT] + the cursor to set the data.
– To use [Numeric Key]s to input data, move the cursor to the input
buffer line timer value and press [SELECT].
TIMER T=1.00
4. Change the timer value.
5. Press [MODIFY].
6. Press [ENTER].
– This key lamp will light.
3-40
3
3.5
3.5
3.5.1
Teaching
Modifying Jobs
Modifying Jobs
Calling Up a Job
1. Select {JOB} under {Main Menu}.
2. Select {SELECT JOB}.
– The JOB LIST window appears.
3. Select the desired job.
3.5.2
Windows Related to Job
There are five types of job windows. Jobs can be checked and edited in
these windows.
• JOB HEADER Window
Comments, data and time of registration, edit prohibit status, and so
on are displayed and edited.
• JOB CONTENT Window
The content of the registered job can be displayed and edited.
• COMMAND POSITION Window
The taught data is displayed.
• JOB LIST Window
The registered job is sorted alphabetically, then displayed, and the
job is selected.
• JOB CAPACITY Window
The number of registered jobs, amount of memory, number of steps
used, etc. is shown.
3-41
3
3.5
3.5.3
Teaching
Modifying Jobs
JOB HEADER Window
1. Select {JOB} under {Main Menu}.
2. Select {JOB}.
3. Select {DISPLAY} under the menu.
4. Select {JOB HEADER}.
– The JOB HEADER window appears. Scroll the window using the
cursor.
1
2
3
4
5
6, 7
8
9
10
11
12
13
1. JOB NAME
Displays the name of the current job.
2. COMMENT
Displays the comments attached to the current job. This can be edited
in this window.
3. JOB FOLDER
The JOB name which is set to this job is displayed.
This can be edited in this window.
4. DATE
Displays the date and time of the last editing of the job.
5. CAPACITY
Displays the amount of memory that is being used to register this job.
6. LINES
Displays the total number of instructions registered in this job.
7. STEPS
Displays the total number of move instructions registered in this job.
8. EDIT LOCK
Displays whether the Edit Lock setting for this job is “ON” or “OFF”.
When the security mode is in the management mode or higher, this can
be edited in this window.
9. CONTENTS DISPLAY
Setting status whether displaying of the contents of a job is displayed
with “PERMIT” or “PROHIBIT”.
Set “PROHIBIT” to display “Invisible” for the instructions of the JOB
CONTENT window to prohibit them from being displayed.
When the security mode is in the management mode or higher, this can
be edited in this window.
(Setting the contents display is available in the software version
DN1.91-00 or later.)
3-42
3
3.5
Teaching
Modifying Jobs
10. SAVE JOB
Setting status whether saving of this job data to an external memory
device is displayed with “PERMIT” or “PROHIBIT”. Set “PROHITBIT” to
prohibit the data from being saved to an external memory device. When
the security mode is in the management mode or higher, this can be
edited in this window.
(Setting the save job is available in the software version DN1.91-00 or
later.)
11. TO SAVE TO FD
Displays “DONE” if the contents of the job have already been saved to
an external memory after the date and time of the last editing operation,
and displays “NOT DONE” if they have not been saved. The job is
marked as “DONE” only if it is saved as an independent job or as a
related job.
12. GROUP SET
Displays the control group that this job controls. If the master axis is
specified, the master axis is highlighted.
13. JOB KIND
Displays the kind of this job.
SUPPLE
-MENT
To return to the JOB CONTENT window from the JOB
HEADER window, select {DISPLAY} from the menu and
then select {JOB CONTENT}.
3-43
3
3.5
3.5.4
Teaching
Modifying Jobs
JOB CONTENT Window
1. Select {JOB} under {Main Menu}.
2. Select {JOB}.
– The JOB CONTENT window appears.
–
 (Left) : The cursor is moved to the address area.
–
 (Right): The cursor is moved to the instruction area.
A
B
A. Address Area
Displays the line numbers, the step numbers and the tool numbers
which are registered in the each step.
B. Instruction Area
Displays instructions, additional items, and comments. Line editing is
possible.
3-44
3
3.5
3.5.4.1
Teaching
Modifying Jobs
Switching the Address Area
Able to switch a state of the display (to hide or show) of the following
numbers in the address area.
•
Step numbers
•
Tool numbers in the each step
1. Select the {JOB} under {Main Menu}.
2. Select {JOB CONTENT}.
– Job content appears.
3. Select {DISPLAY} in the menu area.
– A pull down menu appears.
4. Select {ENABLE STEP NO}.
– Step numbers appear in the address area.
– In the pull down menu, {ENABLE STEP NO} changes to
{ ✻ ENABLE STEP NO}.
STEP NO.
3-45
3
3.5
Teaching
Modifying Jobs
5. Select { ✻ ENABLE STEP NO}.
– Step numbers in the address area disappear.
– In the pull down menu, { ✻ ENABLE STEP NO} changes to
{ENABLE STEP NO}.
6. Select {ENABLE TOOL NO}.
– Tool numbers appear in the address area.
– In the pull down menu, {ENABLE TOOL NO} changes to
{ ✻ ENABLE TOOL NO}.
Tool numbers only appear in the line during the move instruction and
also appear under the teach mode.
TOOL NO.
3-46
3
3.5
Teaching
Modifying Jobs
7. Select { ✻ ENABLE TOOL NO}.
– Step numbers in the address area disappear.
– In the pull down menu, { ✻ ENABLE TOOL NO} changes to
{ENABLE TOOL NO}.
8. Select both {ENABLE STEP NO} and {ENABLE TOOL NO}.
– The both step numbers and tool numbers appear in the address
area.
– In the pull down menu, {ENABLE STEP NO} changes to
{ ✻ ENABLE STEP NO}.
– In the pull down menu, {ENABLE TOOL NO} changes to
{ ✻ ENABLE TOOL NO}.
Tool numbers only appear in the line during the move instruction and
also appear under the teach mode.
STEP NO.
TOOL NO.
3-47
3
3.5
Teaching
Modifying Jobs
9. Select both { ✻ ENABLE STEP NO} and { ✻ ENABLE TOOL NO}.
– The both step numbers and tool numbers disappear in the address
area.
– In the pull down menu, { ✻ ENABLE STEP NO} changes to
{ENABLE STEP NO}.
– In the pull down menu, { ✻ ENABLE TOOL NO} changes to
{ENABLE TOOL NO}.
3-48
3
3.5
3.5.5
Teaching
Modifying Jobs
COMMAND POSITION Window
1. Select {ROBOT} under {Main Menu}.
2. Select {COMMAND POSITION}.
– Edit operations cannot be conducted on this window, but the taught
play speed and position data can be viewed on this window.
A
B
C
D
A. Interpolation
Displays the interpolation type.
B. Speed
Displays the play speed.
C. Command Position
Displays the tool file number and position data that has been taught for
this job. Steps which have no position data, such as move instructions
which use position variables, are marked with an asterisk (*).
D. Current Data
Displays the current tool file number and position of the manipulator.
3-49
3
3.5
3.5.6
Teaching
Modifying Jobs
JOB CAPACITY Window
1. Select {JOB} under {Main Menu}.
2. Select {JOB CAPACITY}.
A
B
C
D
A. NUMBER OF JOBS
Displays the total number of jobs currently registered in the memory of
DX200.
B. USED MEMORY
Displays the total amount of memory used in the DX200.
C. STEPS
Displays the total number of used steps.
D. EDITING BUFFER
Displays editing buffer use.
3-50
3
3.6
3.6
Teaching
Editing Instructions
Editing Instructions
The editable content differs depending on whether the cursor is in the
address area or instruction area.
A
B
A. When the cursor is in the address area
Instructions can be inserted, deleted, or modified.
B. When the cursor is in the instruction area
The data of additional items of already-registered instructions can be
modified, inserted, or deleted.
Editing only additional items is called “line editing”.
When inserting or modifying instructions, input the instruction with the
function keys such as [TIMER], etc. or by using the instruction list dialog
box.
The selected instruction is displayed on the input buffer line with the same
additional items as registered previously.
If the addition, deletion or modification of additional item is needed, edit on
the instruction DETAIL EDIT window. If it is not needed, continue the
registration process.
3-51
3
3.6
3.6.1
Teaching
Editing Instructions
Instruction Group
The instructions are divided into eight groups by processing or each work.
Display
Instruction Group
Content
Example
IN/OUT
I/O Instruction
Controls input and output
DOUT, WAIT
CONTROL
Control Instruction
Controls processing and each work
JUMP, TIMER
MOTION
Move Instructions
Moves the manipulator
MOVJ, REFP
DEVICE
Work Instructions
Operates arc welding, spot welding, handling,
painting, etc.
ARCON, WVON,
SVSPOT, SPYON
ARITH
Operating
Instructions
Performs arithmetic calculation
ADD, SET
SHIFT
Shift Instructions
Shifts the teaching point
SFTON, SFTOF
SENS (Option)
Sensor Instructions Instructions related to the sensor
(Option)
COMARCON
OTHER
Other Instructions
Instructions for functions other than above
SHCKSET
SAME
-
Specifies the instruction where the cursor is.
PRIOR
-
Specifies the previously-registered instruction.

Instruction List
By pressing [INFORM LIST] , the instruction group list dialog box appears.
By selecting a group, the instruction list dialog box of the selected group
appears.
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3
3.6
3.6.2
Teaching
Editing Instructions
Inserting Instructions
1. Move the cursor to the address area in the JOB CONTENT window.
– Move the cursor to the line immediately before where the instruction
is to be inserted, in the teach mode.
Line before
where instruction
is to be added.
2. Press [INFORM LIST].
– The INFORM command list appears, and an underline is displayed
beneath the line number in the address area.
3. Select the instruction group.
– The instruction list dialog box appears. The selected instruction is
displayed on the input buffer line with the same additional items as
registered previously.
4. Select the instruction.
5. Change the data of additional items or variables as required.
– <When Nothing is to be Changed>
(1) Proceed to Step 6.
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3.6
Teaching
Editing Instructions
– <When Additional Items are to be edited>
1. Changing numeric data
(1) Move the cursor to the desired item and press [SHIFT] + the cursor to increase or decrease the value.
(2) To directly input the value using [Numeric Key]s, press [SELECT]
to display the input buffer line.
(3) Type the value and press [ENTER]. The value on the input buffer
line is changed.
2. Adding, modifying, or deleting an additional item
(1) To add, modify, or delete an additional item, move the cursor to the
instruction on the input buffer line and press [SELECT]. The
DETAIL EDIT window appears.
– To add an item, move the cursor to “UNUSED” and press [SELECT].
The selection dialog box appears.
(2) Move the cursor to the desired item and press [SELECT].
To delete an item, move the cursor to the item to be deleted and
select “UNUSED”.
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3.6
Teaching
Editing Instructions
3. Changing the data type
(1) To change the data type of an additional item, move the cursor to
of the item and press [SELECT]. The data type list appears.
Select the desired data type.
(2) After additional items have been added, modified or deleted as
required, press [ENTER]. The DETAIL EDIT window closes and
the JOB CONTENT window appears.
6. Press [INSERT] and [ENTER].
– The instruction displayed in the input buffer line is inserted.
3-55
3
3.6
3.6.3
Teaching
Editing Instructions
Deleting Instructions
1. Move the cursor to the address area in the JOB CONTENT window.
– Move the cursor to the instruction line to be deleted, in the teach
mode.
The line to be
deleted
2. Move the cursor to the deleting line in the address area.
3. Press [DELETE] and [ENTER].
– The instruction is deleted and the following lines move up.
The following
lines move up.
3.6.4
Modifying Instructions
1. Move the cursor to the address area in the JOB CONTENT window.
– Move the cursor to the instruction line to be modified, in the teach
mode.
Instruction line
to be changed
2. Press [INFORM LIST].
– The INFORM command list appears and the cursor moves to the
INFORM command list.
3. Select the instruction group.
– The instruction list dialog box appears. The selected instruction is
displayed on the input buffer line with the same additional items as
registered previously.
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3.6
Teaching
Editing Instructions
4. Move the cursor to the instruction to be modified and press [SELECT].
5. Change the data of additional items or variables as required.
– <Editing Additional Items>
1. Changing numeric data
(1) Move the cursor to the desired item and press [SHIFT] + the
cursor to increase or decrease the value.
– To directly input the value using [Numeric Key]s, press [SELECT] to
display the input buffer line for the numeric values.
(2) Type the value and press [ENTER]. The value on the input buffer
line is changed.
2. Adding, modifying, or deleting an item
(1) To add, modify or delete an additional item, move the cursor to the
instruction on the input buffer line and press [SELECT]. The
DETAIL EDIT window appears.
(2) To add an item, move the cursor to “UNUSED” and press
[SELECT]. The selection dialog box appears.
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3.6
Teaching
Editing Instructions
(3) Move the cursor to the desired item and press [SELECT].
To delete an item, move the cursor to the item to be deleted and
select “UNUSED”.
3. Changing the data type
(1) To change the data type of an additional item, move the cursor to
of the item and press [SELECT]. The data type list appears.
Select the desired data type.
(2) After additional items have been added, modified or deleted as
required, press [ENTER]. The DETAIL EDIT window closes and
the JOB CONTENT window appears.
6. Press [MODIFY] and [ENTER].
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3.6
Teaching
Editing Instructions
– The instruction is modified to the instruction displayed in the input
buffer line.
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3.6
3.6.5
Teaching
Editing Instructions
Modifying Additional Numeric Data
1. Move the cursor to the instruction area in the JOB CONTENT window.
– Move the cursor to the instruction area if it is in the address area.
– Press [SELECT] to change the mode to line editing mode.
2. Select the line where the number data is to be modified.
– The selected line can now be edited.
Number data
to be modified
3. Move the cursor to the numeric data to be modified.
4. Input the desired number.
– Press [SHIFT] + the cursor to increase or decrease the value. To
directly input the number, press [SELECT]. The input buffer line
appears. Type the number and press [ENTER].
5. Press [ENTER].
– The numeric data is modified.
Instruction line
for which
numeric data
was changed.
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3
3.6
3.6.6
Teaching
Editing Instructions
Modifying Additional Items
1. Move the cursor to the instruction area in the JOB CONTENT window.
2. Select the instruction line for which the additional item is to be
modified.
– Move the cursor to the instruction area if it is in the address area
– Press [SELECT] to change the mode to line editing mode.
Instruction line for
which additional
item is to be modified.
3. Select the instruction.
– Move the cursor to a instruction, the press [SELECT] to display
DETAIL EDIT window.
4. Select the additional item to be modified.
– The selection dialog box appears.
5. Select the desired additional item.
– The modified additional item is displayed on the DETAIL EDIT
window.
6. Press [ENTER].
– The DETAIL EDIT window closes, and the JOB CONTENT window
appears.
7. Press [ENTER].
– Contents of the input buffer line are registered on the cursor line of
the instruction area.
Instruction line
for which additional
item was modified.
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3.6
3.6.7
Teaching
Editing Instructions
Inserting Additional Items
1. Move the cursor to the instruction area in the JOB CONTENT window.
2. Select the instruction line for which the additional item is to be
inserted.
– The selected line can now be edited.
Instruction line
for which additional
item is to be added.
3. Select the instruction.
– Move the cursor to [SELECT] and press, then DETAIL EDIT window
appears.
4. Select the additional item to be inserted on DETAIL EDIT window.
– The selection dialog box appears.
5. Select inserting additional item.
– The item to be added appears.
– When the additional item needs the numeric data, move the cursor
to the number and press [SELECT]. The input buffer line appears.
Type the number and press [ENTER].
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3.6
Teaching
Editing Instructions
6. Press [ENTER].
– DETAIL EDIT window closes and JOB CONTENT window appears.
7. Press [ENTER].
– Contents of the input buffer line are registered on the cursor line of
the instruction area.
Instruction line for
which additional
item was added.
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3.6
3.6.8
Teaching
Editing Instructions
Deleting Additional Items
NOTE
This operation cannot be used for the additional item which
is locked.
1. Move the cursor to the instruction area in the JOB CONTENT window.
2. Select the line where the additional item is to be deleted.
– Move the cursor to the instruction area when it is in the address
area.
– Press [SELECT] to change the mode to line editing mode.
Instruction line for
which additional
item is to be deleted.
3. Select the instruction.
– Move the cursor to the instruction and press [SELECT], then
DETAIL EDIT window appears.
4. Select the additional item to be deleted.
– The selection dialog box appears.
5. Select “UNUSED”.
– “UNUSED” is displayed ton the DETAIL EDIT window.
6. Press [ENTER].
– The DETAIL EDIT window closes, and the JOB CONTENT window
appears.
7. Press [ENTER].
– Contents of the input buffer line are registered on the cursor line of
the instruction area.
Instruction line for
which the additional
item was deleted.
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3.7
3.7
Teaching
Editing Jobs
Editing Jobs
The following five operations are to edit jobs.
Copy
Copies a specified range to the buffer.
Cut
Deletes a specified range from a job, and copies it to a buffer.
Paste
Inserts a content of the buffer into a job.
Reverse Paste
Reverses the order of the contents of the buffer, and inserts
them into a job.
Base Reverse
Paste
Reverses the order of the contents of the buffer and adjusts
the to-and-from speeds same, and inserts them into a job.
V=100
V=50
2
V=80
:
MOVL V=100
MOVL V=50
MOVL V=80
MOVL V=30
MOVL V=70
;Move to
;Move to
;Move to
;Move to
;Move to
at V=100
t V= 50
at V=80
t V=30
at V=30
V=30
1
4
:
V=70
Excute Reverse Paste
5
:
2
MOVL V=100
MOVL V=50
MOVL V=80
MOVL V=30
MOVL V=70
MOVL V=30
MOVL V=80
MOVL V=50
MOVL V=100
:
;Move to
;Move to
;Move to
;Move to
;Move to
;Move to
;Move to
;Move to
;Move to
V=100 V=50
at V=100
V=80
t V= 50 V=??
V=50
at V=80
V=100
at V=30
1
t V=70
at V=30
The speed and interpolation are
at V=80
different going and returning.
at V= 50
at V=100
3
V=30
V=80
4
V=30
V=70
5
Execute Base Reverse Paste
2
:
MOVL V=100
MOVL V=50
MOVL V=80
MOVL V=30
MOVL V=70
;Move to
;Move to
;Move to
;Move to
;Move to
at V=100
t V= 50
at V=80
at V=30
t V=70
MOVL V=70
MOVL V=30
MOVL V=80
MOVL V=50
;Move to
;Move to
;Move to
;Move to
at V=70
at V=30
at V= 80
at V=50
V=100
1
V=50
V=50
V=80
3
V=80
The speed and interpolation are
V=30
V=30
4
the same going and returning.
V=70
:
V=70
5
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3.7
Teaching
Editing Jobs
MOVJ VJ=50.00
TIMER T=1.00
MOVL V=100
Copy
Cut
Paste
The buffer content is inserted.
Reverse paste
Buffer content order is reversed and inserted.
3-66
0000
0001
0002
0003
0004
0005
NOP
’TEST JOB
MOVJ VJ=50.00
TIMER T=1.00
MOVL V=100
MOVL V=100
0000
0001
NOP
’TEST JOB
0005
MOVL V=100
0000
0001
0002
0003
0004
0005
NOP
’TEST JOB
MOVJ VJ=50.00
TIMER T=1.00
MOVL V=100
MOVL V=100
0000
0001
0002
0003
0004
0005
NOP
’TEST JOB
MOVL V=100
TIMER T=1.00
MOVJ VJ=50.00
MOVL V=100
3
3.7
3.7.1
Teaching
Editing Jobs
Selecting the Range
After setting the range, copying and deleting can be performed.
1. Move the cursor to the instruction area in the JOB CONTENT window.
Move the cursor to
instruction area.
2. Move the cursor to the start line and press [SHIFT] + [SELECT].
– The range specification begins, and the address is displayed in
reverse.
Start line
3. Move the cursor to the end line.
– The range is varied by moving the cursor. Up to the line specified by
the cursor is the range.
End line
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3.7
3.7.2
Teaching
Editing Jobs
Copying
Before copying, the range to be copied has to be specified.
1. Select {EDIT} under the menu.
– The pull-down menu appears.
2. Select {COPY}.
– The specified range is copied to the buffer.
3.7.3
Cutting
Before cutting, the range to be cut has to be specified.
1. Select {EDIT} under the menu.
– The pull-down menu appears.
2. Select {CUT}.
– The confirmation dialog box appears. When “YES” is selected, the
specified range is deleted and copied to the buffer.
– When “NO” is selected, the cutting operation is cancelled.
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3.7
3.7.4
Teaching
Editing Jobs
Pasting
Before pasting, the range to be pasted has to be stored in the buffer.
1. Move the cursor to the line immediately before the desired position in
the JOB CONTENT window.
– The pull-down menu appears.
2. Select {EDIT} under the menu.
3. Select {PASTE}.
– The confirmation dialog box appears.
– When “YES” is selected, the contents of the buffer are inserted to
the job.
– When “NO” is selected, the pasting operation is cancelled.
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3.7
3.7.5
Teaching
Editing Jobs
Reverse Pasting
Before pasting, the range to be pasted has to be stored in the buffer.
1. Move the cursor to the line immediately before the desired position in
the JOB CONTENT window.
2. Select {EDIT} under the menu.
– The pull-down menu appears.
3. Select {REVERSE PASTE}.
– The confirmation dialog box appears.
– When “YES” is selected, the contents of the buffer are reverse
pasted to the job.
– When “NO” is selected, the reverse-pasting operation is cancelled.
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3.7
3.7.6
Teaching
Editing Jobs
Commenting Out a Line
The lines in a job can be commented out by specifying line-by-line or
multiple lines.
By commenting out a line, the line can be exempted from a target when
executing a job.
When modifying or selecting the commented-out line, "ERROR 1012: This
line is defined as a comment.” appears.
When performing the conversion operation, such as the parallel shift job
conversion, for a job that includes the commented-out line, the conversion
operation cannot be performed to the commented-out line.
Followings are the settings for the commented-out line:
• Treated equivalent as a comment instruction.
• Cannot be edited.
• Displayed as a line or a step.
• The set position can be confirmed by using direct open function.
• Exempted from a target for the conversion operation.
NOP and END cannot be commented out.
SUPPLE
-MENT
3.7.6.1
When NOP and END are tried to be commented out,
"ERROR 2371: EDIT LOCK/COMMENT functions cannot be
applied to NOP and END." appears.
Commenting Out One Line
1. Display the {JOB CONTENT} window.
2. Move the cursor to the targeted line.
– Place the cursor on the line to be commented out.
– Move the cursor to the right (INST).
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3.7
Teaching
Editing Jobs
3. Press [SHIFT] + [SELECT].
– The line is selected.
4. Select {EDIT} → {COMMENT OUT} under the pull-down menu.
– The selected line is commented out.
– "//" is displayed at the head of the selected line.
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3.7
3.7.6.2
Teaching
Editing Jobs
Commenting Out Multiple Lines
1. Display the {JOB CONTENT} window.
2. Move the cursor to the targeted line.
– Place the cursor at the head of the line to be commented out.
– Move the cursor to the right (INST).
3. Press [SHIFT] + [SELECT].
– The line is selected.
4. Press[↑] or[↓] to select multiple lines to be commented out.
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3.7
Teaching
Editing Jobs
5. Select {EDIT} → {COMMENT OUT} under the pull-down menu.
– The selected lines are commented out.
– "//" is displayed at the head of the selected line.
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3.7
3.7.6.3
Teaching
Editing Jobs
Canceling the Comment Out of One Line
1. Display the {JOB CONTENT OUT} window.
2. Move the cursor to the targeted line.
– Place the cursor on the line whose comment out is to be canceled.
– Move the cursor to the right (INST).
3. Press [SHIFT] + [SELECT].
– The line is selected.
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3.7
Teaching
Editing Jobs
4. Select {EDIT} → {*COMMENT OUT} under the pull-down menu.
– The comment out of the selected line is canceled.
– "//" at the head of the line disappears.
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3.7
3.7.6.4
Teaching
Editing Jobs
Canceling the Comment Out of Multiple Lines
1. Display the {JOB CONTENT OUT} window.
2. Move the cursor to the targeted line.
– Place the cursor at the head of the line whose comment out is to be
canceled.
– Move the cursor to the right (INST).
3. Press [SHIFT] + [SELECT].
– The line is selected.
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3.7
Teaching
Editing Jobs
4. Press [↑] or [↓] to select multiple lines whose comment out is to be
canceled.
5. Select {EDIT} → {*COMMENT OUT} under the pull-down menu.
– The comment out of the selected lines is canceled.
– "//" at the head of the line disappears.
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3.7
Teaching
Editing Jobs
When the lines which are not commented out are included in
the selected lines, {COMMENT OUT} (without "*") is displayed in the pull-down menu.
SUPPLE
-MENT
In this case, when {COMMENT OUT} is selected, all the
selected lines will be commented out.
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3.7
3.7.6.5
Teaching
Editing Jobs
Canceling All the Comment Out of Lines
1. Display the {JOB CONTENT} window.
2. Move the cursor to the right (INST).
3. Select {EDIT} → {COMMENT OUT CLR (ALL)} under the pull-down
menu.
– The comment out of all the lines of the displayed jobs are canceled.
– "//" at the head of the line disappears.
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3
3.7
Teaching
Editing Jobs
For the following sets of instructions, only one of the instructions cannot be commented out independently. When commenting out, select both of the instructions.
When only one of the instructions are tried to be commented
out, "Error 2372: This line cannot be defined as a comment.”
appears, and the comment out is not executed.
SUPPLE
-MENT
• IFTHEN,ENDIF
• SWITCH,ENDSWITCH
For the following sets of instructions, when one of the
instructions is commented out, another instruction will automatically be commented out.
• FOR,NEXT
• WHILE, ENDWHILE
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3.7
3.7.7
Teaching
Editing Jobs
Prohibiting Editing Line-by-Line
The Edit Lock setting can be performed to the jobs line-by-line.
By setting the Edit Lock to a job line, the line will be prohibited from being
edited.
When the editing operation, such as changing, deletion, selection, or
cutting, is performed to the line to which the Edit Lock is set, "Error 1011:
EDIT LOCK is set for this line." appears.
Also, when the conversion operation such as the parallel shift job
conversion is performed to the job including the lines to which the Edit
Lock is set, the lines will not be converted.
The Edit Lock cannot be set to NOP and END.
SUPPLE
-MENT
3.7.7.1
When Edit Lock is tried to be set to NOP and END, "ERROR
2371: EDIT LOCK/COMMENT functions cannot be applied
to NOP and END." appears.
Prohibiting Editing One Line
For the Edit Lock operation of one line, follow the procedures below.
1. Display the {JOB CONTENT} window.
2. Move the cursor to the targeted line.
– Place the cursor on the line to which the Edit Lock operation is to be
performed.
– Move the cursor to the right (INST).
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3.7
Teaching
Editing Jobs
3. Press [SHIFT] + [SELECT].
– The line is selected.
4. Select {EDIT} → {LINE EDIT LOCK} under the pull-down menu.
– The selected line will be prohibited from being edited, and "X" is
displayed at the head of the line.
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3.7
3.7.7.2
Teaching
Editing Jobs
Prohibiting Editing Multiple Lines
For the Edit Lock operation of multiple lines, follow the procedures below.
1. Display the {JOB CONTENT} window.
2. Move the cursor to the targeted line.
– Place the cursor at the head of the line to which the Edit Lock
operation is to be performed.
– Move the cursor to the right (INST).
3. Press [SHIFT] + [SELECT].
– The line is selected.
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3.7
Teaching
Editing Jobs
4. Press [↑]] or [↓] to select multiple lines to which the Edit Lock operation
is to be performed.
5. Select {EDIT} → {LINE EDIT LOCK} under the pull-down menu.
– The selected line will be prohibited from being edited, and "X" is
displayed at the head of the line.
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3
3.7
3.7.7.3
Teaching
Editing Jobs
Canceling the Edit Lock of One Line
For canceling the Edit Lock of one line, follow the procedures below.
1. Display the {JOB CONTENT} window.
2. Move the cursor to the targeted line.
– Place the cursor on the line whose Edit Lock is to be canceled.
– Move the cursor to the right (INST).
3. Press [SHIFT] + [SELECT].
– The line is selected.
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3.7
Teaching
Editing Jobs
4. Select {EDIT} → {*LINE EDIT LOCK} under the pull-down menu.
– The Edit Lock of the selected line is canceled.
– "X" at the head of the line disappears.
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3.7
3.7.7.4
Teaching
Editing Jobs
Canceling the Edit Lock of Multiple Lines
1. Display the {JOB CONTENT} window.
2. Move the cursor to the targeted line.
– Place the cursor at the head of the line whose Edit Lock is to be
canceled.
– Move the cursor to the right (INST).
3. Press [SHIFT] + [SELECT].
– The line is selected.
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3
3.7
Teaching
Editing Jobs
4. Press [↑]or [↓] to select multiple lines whose Edit Lock is to be
canceled.
5. Select {EDIT} → {*LINE EDIT LOCK} under the pull-down menu.
– The Edit Lock of the selected lines is canceled.
– "X" at the head of the line disappears.
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3.7
Teaching
Editing Jobs
When the lines to which the Edit Lock is not set are included
in the selected lines, {LINE EDIT LOCK} (without "*") is displayed in the pull-down menu.
SUPPLE
-MENT
In this case, when {LINE EDIT LOCK} is selected, the Edit
Lock will be set to all the selected lines.
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3
3.7
3.7.7.5
Teaching
Editing Jobs
Canceling All the Edit Lock of Lines
1. Display the {JOB CONTENT} window.
2. Move the cursor to the right (INST).
3. Select {EDIT} → {EDITLOCK CLR (ALL)} under the pull-down menu.
– The Edit Lock of all the lines is canceled, and the displayed "X"
disappears.
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3.8
3.8
Teaching
Test Operations
Test Operations
Playback operations can be simulated in the teach mode with test
operations. This function is convenient for checking continuous paths and
operation instructions.
Test operation differs in the following ways from actual playback in the
play mode.
• Operation speeds greater than the maximum teaching
speed are reduced to the maximum teaching speed.
NOTE
• Only machine lock is available among special operations
for playback in the play mode.
• Work instruction output, such as arc output, is not executed.
3.8.1
Test Operation Procedures
Test operation is performed by pressing [INTERLOCK] and [TEST
START]. For safety purposes, these keys will only function while the keys
are held down.
1. Select {JOB} under {Main Menu}.
2. Press {JOB}.
– The test operation JOB CONTENT window appears.
3. Press [INTERLOCK] + [TEST START].
– The manipulator starts the test cycle operation.
– The manipulator moves only while these keys are held down.
However, after the operation starts, the motion continues even if
[INTERLOCK] is released.
– The manipulator stops immediately when [TEST START] is
released.
NOTE
Always check safety conditions before starting the manipulator in motion.
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3.8
3.8.2
Teaching
Test Operations
Manual Full-speed Function
Manual full-speed function allows the manipulator to perform the test run
or FWD/BWD operation at the speed set in the job.
3.8.2.1
Setting Method
1. Cause short-circuit between the connection numbers 13 and 14, and
between 15 and 16 on the terminal block (JANCD-YFC22-E)
respectively. (Normally, they are opened.)
JANCD-YFC22-E
FST1+
FST1-
FST2+
FST2-
-13
㻲㼡㼘㼘㻙㼟㼜㼑㼑㼐㻌㼠㼑㼟㼠
-14
-15
㻮㼛㼠㼔㻌㻻㻺㻌
㻔㻮㼛㼠㼔㻌㻻㻲㻲㻌
㼣㼔㼑㼚㻌㼛㼜㼑㼚㻕
-16
2. The message "Full-speed test mode" is displayed as follows when the
setting is finished.
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3.8
3.8.2.2
Teaching
Test Operations
Operation Speed
When the full-speed test mode is set, operation speed is limited
depending on the setting of manual speed as follows.
Manual
speed
Limit of operation speed
(default value)
Parameter (Unit: 0.01%)
Inching
20%
S1CxG60 (default value: 2000)
Slow
50%
S1CxG61 (default value: 5000)
Medium
75%
S1CxG62 (default value: 7500)
Fast
100% (fixed value)
-
• The limit values of operation speed described in the table
above are the ratio against the manipulator's maximum
speed, not against the taught speed. The values are for
restraining the operation speed not to exceed the limit values of operation speed against the manipulator's maximum speed during the test run or FWD/BWD operation.
NOTE
• Manual full-speed function allows the manipulator to perform the test run or FWD/BWD operation at the taught
speed by a job during the teach mode. Make sure that
there is no person around the manipulator and pay great
attention to perform the operation.
• If the full-speed test mode is set or released while a servo
power is ON, the servo power turns OFF.
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3.8
Teaching
Test Operations
3.8.3
Test Operation (High Accuracy)
3.8.3.1
Test Operation (High Accuracy)
In test operation (high accuracy), the motion path of the manipulator’s
control point for playback operation in the taught speed (speed override:
100%) is simulated by executing “test operation”.
The repetitive accuracy of the motion path in test operation (high
accuracy) had been greatly improved in comparizon with the conventional
test operation (normal).
Motion Path for Test Operation
(HIGH ACCCURACY)
Motion Path for Test Operation
(NORMAL)
㪚
㪙
Motion Path for Playback Operation
Motion Path for Playback Operation
Motion Path for Test Operation (NORMAL)
Motion Path for Test Operation (HIGH ACCURACY)
㪡㪦㪙㩷㪜㪯㪘㪤㪧㪣㪜
㪘
㪥㪦㪧
㪤㪦㪭㪡㩷㪭㪡㪔㪌㪇㪅㪇
㪤㪦㪭㪣㩷㪭㪔㪈㪌㪇㪇㪅㪇
㪤㪦㪭㪣㩷㪭㪔㪈㪌㪇㪇㪅㪇
䊶
䊶
SUPPLE
-MENT
㪚
㪙
㪡㪦㪙㩷㪜㪯㪘㪤㪧㪣㪜
㪘
㪙
㪚
㪘
㪥㪦㪧
㪤㪦㪭㪡㩷㪭㪡㪔㪌㪇㪅㪇
㪤㪦㪭㪣㩷㪭㪔㪈㪌㪇㪇㪅㪇
㪤㪦㪭㪣㩷㪭㪔㪈㪌㪇㪇㪅㪇
䊶
䊶
For the “test operation”, refer to chapter 3.8.1
tion Procedures” .
3-95
㪘
㪙
㪚
“Test Opera-
3
3.8
Teaching
Test Operations
CAUTION
Following functions cannot be simulated in the test operation (high
accuracy).
•
Weaving function
•
COMARC function
•
Sensor function
•
Twin/triple coordinated control function
•
Conveyor synchronized function
•
Weld line coordinate shift function
When the functions above are tried to be executed in test operation
(high accuracy), the alarm “4909 TEST RUN(HIGH ACCURACY)
ERROR” occurs. As for the functions above, operate in the test
operation (normal).
The switching position of the cursor is different in test operation (high accuracy) and in test operation (normal).
NOTE
Before performing the job editing (add or modify teaching
position) or back operation after the test operation (high
accuracy) is interrupted, make sure to check the cursor
position.
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3.8
3.8.3.2
Teaching
Test Operations
Setting Method
1. Select {SETUP} under main menu → {TEACHING CONDITION
SETTING}.
2. Move the cursor to the ”TEST RUN CONTROL” and select “HIGH
ACCURACY”. (“NORMAL” and “HIGH ACCURACY” are displayed
alternately.)
“HIGH ACCURACY” is for test operation (high accuracy) and
“NORMAL” is for the conventional test operation.
(Default setting is “NORMAL”.)
By executing “test operation” after the setting above, test operation (high
accuracy) is started.
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3.8
3.8.4
Teaching
Test Operations
Manual Speed Selection for Test Operations
Operation speed in test runs can be changed based on the manual speed
classification of low, medium, or high. Perform the following procedure to
set the manual speed.
1. Select {SETUP} from the main menu -> {TEACHING CONDITION
SETTING}.
2. Move the cursor to {MANUAL SPEED SELECT (TEST RUN)} and
select “VALID”.
(“VALID” and “INVALID” are alternately displayed.)
Fig. 3-3: Manual Speed Selection for Test Operations
3. When {MANUAL SPEED SELECT (TEST RUN)} is set to “VALID”,
{MANUAL SPEED (TEST RUN): LOW}, {MANUAL SPEED (TEST
RUN): MEDIUM}, and {MANUAL SPEED (TEST RUN): HIGH} are
displayed.
Fig. 3-4: When Manual Speed Selection for Test Operations is Enabled
Operation speed can be set in a percentage for each manual speed. This
percentage indicates a ratio of the speed to the maximum teaching speed
(the speed in test operations when the manual speed selection for test
operations is disabled).
3-98
3
3.9
3.9
3.9.1
Teaching
Other Job-editing Functions
Other Job-editing Functions
Editing Play Speed
There are two ways to modify play speed:
• Modification of Speed Type
• Relative Modification
3.9.1.1
Modification of Speed Type
This method is used to modify the speed type (such as VJ, V, VR, etc.)
0005
0006
0007
MOVJ VJ=25.00
MOVL V=138
MOVJ VJ=50.00
Only VJ is changed to 100.
0005
0006
0007
3.9.1.2
MOVJ VJ=100.00
MOVL V=138
MOVJ VJ=100.00
Type of
Play Speed
Explanation
VJ
Joint Speed
V
TCP Speed
VR
Posture Angle Speed
VE
Base Axis Speed
Normal robot axes
Relative Modification
All steps are selected regardless of the play speed type. This method is
used to change all steps by a specified percentage (1% to 200%). This is
called relative modification.
0005
0006
0007
MOVJ VJ=25.00
MOVL V=138
MOVJ VJ=50.00
Speed is doubled.
0005
0006
0007
MOVJ VJ=50.00
MOVL V=276
MOVJ VJ=100.00
The speed of the entire job or specified section can be changed.
1. Select {JOB} under {Main Menu}.
2. Select {JOB}.
– The JOB CONTENT window appears.
3. Move the cursor to the instruction area.
4. Press [SHIFT] + [SELECT] in the speed modify start line.
– If the section is not specified, the speed of the entire job will be
changed.
– Move the cursor to the end line. The line numbers of the selected
lines are highlighted.
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3.9
Teaching
Other Job-editing Functions
5. Select {EDIT} under the menu.
6. Select {CHANGE SPEED}.
– The SPEED MODIFICATION window appears.
A
B
C
D
E
7. Set desired items.
A. START LINE NO.
Displays the first line number of the section to be modified.
B. END LINE NO.
Displays the last line number of the section to be modified.
C. MODIFICATION TYPE
Selects the confirmation before changing: “CONFIRM” or “NO CONFIRM”.
Each time [SELECT] is pressed when the cursor is on this item, the setting alternates between “CONFIRM” and “NO CONFIRM”.
D. SPEED KIND
Selects the speed type.
When [SELECT] is pressed when the cursor is on this item, selection
dialog box appears. Select the speed type to be changed.
E. SPEED
Specifies the speed value.
When [SELECT] is pressed when the cursor is on this item, the mode
changes to the number input mode. Input the speed value and press
[ENTER].
8. Select “EXECUTE”.
– The speed begins to change.
– If “MODIFICATION TYPE” is set to “CONFIRM”, the confirmation
dialog box “Modifying speed” is displayed. Press [ENTER] to
change the speed on the first line and search for the next speed.
Press the UP/DOWN cursor button to keep the speed on the first
line and search for the next speed. To cancel the speed
modification, press [CANCEL].
– If “MODIFICATION TYPE” is set to “NOT CONFIRM”, all the speeds
of the specified section are changed.
3-100
3
3.9
3.9.1.3
Teaching
Other Job-editing Functions
Modification by TRT (Traverse Time)
Modifications made by TRT have the following characteristics:
• By setting the time required to execute a move instruction (moving
time) to a desired value, the speeds can be modified.
• It is possible to measure the moving time without actually moving the
manipulator.
For example, when the movement from lines 5 through 20 currently
requires 34 seconds, and you want to reduce it to 15 seconds or extend it
to 50 seconds, this function is used.
1. Select {JOB} under {Main Menu}.
2. Select {JOB}.
– The JOB CONTENT window appears.
3. Move the cursor to the instruction area.
4. Press [SHIFT] + [SELECT] in the weaving time measure start line.
– Move the cursor to the end line. The line numbers of the selected
lines are highlighted.
5. Select {EDIT} under the menu.
6. Select {TRT}.
– The TRT window appears.
A
B
C
D
7. Set the desired items.
A. START LINE NO.
Displays the first line number of the section to be measured and modified.
B. END LINE NO.
Displays the last line number of the section to be measured and modified.
C. MOVING TIME
The weaving time needed to move from the first number to last number
is measured and displayed.
D. SETTING TIME
Set the desired weaving time.
When [SELECT] is pressed when the cursor is on this item, the input
buffer line appears. Input the desired weaving time and press [ENTER].
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3.9
Teaching
Other Job-editing Functions
8. Select “EXECUTE”.
– The speed is changed according to the setting.
• If instructions that include specific speed data such as
SPEED or ARCON instructions (including speed data of
the welding condition file) exist in the specified section, the
speed data for those steps are not changed. Therefore, in
such cases, the set time and the actual time required are
not same.
NOTE
• If the speed data is limited by the maximum value, the following message is displayed.
!Limited to maximum speed
• The line to which the Edit Lock function is set or the comment out is performed cannot be changed.
(For details, refer to chapter 3.7.6 “Commenting Out a
Line” at page 3-71 and chapter 3.7.7 “Prohibiting Editing
Line-by-Line” at page 3-82.)
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3
3.9
3.9.2
Teaching
Other Job-editing Functions
Editing Interpolation Type
1. Select {JOB} under {Main Menu}.
2. Select {JOB}.
– The JOB CONTENT window appears.
3. Move the cursor to the instruction area.
4. Select the line to be modified.
– The instruction on the cursor is displayed in the input buffer line.
5. Press [SHIFT] + the cursor simultaneously.
– The interpolation type in the input buffer line changes.
– The modification of the speed according to the modification of the
interpolation type is calculated by the ratio to maximum speed at
each speed.
– Joint Speed: MAX=100.0%
Linear Speed: MAX=9000cm/min
(e.g.)
Joint Speed: 50% = Linear Speed: 4500cm/min
Linear Speed: 10% = Linear Speed: 900cm/min
6. Press [ENTER].
– The instruction on the cursor line is replaced with one on the input
buffer line.
3-103
3
3.9
3.9.3
Teaching
Other Job-editing Functions
Editing Condition Files
Condition files are prepared in order to set the conditions for the
manipulator to execute instructions.
Multiple condition files are provided for each application. More than one
pattern can be set up in each condition file. The patterns are listed by
“condition numbers”. This number is specified by the work instruction in a
job.
NOTE
Refer to DX200 Operator’s Manual of each application for
information regarding the contents and editing methods of
the condition file.
Condition Files
Application A
Application B
Application C
Condition
Condition
Condition
Number 1
Number 2
Number 3
Condition
Condition
Number 1
Number 2
Condition
Condition
Number 1 Condition
Condition
Number 2
Number 3
Number 4
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3
3.9
3.9.4
Teaching
Other Job-editing Functions
User Variables
User variables are used for jobs to store counters, calculation results or
input signals. Since the same user variable can be used in multiple jobs,
save the numerical values as common references for the jobs and the
user variables are maintained even when the power is turned OFF.
User variables have the following applications:
• Controlling of the number of workpieces
• Controlling of the number of jobs
• Sending/receiving of information between jobs
The data formats for user variables are described in the following table:
Table 3-5: User Variables
Data
Format
Variable No.
(pcs)
Functions
Byte Type
B000 to B099
(100)
Range of storable values is from
0 to 255.
Can store I/O status.
Can perform logical operations
(AND, OR, etc.)
Integer
Type
1000 to 1099
(100)
Range of storable values is from
-32768 to 32767.
Double
Precision
Integer
Type
D000 to D099
(100)
Range of storable values is from
-2147483648 to 2147483647.
Real Type
R000 to R099
(100)
Range of storable values is from
-3.4E+38 to 3.4E38.
Accuracy: 1.18E-38 < x ≤ 3.4E38
Character
Type
S000 to S099
(100)
Maximum storable number of
characters is 16.
Position
Type
P000 to P127
(128)
Can store position data in pulse
form or in XYZ form.
XYZ type variable can be used as
target position data for move
instructions, and as incremental
values for parallel shift
instructions.
Teaching line coordinates system
cannot be used.
BP000 to BP127
(128)
EX000 to EX127
(128)
Timer
variable
TM000 to TM059
(60)
Range of storable values is from
-2147483648 to 2147483647.
* For the timer variable, refer to chapter 6.18.2
3-105
“Timer Variable” .
3
3.9
Teaching
Other Job-editing Functions
• Play Speed V:
MOVL V=I000
The variable I000 is used for speed V with this move
instruction.
The unit for V is 0.1mm per second.
For example, if I000 were set as 1000, the following would
be true:
I000=1000unit for V is 0.1mm/sV=100.0mm/s
Note that, depending on the unit being used, the value of
the variable and the value of the actual speed on occasion
might not match.
NOTE
• Play Speed VJ:
MOVL VJ=I000
The unit for VJ is 0.01%.
For example, if I000 were set as 1000, the following would
be true:
I000=1000unit for VJ is 0.01%VJ=10.00%.
• Timer T:
TIMER T=I000
The unit for T is 0.01 seconds.
For example, if I000 were set as 1000, the following would
be true:
I000=1000unit for T is 0.01 secondsT=10.00 seconds.
3.9.4.1
Setting Byte, Integer, Double Precision Integer, and Real Type Variables
1. Select {VARIABLE} under {Main Menu}.
– {BYTE}, {INTEGER}, {DOUBLE}, and {REAL} are displayed for the
sub menu.
2. Select desired variable type.
– The BYTE VARIABLE window appears. (Following is a case that
{BYTE} is selected.)
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3.9
Teaching
Other Job-editing Functions
3. Move the cursor to the desired variable No.
– When the desired variable number is not displayed, move the cursor
with either of the following operations.
• Move the cursor on the variable No. and press [SELECT]. Then
input the variable No. using the [Numeric Key]s and press
[ENTER].
• Move the cursor to the menu area and select {EDIT} →
{SEARCH}. Then input the variable No. with the [Numeric Key]s
and press [ENTER]
Cursor is moved
to desired variable
number.
4. Move the cursor to the data of the variable.
– The number can be directly typed.
5. Input the desired number.
6. Press [ENTER].
– Input value is set to the variable on the cursor position.
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3
3.9
3.9.4.2
Teaching
Other Job-editing Functions
Setting Character Type Variables
1. Select {VARIABLE} under {Main Menu}.
2. Select {STRING}.
– The STRING VARIABLE window appears.
3. Move the cursor to the desired variable No.
– When the desired variable number is not displayed, move the cursor
with either of the following operations.
• Move the cursor on the variable No. and press [SELECT]. Then
input the variable No. using the [Numeric Key]s and press [ENTER].
• Move the cursor to the menu area and select {EDIT} → {SEARCH}.
Then input the variable No. with the [Numeric Key]s and press
[ENTER]
The cursor is
moved to
desired variable
number.
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3
3.9
Teaching
Other Job-editing Functions
4. Move the cursor to the data of the variable.
– The characters can be directly typed.
5. Input the desired characters.
– For information on character input operation, refer to
chapter 1.2.6 “Character Input Operation” at page 1-23.
6. Press [ENTER].
– The input characters are set to the variable on the cursor position.
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3
3.9
3.9.4.3
Teaching
Other Job-editing Functions
Registering Variable Name
1. Select {VARIABLE} under {Main Menu}.
2. Select desired variable.
– Select any variable type from among byte type, integer type, double
precision integer type, real type, robot position type, base position
type, and station position type.
3. Move the cursor to desired variable number.
– If desired variable number is not displayed, move the cursor by
either of following operations.
• Select the variable number, input desired variable number and press
[ENTER]. The cursor moves to the variable number to be input.
• Move the cursor to the menu area and select {EDIT} → {SEARCH}.
Input desired variable number and press [ENTER]. The cursor
moves to the variable number to be input.
4. Select “NAME”.
– The input buffer line appears.
SUPPLE
-MENT
Refer to chapter 1.2.6 “Character Input Operation” at
page 1-23 for the character input operation.
5. Input name.
6. Press [ENTER].
– The variable name is registered.
3-110
3
3.9
3.9.4.4
Teaching
Other Job-editing Functions
Displaying Position Variables
1. Select {VARIABLE} under {Main Menu}.
2. Select desired position variable type.
– The POSITION VARIABLE window of desired type among robot
type, base type, and station type appears.
3. Move to a page with the objective variable number.
– When the desired variable number is not displayed, move the cursor
with either of the following operations.
• Press [PAGE] or [SHIFT] + [PAGE] .
• Press page button, then input the variable No. using the [Numeric
Key]s and press [ENTER].
• Move the cursor to the menu area and select {EDIT} → {SEARCH}.
Then input the variable No. with the [Numeric Key]s and press
[ENTER].
Move to desired
variable number
page.
3-111
3
3.9
3.9.4.5
Teaching
Other Job-editing Functions
Setting Position Variables
The following table shows the types of position variables and setting
methods.
• The setting of position variables is done in the teach
mode.
NOTE
• Turn the servo power ON when setting the variables with
the [Axis Key]s.
Table 3-6: Types of Position Variables and Setting Method
Pxxx
(Robot)
Type
Pulse Type
BPxxx
(Base)
XYZ Type
Pulse Type
EXxxx
(Station)
XYZ Type
Pulse Type
Select coordinates
from base, robot,
user, tool.
Z-axis
Setting Method
Using the numeric keys
45000
X-axis
Using the axis keys
3-112
Y-axis
3
3.9
3.9.4.6
Teaching
Other Job-editing Functions
Setting Position Variables Using the [Numeric Key]s

Pulse Type
1. Select {VARIABLE} under {Main Menu}.
2. Select desired position variable type.
– The desired variable window appears (robot, base, or station). (The
POSITION VARIABLE window is used for this example.)
3. Select the variable data type.
– The selection dialog box appears.
– If the position variable was set before, confirmation dialog box
appears for data clear. If “YES” is selected, the data is cleared.
4. Select {PULSE}.
5. Move the cursor to desired data to be input and press [SELECT].
6. Input the value.
7. Press [ENTER].
– The value is set in the cursor position.
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3
3.9

Teaching
Other Job-editing Functions
XYZ Type
1. Select {VARIABLE} under {Main Menu}.
2. Select desired position variable type.
3. Select the variable data type.
– The selection dialog box appears.
4. Select desired coordinates except PULSE.
5. Move the cursor to desired data to be input and press [SELECT].
6. Input the value.
7. Press [ENTER].
– The value is set in the cursor position.
(1) Setting of “<TYPE>”
– Each time [SELECT] is pressed when the cursor is on the setting
data in the input buffer line, the settings alternate.
About “<TYPE>”
• It is not necessary to set a type if the position variable is to be used
for parallel shift operations.
• When the position variable is used with a move instruction such as
“MOVJ P001”, it is necessary to set a type. For details on types,
refer to chapter 3.9.4.10 “Manipulator Types” at page 3-117.
Current Position Window (XYZ) shows the current setting of a type.
3-114
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3.9
3.9.4.7
Teaching
Other Job-editing Functions
Setting Position Variables Using the [Axis Key]s

Pulse Type
1. Select {VARIABLE} under {Main Menu}.
2. Select desired position variable type.
– The desired variable window appears (robot, base, or station).
3. Press [SHIFT] + [ROBOT]. When you need an external axis position,
press [SHIFT]+[EX.AXIS].
(1) When there are two or more robot, base, or a station, specify the
axis with following operation.
• Robot
Each time [SHIFT] + [ROBOT] is pressed, the axis displayed on the
status line changes:
R1R2...R8.
• Base or Station
Each time [SHIFT]+[EX.AXIS] is pressed, the axis displayed on the
status line changes:
B1B2 ...B8S1S2 ......S24.
(2) Check the selected axis on the status line.
4. Move the manipulator with the [Axis Key]s.
– Move the manipulator or the external axis to the desired position to
be set to position variable.
5. Press [MODIFY].
6. Press [ENTER].

XYZ Type
1. Select {VARIABLE} under {Main Menu}.
2. Select desired position variable type.
(1) When there are two or more robot, base, or a station, specify the
axis with following operation.
• Robot
Each time [SHIFT] + [ROBOT] is pressed, the axis displayed on the
status line changes:
R1R2...R8.
• Base or Station
Each time [SHIFT]+[EX.AXIS] is pressed, the axis displayed on the
status line changes:
B1B2 ...B8S1S2 ......S24.
(2) Check the selected axis on the status line.
3. Move the manipulator with the [Axis Key]s.
– Move the manipulator or the external axis to the desired position to
be set to position variable.
4. Press [MODIFY].
5. Press [ENTER].
3-115
3
3.9
3.9.4.8
Teaching
Other Job-editing Functions
Deleting Data Set of Position Variables
1. Select {VARIABLE} under {Main Menu}.
2. Select desired position variable type.
3. Select {DATA} under the menu.
– The pull-down menu appears.
4. Select {CLEAR DATA}.
– The position variable data on the displayed page are deleted.
3.9.4.9
Checking Positions by Position Variables
1. Select {VARIABLE} under {Main Menu}.
2. Select desired position variable type.
(1) When there are two or more robot, base, or a station, specify the
axis with following operation.
• Robot
Each time [SHIFT] + [ROBOT] is pressed, the axis displayed on the
status line changes:
R1R2...R8.
• Base or Station
Each time [SHIFT]+[EX.AXIS] is pressed, the axis displayed on the
status line changes:
B1B2 ...B8S1S2 ......S24.
(2) Check the selected axis on the status line.
3. Press [FWD].
– Selected axis moves to the position specified by the variable.
NOTE
The selected axis (manipulator, base, or station) moves
directly to the set variable position.
Before pressing [FWD], check that the surrounding area is
safe.
3-116
3
3.9
3.9.4.10
Teaching
Other Job-editing Functions
Manipulator Types
When the position data of the job data are described using the XYZ
format, several postures may be taken according to the manipulator’s
structure when moving it to the described position.
Although these postures have the same coordinates for TCP, they vary in
pulse for each axis.
Thus, the manipulator’s posture cannot be uniquely defined only by the
coordinate value, and it is necessary to specify the data other than the
coordinate value to define the manipulator’s posture.
This is called “Type”.
Type varies according to the manipulator model.
For the manipulator with seven axes, X, Y, Z, Rx, Ry, Rz, Re
and Type are used.
Re is an element to indicate the posture of the manipulator
with seven axes and does not change by the specified coordinates.
The definition of Re is shown below.
NOTE
3-117
3
3.9
3.9.5
Teaching
Other Job-editing Functions
Flip/No Flip
When the angle of B-axis is within (+) range (θB ≥ 0°), it is called “Flip”,
and when within (-) range (θB < 0°), “No Flip”.
3.9.6
R-axis Angle
This specifies whether the R-axis angle is less than ±180° or greater than
±180°.
R < 180°
R ≥ 180°
0°
0°
360° -360°
-180° 180°
-180° < θ R ≤ 180°
NOTE
180° < θ R or θ R ≤ -180°
θ R is the angle when the R-axis home position is 0 °.
3-118
3
3.9
3.9.7
Teaching
Other Job-editing Functions
T-axis Angle
This specifies positions of the R-, B-, and T-axis.
For manipulators with wrist axes (three axes), this specifies whether the Taxis angle is less than ±180° or greater than ±180°.
T <180°
T ≥ 180°
0°
0°
360° -360°
-180° 180°
-180° < θ T ≤ 180°
NOTE
3.9.8
180° < θ T or θ T ≤ -180°
θ T is the angle when the T-axis home position is 0°.
Front/Back
This specifies where in the S-axis rotation center the B-axis rotation center
locates when viewing the L-axis and U-axis from the right-hand side.
When viewed from the right-hand side, the right of the S-axis rotation
center is called the front, and the left is called the back.
Right-hand side
(S-axis 0°)
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3.9
Teaching
Other Job-editing Functions
The diagram below shows the S-axis at 0° and at 180°. This is the
configuration when the L-axis and the U-axis are viewed from the righthand side.
S-axis 0°
Back
S-axis 180°
Front
Front
Back
For the manipulator with seven axes, this specifies where in the S-axis
rotation center the U-axis rotation center locates when viewing the L-axis
and U-axis from the right-hand side.
When viewed from the right-hand side, the right of the S-axis rotation
center is called the front, and the left is called the back.
Back
3-120
Front
3
3.9
3.9.9
Teaching
Other Job-editing Functions
Upper Arm/Lower Arm
This specifies a type comprised of L-axis and U-axis when the L-axis and
U-axis are viewed from the right-hand side.
Right-hand side
Upper Arm
3.9.10
Lower Arm
S-axis Angle
This designation is required for the manipulators which have working
envelopes greater than ±180°.
This specifies whether the S-axis angle is less than ±180° or greater than
±180°.
S<180°
S ≥ 180°
0°
0°
360°
-180°
180°
-180° < θ S ≤ 180°
NOTE
-360°
180° < θ S or θ S ≤ -180°
θ S is the angle when the S-axis home position is 0°.
3-121
3
3.9
3.9.11
Teaching
Other Job-editing Functions
Editing Local Variables
As well as user variables, local variables can be used for the storage of
counters, calculations, and input signals. The data format is the same as
that of user variables. As shown in the following table, the letter L is
affixed to the variable number to indicate a local variable.
Table 3-7: Local Variables
Data Format
Variable No.
Byte Type
Functions
LB000 to
LB
Range of storable values is
from 0 to 255.
Can store I/O status.
Can perform logical operations (AND, OR, etc.)
Ll000 to
LI
Range of storable values is
from -32768 to 32767.
LD000 to
LD
Range of storable values is
from -2147483648 to
2147483647.
LR000 to
LR
Range of storable values is
from -3.4E+38 to 3.4E+38
Accuracy: 1.18E-38 < x ≤
3.4E+38
Character Type
LS000 to
LS
Maximum storable number of
characters is 16.
Position Robot Axes
Type
LP000 to
LP
Base Axes
LBP000 to
LBP
Can store position data in pulse
form or in XYZ form. XYZ type
variables can be used as target
position data for move
instructions, and as incremental
values for parallel shift
instructions.
Teaching line coordinates system
cannot be used.
Integer Type
Double Precision
Integer Type
Real Type
Station Axes
LEX000 to
LEX
Local variables differ from user variables in the following four ways:
• Used in One Job Only
With user variables it is possible to define and use one variable in
multiple jobs, but local variables are used only in the job in which
they are defined, and cannot be read from other jobs.
Accordingly, local variables do not affect other jobs, so it is possible
to define a variable number (such as LB001) separately in different
jobs, and use it in different ways in each of these jobs.
User Variable
B001
Job 1
Job 2
Job 3
User Variables
3-122
Job 1
Job 2
Job 3
Local Variable
Local Variable
Local Variable
LB001
LB001
LB001
Local Variables
3
3.9
Teaching
Other Job-editing Functions
• Able to Use Any Number of Variables
The number is set in the JOB HEADER window. When the number
is set, the area for the value is saved in memory.
• Not Able to Display the Variable Contents
To display the local variable contents, user variables are needed.
For example, to view the contents of local variable LP000, save it
temporarily as user variable P001. Then execute the instruction
SET P001 LP000, and view the POSITION VARIABLE window for
P001.
• Enabled Only During the Execution of the Defined Job
The contents of the local variables are enabled only during the execution of the defined job.
The local variable field is assured when the defined job is called
(when the job is executed by a CALL or JUMP instruction, or the job
is selected by the menu). Once the job is completed by the execution of a RET, END, or JUMP instruction, the local variable data that
was set is disabled. However, if a job which uses local variables
itself calls a separate job, then is returned by use of a RET instruction, the data that was present prior to the CALL instruction remains
in effect and can be used.
NOTE
Precautions for Variables and Units
As was the case with user variables, note that, depending
on the value of the unit being used, the value of the variable
and the value of the actual speed or time an occasion might
not match. Refer to chapter 3.9.4 “User Variables” at
page 3-105.
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3
3.9
3.9.11.1
Teaching
Other Job-editing Functions
Setting the Number of Local Variables
The number of local variables used in a job is set in the JOB HEADER
window. When the number of local variables is set, memory is allocated
for those variables.
NOTE
Only when expanding the “INSTRUCTION LEVEL”, it is
possible to use local variables.
However, when “PROHIBIT” is set to {COBTENT DISPLAY}, the number of local variables cannot be confirmed
or changed.
Refer to “8.12 Instruction Level Setting” of “DX200
INSTRUCTIONS” (RE-CTO-A220) for details on setting the
language level. Refer to chapter 5.8 “Prohibit Displaying
the Contents of a Job” for setting the displaying of a job
contents.
1. Select {JOB} under {Main Menu}.
2. Select {JOB}.
3. Select {DISPLAY} under the menu.
4. Select {JOB HEADER}.
– The JOB HEADER window appears. Scroll the window using the
cursor.
5. Select the number of local variables to be set.
– The input buffer line appears.
3-124
3
3.9
Teaching
Other Job-editing Functions
6. Input the number of variables.
7. Press [ENTER].
– The number of local variables are set.
3-125
3
3.9
Teaching
Other Job-editing Functions
3.9.12 Search
When editing or checking, jobs and steps can be searched for. Search
can be done when the cursor is in either the address or instruction area on
the JOB CONTENT window.
1. Select {JOB} under {Main Menu}.
2. Select {JOB}.
– The JOB CONTENT window appears.
3. Select {EDIT} under the menu.
– The pull-down menu appears.
4. Select {SEARCH}.
– The selection dialog box appears.
5. Select the search type.
Search is an operation by which the cursor is moved to a specific step or
instruction in the edit job. The desired item can be instantly searched for
without using the cursor.
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3
3.9
3.9.12.1
Teaching
Other Job-editing Functions
Line Search
This function moves the cursor to the desired line number.
1. Select {EDIT], {SEARCH} and “LINE SEARCH”.
– The number can be entered.
2. Input desired line number.
3. Press [ENTER].
– The cursor is moved to the line number and the window appears.
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3
3.9
Teaching
Other Job-editing Functions
3.9.12.2 Step Search
This function moves the cursor to the desired step number (move
instruction).
1. Select {EDIT], {SEARCH} and “STEP SEARCH”.
– The number can be entered.
2. Input desired step number.
3. Press [ENTER].
– The cursor is moved to the input step and the window appears.
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3
3.9
3.9.12.3
Teaching
Other Job-editing Functions
Label Search
This function searches for the desired label and the instruction using that
label.
1. Select {EDIT}, {SEARCH} and “LABEL SEARCH”.
– The characters can be entered.
2. Input desired label name.
– For information on character input operation, refer to
chapter 1.2.6 “Character Input Operation” at page 1-23.
– At this time, search can be conducted by entering any one character
of the label. For example, to search for the “START” label, enter
only “S”, and the search can be done.
3. Press [ENTER].
– The cursor is moved to the desired label and the window appears.
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3
3.9
Teaching
Other Job-editing Functions
4. Use the cursor to continue search.
– While searching, forward search and backward search are possible
by pressing the cursor.
– To end search, select {EDIT} → {END SEARCH} on the menu and
press [SELECT].
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3
3.9
3.9.12.4
Teaching
Other Job-editing Functions
Instruction Search
This function moves the cursor to a desired instruction.
1. Select {EDIT}, {SEARCH} and “INSTRUCTION SEARCH”.
– The INFORM command list appears.
2. Select desired instruction group.
3. Select desired instruction.
– The cursor is moved to the selected instruction and the window
appears.
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3
3.9
Teaching
Other Job-editing Functions
4. Use the cursor to continue search.
– While searching, forward search and backward search are possible
by pressing the cursor.
– To end search, select {EDIT} → {END SEARCH} on the menu and
press [SELECT], or press [CANCEL].
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3
3.9
3.9.12.5
Teaching
Other Job-editing Functions
Tag Search
This function moves the cursor to the desired tag.
1. Select {EDIT}, {SEARCH} and “TAG SEARCH”.
– The instruction list dialog box appears.
2. Select desired instruction group.
3. Select desired instruction for which the tag is to be searched.
– The tag list dialog box for selected instruction appears.
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3
3.9
Teaching
Other Job-editing Functions
4. Select the desired tag.
– The cursor is moved to the selected tag and the window appears.
5. Use the cursor to continue search.
– While searching, forward search and backward search are possible
by pressing the cursor.
– To end search, select {EDIT} → {END SEARCH} on the menu and
press [SELECT], or press [CANCEL].
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4
4.1
4
Playback
Preparation for Playback
Playback
4.1
4.1.1
Preparation for Playback
Selecting a Job
Playback is the act of executing a taught job. Before playback operation,
first call the job to be executed.
4.1.1.1
Calling a Job
1. Select {JOB} under {Main Menu}.
2. Select {SELECT JOB}.
– The JOB LIST window appears.
3. Select the desired job.
4-1
4
4.1
4.1.1.2
Playback
Preparation for Playback
Registering the Master Job
If a particular job is played back frequently, it is convenient to register that
job as a master job (master registration). A job registered as the master
job can be called more easily than the method described on the preceding
page.
NOTE
Only one job can be registered as the master job. Registering a master job automatically cancels the previously registered master job.
Be sure to register a master job in the teach mode.
1. Select {JOB} under {Main Menu}.
2. Select {MASTER JOB}.
– The MASTER JOB window appears.
3. Press [SELECT].
– The selection dialog box appears.
4-2
4
4.1
Playback
Preparation for Playback
4. Select {CALL MASTER JOB}.
– The JOB LIST window appears.
5. Select a job to be registered as a master job.
– The selected job is registered as the master job.
4-3
4
4.1
4.1.1.3
Playback
Preparation for Playback
Calling the Master Job
This operation is to call a master job. The job can be called in the JOB
CONTENT window, PLAYBACK window, JOB SELECT window, or the
MASTER JOB window.

Calling from the JOB CONTENT, PLAYBACK, JOB SELECT Window
1. Select {JOB} under the menu.
2. Select {MASTER JOB}.
– The master job is called, and the JOB CONTENT window appears.
4-4
4
4.1

Playback
Preparation for Playback
Calling from the MASTER JOB Window
1. Select {JOB} under {Main Menu}.
2. Select {MASTER JOB}.
– The MASTER JOB window appears.
3. Press [SELECT].
– The selection dialog box appears.
4. Select {CALL MASTER JOB}.
– The master job is called, and the JOB CONTENT window (during
the teach mode), or the PLAYBACK window (during the play mode)
appears.
4-5
4
4.1
4.1.2
Playback
Preparation for Playback
The PLAYBACK Window
When the mode switch on the programming pendant is switched to
“PLAY” while displaying the JOB CONTENT window, the PLAYBACK
window appears.
A
B
D
C, E
F
A. Job Content
The cursor moves according to the playback operation. The contents
are automatically scrolled as needed.
B. Override Speed Settings
Displayed when override speed setting is performed.
C.Cycle Time
Displays the operating time of the manipulator. Each time the manipulator is started, the previous cycle time is reset, and a new measurement
begins. Either showing or hiding the cycle time display is selectable.
D. Start No.
First step in the measurement. Measurement starts when the start button lamp lights and the playback starts.
E. Motion Time
Displays the weaving time of the manipulator.
F. Playback Time
Displays the time from the beginning to the end of the measurement.
Measurement ends when the manipulator stops and the start button
lamp goes off.
4.1.2.1
Display of Cycle Time
Follow the procedure below to set whether or not to display the cycle time
on the PLAYBACK window.
1. Select {DISPLAY} under the menu.
2. Select {CYCLE TIME}.
– The cycle time is displayed.
– Repeat the same operation to hide the cycle time display.
4-6
4
4.1
4.1.2.2
Playback
Preparation for Playback
Operation Cycle
There are three types of manipulator operation cycles:
• AUTO : Repeats a job continuously.
• 1 CYCLE : Executes a job once. If there is a called job during execution, it is performed, after which the execution processing returns
to the original job.
• 1 STEP : Executes one step (instruction) at a time.
The operation cycle can be changed as follows:
1. Select {JOB} under {Main Menu}, and then select {CYCLE}.
2. Select the operation cycle to be changed.
– The operation cycle is changed.
4-7
4
4.1

Playback
Preparation for Playback
Automatic Setting for Operation Cycle
Automatic setting of the operation cycle can be changed by the following
operation.
This can be done in the management mode only.
1. Select {SETUP} under {Main Menu}.
2. Select {OPERATE COND}.
– The OPERATING CONDITION window appears. Use the cursor to
scroll the screen.
3. Select the desired operation.
– The selection dialog box appears.
“NONE” setting
SUPPLE
-MENT
The operation cycle is not changed when “NONE” is set.
For example, if the setting is “CYCLE SWITCH IN PLAY
MODE = NONE”, the operation cycle is maintained even
after switching to the play mode.
4-8
4
4.1
Playback
Preparation for Playback
4. Select a cycle.
– The operation cycle when switching modes is set.
4-9
4
4.2
4.2
4.2.1
Playback
Playback
Playback
Playback Operation
NOTE
After checking to be sure there is no one near the manipulator, start the playback operation by following the procedures
below.
Playback is the operation by which the taught job is played back. Follow
the procedures below to start the playback operation.
• Programming pendant (start button)
• Peripheral device (external start input)
Which is used to start playback is specified by the mode switch on the
programming pendant.
Mode Switch on Programming
Pendant
Job is started up by
[PLAY]
[START] button on
programming pendant
[REMOTE]
Peripheral device
For playback using the programming pendant, follow the procedures
below.
4.2.1.1
Selecting the Start Device
1. Set the mode switch on the programming pendant to “PLAY”.
– The remote mode is disabled and the play mode is enabled so the
machines are to be started up by the programming pendant.
4.2.1.2
Servo On
1. Press [Servo ON Ready].
– DX200 servo power is ON and the Servo ON lamp on the
programming pendant lights.
4.2.1.3
Start Operation
1. Press [START].
– The start button lamp lights and the manipulator begins operation.
4-10
4
4.2
4.2.2
Playback
Playback
Special Playback Operations
The following special operations can be performed during playback:
• Low speed operation
• Limited speed operation
• Dry run speed operation
• Machine lock operation
• Check mode operation
Two or more special operations can be performed at the same time. If
multiple operations are selected, the speed during playback is limited to
the speed of the slowest operation. Settings for special operations are
done in the SPECIAL PLAY window.
When the PLAYBACK window is displayed, move the cursor to the menu
area and select {UTILITY}  {SPECIAL PLAY}. The SPECIAL PLAY
window appears.
4.2.2.1
Low Speed Operation
The manipulator moves at low speed during the first step after starting.
After the operation of this step, the manipulator stops regardless of the
selection of the operation cycle and then low speed operation is canceled.
Even if the manipulator is stopped its motion during the low speed
operation, the low speed status would not be canceled before it reaches
the first step.
After one step operation, pressing [START] allows the manipulator to
move at the taught speed.
1. Select “LOW SPEED START” on the SPECIAL PLAY window.
– The setting alternates between “VALID” and “INVALID”.
2. Select “COMPLETE”.
– The window returns to the PLAYBACK window.
4-11
4
4.2
4.2.2.2
Playback
Playback
Limited Speed Operations
The manipulator operates within the limited speed for the teach mode.
Usually, the limited speed is set to 250mm/s. However, operation is
performed at actual playback speeds for steps in which the set speed is
under this limit.
1. Select “SPEED LIMIT” under the SPECIAL PLAY window.
– The setting alternates between “VALID” and “INVALID”.
2. Select “COMPLETE”.
– The window returns to the PLAYBACK window.
4.2.2.3
Dry-run Speed Operations
The dry-run speed is a constant speed that is independent of the teaching
speeds. The manipulator executes all the steps at a constant speed,
which is convenient for quick check of a job consisting of slow operations.
The dry-run speed is 10% of maximum speed.
NOTE
Be careful of steps programmed at lower speeds than the
dry-run speed, because they are executed at greater
speeds than programmed.
1. Select the “DRY-RUN SPEED” under the SPECIAL PLAY window.
– The setting alternates between “VALID” and “INVALID”.
2. Select “COMPLETE”.
– The window returns to the PLAYBACK window.
Fig. 4-1: Safety Speed and Dry-run Speed
Speed
Play speed
Safety speed
Dry-run speed
Step
4-12
4
4.2
4.2.2.4
Playback
Playback
Machine Lock Operation
A job is played back without moving the manipulator to check the status of
input and output.
1. Select “MACHINE LOCK” under the SPECIAL PLAY window.
– The setting alternates between “VALID” and “INVALID”.
2. Select “COMPLETE”.
– The window returns to the PLAYBACK window.
NOTE
• The setting of “MACHINE LOCK” is maintained even after
the mode is switched: If the machine lock is set to “VALID”
in the teach mode, it is still “VALID” after switching to the
play mode.
The same applies when the mode is switched from the
play mode to the teach mode.
• Note that the machine lock becomes “INVALID” if the following operation is performed.
• Execution of “CANCEL ALL SELECT” in the SPECIAL
PLAY window.
• Turning off the main power.
4.2.2.5
Check Mode Operation
The machine runs without issuing work instructions, such as the ARCON
instruction. It is used primarily to check the path of the program.
1. Select “CHECK-RUN” under the SPECIAL PLAY window.
– The setting alternates between “VALID” and “INVALID”.
2. Select “COMPLETE”.
– The window returns to the PLAYBACK window.
4.2.2.6
Weaving Prohibit Setting during Check Mode Operation
The weaving operation is not executed in the weaving section of the job.
1. Select “WEAV PROHIBIT IN CHK-RUN” under the SPECIAL PLAY
window.
– The setting alternates between “VALID” and “INVALID”.
2. Select “COMPLETE”.
– The window returns to the PLAYBACK window.
4-13
4
4.2
4.2.2.7
Playback
Playback
Cancel All Special Operations
All special operations are disabled by the following operation.
1. Select {EDIT} from the menu.
2. Select “CANCEL ALL SELECT”.
– The message “All special functions canceled” appears.
NOTE
Special operations are also automatically cancelled if the
main power is shut OFF.
4-14
4
4.3
4.3
Playback
Stop and Restart
Stop and Restart
The manipulator stops in the following conditions:
• Hold
• Emergency stop
• Stop by alarm
• Others
4.3.1
Hold
Hold operation causes the manipulator to stop all motion.
SUPPLE
-MENT
4.3.1.1
[HOLD] lamp lights while it is held down. At the same time,
[START] lamp goes OFF.
Using the Programming Pendant

Hold
1. Press [HOLD] on the programming pendant.
2. The manipulator stops. The [HOLD] lamp lights while the [HOLD]
button is held down.

Release
1. Press [START] on the programming pendant.
2. The manipulator restarts its operation from the position where it was
stopped.
4.3.1.2
Using an External Input Signal (System Input)

Hold
1. Turn ON the hold signal from an external input (system input).
– The manipulator stops temporarily.
External holding
– The output signal “HOLD” turns ON.
– The programming pendant [HOLD] lamp lights.

Release
1. Turn off the hold signal from an external input (system input).
– Hold is released.
– To continue the operation, press [START] or turn ON the external
input signal (system input). The manipulator restarts its operation,
beginning from the position where it was stopped.
4-15
4
4.3
4.3.2
Playback
Stop and Restart
Emergency Stop
At an emergency stop, the servo power supply that drives the manipulator
is turned OFF and the manipulator stops immediately. An emergency stop
can be performed by using either of the following:
• Button on the Front Door of the DX200
• Programming pendant
• External input signal (system input)

Emergency Stop
1. Press the emergency stop button
.
– The servo power turns OFF and the manipulator stops immediately.
– On the front door of the DX200:
– On the programming pendant:
Using the Emergency Stop Button on the Programming Pendant
Robot stops by P.P. emergency stop
Using the External Input Signal (System Input)
Robot stops by external emergency stop

Release
1. Turn the emergency stop button
in the direction of the arrows.
TURN
– On the front door of the DX200:
TURN
– On the programming pendant:
– To turn ON the servo power supply again, press [SERVO ON
READY] and then grip the Enable switch of the programming
pendant.
4-16
4
4.3
4.3.2.1
Playback
Stop and Restart
Restart After Emergency Stop
CAUTION
4.3.3
•
Prior to restarting the manipulator's operation after an emergency
stop, confirm the position of the manipulator by using FWD, etc.,
and make sure that there is no interference between the
manipulator and the workpiece or fixture.
•
When an emergency stop is performed during a high-speed
operation of consecutive steps, the manipulator may stop two or
three steps before the displayed step. If the manipulator's operation
is restarted under such conditions, the manipulator may interfere
with the workpiece or fixture.
Stop by Alarm
If an alarm occurs during operation, the manipulator stops immediately
and the ALARM window appears on the programming pendant indicating
that the machine was stopped by an alarm.
– If more than one alarm occurs simultaneously, all alarms can be
viewed on the window. Scroll down the viewing area of the window
when necessary.
The following operations are available in the alarm status:
window change, mode change, alarm reset, and emergency stop.
To display the ALARM window again when the window is changed during
alarm occurrence, select {SYSTEM INFO} and then {ALARM HISTORY}
under {Main Menu}.
4-17
4
4.3

Playback
Stop and Restart
Releasing Alarms
<Minor Alarms>
1. Press [SELECT].
– Select “RESET” under the ALARM window to release the alarm
status.
– When using an external input signal (system input), turn ON the
“ALARM RESET” setting.
<Major Alarms>
1. Turn OFF the main power supply and remove the cause of the alarm.
– If a severe alarm such as hardware failure alarm occurs, the servo
power is automatically shut off and the manipulator stops. If
releasing does not work, turn OFF the main power and correct the
cause of the alarm.
4.3.3.1
Restart After Stop by Alarm
CAUTION
•
Prior to restarting the manipulator's operation after it has been
stopped by an alarm, confirm the position of the manipulator by
using FWD, etc., and make sure that there is no interference
between the manipulator and the workpiece or fixture.
•
When an alarm occurs and stops the manipulator during a highspeed operation of consecutive steps, the manipulator may stop
two or three steps before the displayed step. If the manipulator's
operation is restarted under such conditions, the manipulator may
interfere with the workpiece or fixture.
4-18
4
4.3
4.3.4
4.3.4.1
Playback
Stop and Restart
Others
Temporary Stop by Mode Change
When the play mode is switched to the teach mode during playback, the
manipulator stops immediately.
!Stopped by switching mode
To restart the operation, return to the play mode and perform a start
operation.
4.3.4.2
Temporary Stop by the PAUSE Instruction
When the PAUSE instruction is executed, the manipulator stops
operating.
!Robot stops by execution PAUSE command
To restart the operation, perform a start operation. The manipulator
restarts from the next instruction.
4-19
4
4.4
4.4
4.4.1
Playback
Modifying Play Speed
Modifying Play Speed
Speed Override
Speed modifications using the speed override have the following features:
• Speed can be modified during playback.
The job can be played back at various speeds until the play speed is
properly adjusted.
• Speed can be increased or decreased by a ratio of the current play
speed.
The ratio settings range from 10% to 150% in increments of 1%.
Therefore, it is convenient when, for example, all play speed settings
are to be increased by 150% at the same time.
The operation flow is shown below.
Start speed override
Call job to perform speed override
Set speed override
(Speed data modify :OFF,specify the ratio)
Start playback
Changes experimentally,
without modifying registered
speed
Adjust the ratio during playback if needed
(1cycle completed)
YES
Reset and playback?
NO
NO
Modify?
YES
Call job to perform speed override
Set speed override
(Speed data modify: ON,specify the ratio)
Start playback
Modify play speed simultaneously
(1cycle completed)
End
4-20
Modifies play speed
4
4.4
4.4.1.1
Playback
Modifying Play Speed
Setting Speed Overrides
1. Select {UTILITY} under the menu in the PLAYBACK window.
2. Select {SPEED OVERRIDE}.
– The PLAYBACK window shows the speed override status.
3. Select “ON” or “OFF”.
– Each time [SELECT] is pressed, “ON” and “OFF” alternate.
– Select “ON” to modify the registered play speed during playback.
– When “OFF” is selected, the registered play speed is not modified.
To change the play speed temporarily (for example, to experiment
with various speeds), select “OFF”.
4. Line up the cursor with the override ratio and move the cursor up and
down to change the ratio.
If you want to input the ratio number directly, move the cursor to the
override ratio and press [SELECT].
– The number input line appears. Input the override ratio using the
[Numeric Key]s.
4-21
4
4.4
4.4.1.2
Playback
Modifying Play Speed
Modifying Play Speed
1. Set speed override.
2. Playback the manipulator.
– The play speed is increased or decreased in the set ratio.
– When setting “MODIFY” to “ON”, the step’s play speed is modified
when each step is reached.
– When one cycle is completed by the END instruction, the speed
override setting is cancelled.
• Assuming that the manipulator moves from step 1 to step
2, the play speed of step 2 is not modified if the speed
override is cancelled before reaching step 2.
NOTE
• The play speed after the modification by the speed override is limited by the maximum and the minimum speed of
manipulator.
• When the safety speed operation is commanded with the
setting of “MODIFY: ON”, the manipulator operates at the
safety speed. However, the play speed in memory is
modified as set by the speed override.
• Play speed set by the SPEED instruction is not modified.
4.4.1.3
Cancelling Speed Override Settings
1. Select {UTILITY} under the menu in the PLAYBACK window.
2. Select {SPEED OVERRIDE}.
– The setting of the speed override ratio is cancelled.
– If cancelled, the speed ratio setting is not displayed on the
PLAYBACK window.
The speed override settings are automatically cancelled in
the following cases:
• When dry-run speed operation is set.
NOTE
• When the mode is changed to any mode other than the
play mode.
• When an alarm occurs.
• When one cycle operation is completed with the END
instruction.
• When the power supply is turned OFF.
4-22
4
4.4
4.4.2
4.4.2.1
Playback
Modifying Play Speed
Specification for Speed Override in AUTO Cycle Operation
Functional Overview
This specification allows the manipulator to temporarily change its
operation speed during playback.
The operation speed is specified by setting the Speed Override
percentage (1 to 100% in increments of 1%) for the operation speed (play
speed) specified in the current job.
This function also enables an automatic setting of the Speed Override
function when changing modes from TEACH to PLAY.
Speed Override function can be performed with this specification by
setting the parameter S2C701.
4.4.2.2
Setting the Speed Override Function
NOTE
Set the mode selection switch to PLAY.
1. Select {JOB} under {Main Menu}, and press {JOB}.
– The PLAYBACK screen appears.
4-23
4
4.4
Playback
Modifying Play Speed
2. Select {UTILITY} in the Menu Area.
3. Select {SPEED OVERRIDE}.
– The Speed Override setting is enabled. (As shown below, an
asterisk "*" appears beside {SPEED OVERRIDE}, and "SPEED
ADJUSTMENT" appears in the input buffer line.)
4-24
4
4.4
Playback
Modifying Play Speed
4. Set the override ratio.
– 1. Move the cursor to highlight the RATIO edit box.
– 2. Hold [SHIFT] and press the cursor (up or down) to modify the
percentage.
Note: To directly enter the value, perform:
1. Move the cursor to highlight the RATIO edit box, and press
[SELECT].
2. Enter the desired percentage using [Numeric Key] pad.
3. Press [ENTER].
5. Setting completed.
4-25
4
4.4
4.4.2.3
Playback
Modifying Play Speed
Performing the Speed Override Function
NOTE
Set the mode selection switch to PLAY.
1. Start the job.
– Press [START]
2. Speed Override is executed.
– The manipulator moves in the specified speed percentage.
4.4.2.4
Modifying the Speed Override Percentage
NOTE
• Set the mode selection switch to PLAY.
• This operation can be performed during playback.
1. Modify the override ratio.
– Highlight the RATIO edit box, and hold [SHIFT] and press the cursor
(up or down) when SPEED ADJUSTMENT is displayed in the input
buffer line.
Note: The value is increased or decreased by 1% increments.
2. Modification completed.
– The manipulator moves in the specified speed percentage.
4-26
4
4.4
4.4.2.5
Playback
Modifying Play Speed
Disabling the Speed Override Function
1. Select {UTILITY} in the Menu Area.
2. Select {*SPEED OVERRIDE}.
– The Speed Override function is disabled. (As shown below, the
asterisk beside {SPEED OVERRIDE} and the "SPEED
ADJUSTMENT" input buffer line disappears)
3. Operation completed.
4-27
4
4.4
Playback
Modifying Play Speed
– Additionally, the Speed Override function is automatically disabled
when:
• Setting the Dry-Run Speed mode.
• Changing the mode to any mode other than PLAY.
• Alarm or error occurs.
• Power is turned OFF.
4-28
4
4.4
4.4.2.6
Playback
Modifying Play Speed
Enabling an Automatic Setting of Speed Override
SUPPLE
-MENT
The function is enabled by setting the parameter S2C702.
This function allows Speed Override to be automatically set when the
operation mode is changed from TEACH to PLAY.
The percentage corresponds to the manual speed selected during the
TEACH mode.
Manual Speed
4.4.2.7
Applicable Percentage
Inching
Maximum jog operation link speed x S1CxG045
Low
Maximum jog operation link speed x S1CxG045
Medium
Maximum jog operation link speed x S1CxG046
High
Maximum jog operation link speed x S1CxG047
Manual Speed in the TEACH Mode
SUPPLE
-MENT
The function is enabled by setting the parameter S2C699.
The manual speed (inching, low, medium, and high) in the TEACH mode
is changed by using [MANUAL SPEED] on the programming pendant.
The manual speed is automatically set at LOW when:
• Changing modes from PLAY to TEACH.
• Changing coordinate system in the TEACH mode.
• Turning OFF the SERVO power in the TEACH mode.
4-29
4
4.4
4.4.2.8
Playback
Modifying Play Speed
Parameter
Parameter
S2C699
Description
Details
Automatic change of manual
speed to LOW
Automatically sets the manual speed to LOW.
D7
Setting
Value
0
D0
The mode is changed to
TEACH: 1 (Enable)
The operation coordinates
are changed: 4 (Enable)
The Servo is turned OFF:
8 (Enable)
Speed fixed at LOW: 16
(Enable)
S2C701
Speed Override setting
Specifies the usage of Speed Override.
0: Disables continuous cycle operation; Enables
speed modification (standard specification).
1: Enables the Continuous Cycle operation;
Disables speed modification.
0
S2C702
Automatic Speed Override
Setting 1 in mode change
(When S2C701 = 1)
Specifies whether to automatically set Speed
Override when the mode is changed to PLAY.
0: Disables Speed Override.
1: Sets the percentage corresponding to the
manual speed.
0 to 1
S2C709
Automatic Speed Override
Setting 2 in mode change
(When S2C701 = 1)
Specifies whether to automatically set Speed
Override when the mode is changed to PLAY.
0: Disables Speed Override.
1: Sets the percentage applied last time.
0 to 1
4-30
4
4.4
4.4.3
4.4.3.1
Playback
Modifying Play Speed
Specification for Speed Override with Input Signals
Functional Overview
This specification allows the manipulator to temporarily change its
operation speed during playback using the external input signals.
The operation speed is specified by setting the speed override percentage
(1 to 255% in increments of 1%) for the operation speed (play speed)
specified in the current job.
Fig. 4-2: Play Speed and Override Speed
㪪㫇㪼㪼㪻
㪤㪸㫏㫀㫄㫌㫄㩷
㫇㫃㪸㫐㩷㫊㫇㪼㪼㪻
㪧㫃㪸㫐㩷㫊㫇㪼㪼㪻
㪤㪸㫏㫀㫄㫌㫄㩷
㪦㫍㪼㫉㫉㫀㪻㪼㩷㫊㫇㪼㪼㪻
㪦㫍㪼㫉㫉㫀㪻㪼㩷㫊㫇㪼㪼㪻㩷
㫇㪼㫉㪺㪼㫅㫋㪸㪾㪼㪑㩷
㪈㩷㫋㫆㩷㪉㪌㪌㩷㩼
㪤㫀㫅㫀㫄㫌㫄㩷
㪦㫍㪼㫉㫉㫀㪻㪼㩷㫊㫇㪼㪼㪻
㪪㫋㪼㫇
NOTE
• The speed override function can be continued in the auto
cycle operation.
• The play speed data of the job will not be modified.
• The maximum and minimum manipulator speeds limit the
play speed modified by speed override.
4-31
4
4.4
4.4.3.2
Playback
Modifying Play Speed
Performing the Speed Override Function
• Set the mode selection switch to PLAY.
NOTE
• Refer to chapter 4.4.3.4 “Parameters” when performing
Speed Override with this specification.
1. Playback a job.
2. Input the external signals for Speed Override.
– The message "Over-riding speed" and the Speed Override
percentage appears on the screen.
3. Speed Override is executed.
– The manipulator moves in the specified speed percentage.
4.4.3.3
Disabling the Speed Override Function
Speed Override is disabled when:
• External signals are OFF.
• Changing modes from PLAY to TEACH.
4-32
4
4.4
4.4.3.4
Playback
Modifying Play Speed
Parameters
Parameter
Description
S2C701
Speed Override setting
Specifies the usage of Speed Override.
*To enable Speed Override with external signals,
set "1" for the setting value.
0: Disables the Continuous Cycle operation;
Enables speed modification (standard spec).
1: Enables the Continuous Cycle operation;
Disables speed modification.
S4C287
Universal Input Group number
setting (signals 1 to 8)
Specifies the signals to be used.
Eight Universal Input points correspond to the
signals 1 to 8 of S4C288 to S4C295.
S4C288
S4C289
S4C290
S4C293
S4C294
Speed percentage (%) Signal 7
S4C295
Speed percentage (%) Signal 8
S4C292
1
1 to 512
Speed percentage (%) Signal 1 Specifies the speed percentage by the Universal
Speed percentage (%) Signal 2 Input signals set in S4C287.
Priority: Signal 1 > Signal 8
Speed percentage (%) Signal 3
Speed percentage (%) Signal 4 If S4C288 to S4C295 are all "0", the input status
1 to 255 of the Universal Input signals (8 points)
Speed percentage (%) Signal 5
will be applied to the speed percentage.
Speed percentage (%) Signal 6
S4C291
Setting
Value
Details
0 to 255
The Override Speed percentage can be specified with the parameters
(S4C288 to S4C295) in two ways as follows:
Setting a Speed Percentage with Respect to Each Signal
• Specify the speed percentage 1 to 255 in the parameters (S4C288 to
S4C295). As to the speed percentage for unused signals, set "0":
Speed Override will not take effect even when the external signals
are input.
• The signal priority is: "Signal 1 > Signal 8". For example, when the
signals 1 to 3 are input simultaneously, Speed Override will be performed applying the speed percentage of signal 1.
Using Eight Points of External Signals as the Speed Percentage Data
• Set "0" for all the parameters (S4C288 to S4C295).
• Speed Override will be performed applying the input status of signals
1 to 255 as the speed percentage.
For example, when the signals 5 and 7 are input simultaneously,
Speed Override will be performed applying 80% of the speed percentage.
NOTE
When this function is enabled, Speed Override cannot be
operated with a programming pendant.
4-33
4
4.5
4.5
4.5.1
Playback
Playback with Reserved Start
Playback with Reserved Start
Preparation for Reserved Start
In the reserved start function, jobs registered at different stations are
played back in the reserved order using the start buttons on the stations.
Station 3
(Job 3 registered)
Station 1
(Job 1 registered)
Station 2
(Job 2 registered)
For example, in the case where three stations handle three different
workpieces, as shown in the illustration above, the jobs would be
registered as follows:
• Job 1 is registered to process workpiece 1 at Station 1
• Job 2 is registered to process workpiece 2 at Station 2
• Job 3 is registered to process workpiece 3 at Station 3
To play back the jobs, prepare workpiece 1 and press the start button on
Station 1. The manipulator executes Job 1. Prepare workpieces 2 and 3
while Job 1 is being executed, and press the start buttons on Stations 2
and 3. Even if Job 1 is being executed at that time, jobs on different
stations are reserved in the order that the start buttons have been
pressed, and will be executed in that order.
During playback, the status of the reservation can be checked on the start
reservation window.
4-34
4
4.5
4.5.1.1
Playback
Playback with Reserved Start
Enabling Reserved Start
The start button on the station is operative when the reserved start
function is enabled, and the following start operations are disabled.
• [START] on the programming pendant
• Start operation from external input signal (system input)
NOTE
The OPERATING CONDITION window is shown only when
the security mode is management mode.
1. Select {SETUP} under {Main Menu}.
2. Select {OPERATE COND}.
– The OPERATING CONDITION window appears.
– The screen is scrolled up/down by the cursor when it locates at the
top/bottom of the items.
3. Select “RESERVED START”.
– Each time [SELECT] is pressed, “PERMIT” and “PROHIBIT”
alternate. Select “PERMIT”.
4-35
4
4.5
Playback
Playback with Reserved Start
NOTE
4.5.1.2
When the reserved start is enabled, the external start and
the programming pendant start are prohibited even if setting
is “PERMIT”.
Regardless of the operation cycle selected, it is automatically set to 1 CYCLE.
Registering Reserved Start I/O Signal
Register the start I/O signal as a preparation to perform the start operation
from the station.
NOTE
This operation can be done only when the operation mode
is the teach mode and the security mode is the management mode, and only when the setting of “RESERVED
START JOB CHANGE” is “PERMIT” in the OPERATING
CONDITION window.
1. Select {SETUP} under {Main Menu}.
2. Select {RES. START(CNCT)}.
– The RESERVED START (CNCT) window appears.
4-36
4
4.5
Playback
Playback with Reserved Start
3. Select “START IN” or “START OUT” for each station.
– The number can now be entered.
4. Input signal number and press [ENTER].
– The input/output signal number is registered.
4-37
4
4.5
4.5.1.3
Playback
Playback with Reserved Start
Registering Jobs to Stations
Register the starting job of each station.
NOTE
This operation can be done only when the operation mode
is the teach mode and the setting of “RESERVED START
JOB CHANGE” is “PERMIT” in the OPERATING CONDITION window.
1. Select {JOB} under {Main Menu}.
2. Select {RES. START(JOB)}.
– The RESERVED START (JOB) window appears.
–  indicates that the input/output number is registered.
–  indicates that the input/output number is not registered.
3. Select the job name for each station.
– The selection dialog box appears.
4. Select “SETTING START JOB”.
– The JOB LIST window appears.
5. Select a job.
4-38
4
4.5
Playback
Playback with Reserved Start
– The starting job is registered.
4-39
4
4.5
4.5.1.4
Playback
Playback with Reserved Start
Deleting Registered Jobs from Stations
Delete the registered job of each station.
NOTE
This operation can be done only when the operation mode
is the teach mode and the setting of “RESERVED START
JOB CHANGE” is “PERMIT” in the operation condition display.
1. Select {JOB} under {Main Menu}.
2. Select {RES. START(JOB)}.
– The RESERVED START (JOB) window appears.
3. Select the job name of the station to be deleted.
– The selection dialog box appears.
4. Select “CANCEL START JOB”.
– The registered job is deleted.
4-40
4
4.5
4.5.2
4.5.2.1
Playback
Playback with Reserved Start
Playback from Reserved Start
Start Operation
1. Set the mode switch to “PLAY”.
2. Press start button on the station.
– The job registered for the station starts up and the manipulator
performs one cycle operation.
• While the job is being executed, the start button lamp on
the station lamps.
• If the workpiece must be prepared at the station, prepare it
before pressing the start button.
NOTE
• During the execution of a job for one station, if the start
button of another station is pressed, the job of the latter
station is reserved and prepared to start. Jobs are
reserved and executed in the order that the start buttons
have been pressed.
• When a job is reserved, the start button lamp on the station blinks.
• No station job is reserved when it is being executed even if
its start button is pressed.
• To suspend a job being executed, perform the Hold operation.
SUPPLE
-MENT
Reservations are cancelled when the start button is pressed
again during the job reservation operation.
4-41
4
4.5
4.5.2.2
Playback
Playback with Reserved Start
Checking Job Reservation Status
The job reservation status during playback can be checked.
1. Select {JOB} under {Main Menu}.
2. Select {RES. STATUS}.
– The RESERVATION STATUS window appears.
A
B
A. STATUS
Reservation status is displayed.
STARTING: Indicates the station currently working.
STOP: Indicates any station where work has been temporarily stopped
by a hold operation.
RESERVE1,RESERVE2,...: Indicates the order in which jobs have
been reserved for start.
B.START IN
Input signal status is displayed.
“”: Input signal ON
“”: Input signal OFF
4-42
4
4.5
4.5.2.3
Playback
Playback with Reserved Start
Resetting Job Reservation
NOTE
If “STARTING” is displayed, the job cannot be reset.
1. Select {JOB} on the RESERVATION STATUS window.
2. Select {RESET RESERVATION} or {RESET ALL}.
– When {RESET RESERVATION} is selected, job reservation
stated to “RESERVE” is reset.
– When {RESET ALL} is selected, job reservation stated to “STOP”
and “RESERVE” is reset.
– The confirmation dialog box appears.
3. Select “YES”.
All job reservations are reset automatically in the following
conditions:
NOTE
• When the reserved start sets to “PROHIBIT”. (When
“RESERVED START” is set to “PROHIBIT” on the OPERATING CONDITION window.)
• When another job is called or an edit operation is performed.
4-43
4
4.5
4.5.3
Playback
Playback with Reserved Start
Hold Operation
Hold operation causes the manipulator to stop all motion. It can be
performed by the following buttons or signal.
• [HOLD] on the programming pendant
• External Input Signal (system input)
• Hold button for the station axis
SUPPLE
-MENT
4.5.3.1
[HOLD] lamp lights while it is held down. At the same time,
[START] lamp goes OFF.
[HOLD] on the Programming Pendant

Hold
1. Press [HOLD] on the programming pendant.
– The manipulator stops temporarily.
– The [HOLD] lamp lights while the [HOLD] button is held down.

Release
1. Press the start button on the suspended station.
– The manipulator restarts its operation from the position where it was
stopped.
4.5.3.2
Hold by External Input Signal (System Input)

Hold
1. Input ON signal to the external input (system input) specified for the
hold operation.
– The manipulator stops temporarily.
External holding
– The hold lamp for the external output signal lights.
– The [HOLD] lamp on the programming pendant lights and the
[START] lamp turns OFF.

Release
1. Input OFF signal to the external input (system input) specified for the
hold operation.
– Hold is released.
2. To continue the operation, press the start button on the suspended
station.
– The manipulator restarts its operation from the position where it was
stopped.
4-44
4
4.5
4.5.3.3
Playback
Playback with Reserved Start
Hold at the Station

Hold
1. Press the hold button on the station.
– The manipulator stops temporarily.
External holding

Release
1. Press the hold button on the suspended station.
– Hold is released.
– Press the start button on the station, then the manipulator restarts its
operation from the position where it was stopped.
SUPPLE
-MENT
Pressing the start button on a station that is not in the Hold
status does not start manipulator operation. The job registered for the station is reserved or the reservation, if it has
been made, is canceled.
4-45
4
4.6
4.6
Playback
Displaying Job Stack
Displaying Job Stack
During the execution of the series of jobs that combined with CALL or
JUMP instructions, the job stack can be displayed to check where the
current job is and how many jobs are left.
Stack Level 3
Stack Level 2
Stack Level 1
Stack Level 4
Job call
Job A
Job call
Job B
Job call
Job C
Return
Return
Job D
Return
SUPPLE
-MENT
Job calls can be used for up to 12 stack levels.
4-46
Job call
4
4.6
Playback
Displaying Job Stack
1. Select {DISPLAY} under the menu on the PLAYBACK window.
2. Select {JOB STACK}.
– The job stack status dialog box appears.
– To close the job stack status dialog box, select {DISPLAY} and then
{JOB STACK} under the menu again.
– For above example, the playback of Job C is being executed and
the Job C is called from Job B. Also, the Job B is called from Job A.
If any of the following operations are performed, the job
stack is canceled.
• Creating a new job
• Calling the master job
• Selecting jobs
• Copying and renaming jobs
SUPPLE
-MENT
• Job conversion
(Relative job conversion, Prallel shift job conversion, Mirror
shift job conversion)
• Editing the job header window
(Change of axis operation control group, change the coordinate display)
• Displaying jobs by operating the direct open function
• The operation of UNDO and REDO
• Four point teachig
• Executing TRT
4-47
5
5
Editing Jobs
Editing Jobs
This section explains how to manage the jobs without moving the
manipulator. Copying, deleting, and modifying of the jobs can be done
only in the teach mode. Other operations can be done in any mode.
NOTE
Edit operations are restricted when the edit lock is applied.
Editing Move Instructions
See chapter 3 “Teaching” at page 3-1 for basic information
on editing move instructions.
• It is not possible to add, delete, or modify move instructions which have position data. See chapter 3.4 “Modifying Steps” at page 3-29 for details.
• The following MOV instruction edit operations are
explained in this section:
NOTE
For move instructions:
• Insertion, deletion, or modification of additional items
• Modification of interpolation type or play speed for
move instructions
• Setting, modification, or deletion of UNTIL statements
(interruption conditions based on input signals)
• Setting and deletion of NWAIT instructions
For move instructions using position variables:
• Insertion and deletion of move instruction.
SUPPLE
-MENT
Refer to chapter 1.2.6 “Character Input Operation” at
page 1-23 for the character input operation.
5-1
5
5.1
5.1
Editing Jobs
Copying Jobs
Copying Jobs
This operation is used to copy registered jobs and use them to create new
jobs. It can be done using either the JOB CONTENT window or the JOB
LIST window.
5.1.0.1
Copying Jobs on the JOB CONTENT Window
On the JOB CONTENT window, the current edit job becomes the copy
source job.
1. Select {JOB} under {Main Menu}.
2. Select {JOB}.
– The JOB CONTENT window appears.
3. Select {JOB} → {COPY JOB} under the pull-down menu.
4. Input the job name.
– Input the new job name.
– The name of the copy source job is displayed on the input area. It is
possible to partially change this name to enter a new name.
5-2
5
5.1
Editing Jobs
Copying Jobs
SUPPLE
-MENT
See chapter 1.2.6 “Character Input Operation” at
page 1-23 for information on letter input operations.
5. Press [ENTER].
– The confirmation dialog box appears.
– If “YES” is selected, the job is copied and the new job appears.
– If “NO” is selected, the job copy is not executed, and the process is
cancelled.
5-3
5
5.1
5.1.0.2
Editing Jobs
Copying Jobs
Copying Jobs on the JOB LIST Window
On the JOB LIST window, select the copy source job from the registered
jobs and specify the copy destination directory.
1. Select {JOB} → {SELECT JOB} under {Main Menu}.
– The JOB LIST window appears.
2. Move the cursor to the copy source job.
3. Select {JOB} → {COPY JOB} under the pull-down menu.
4. Input the job name.
– Input the new job name.
– The name of the copy source job is displayed on the input area. It is
possible to partially change this name to enter a new name.
SUPPLE
-MENT
See chapter 1.2.6 “Character Input Operation” at
page 1-23 for information on letter input operations.
5-4
5
5.1
Editing Jobs
Copying Jobs
5. Press [ENTER].
– The confirmation dialog box appears.
– If “YES” is selected, the job is copied and the new job appears.
– If “NO” is selected, the job copy is not executed, and the process is
cancelled.
5-5
5
5.2
5.2
Editing Jobs
Deleting Jobs
Deleting Jobs
This operation is used to delete jobs that are registered on the DX200. It
can be performed in either the JOB CONTENT window or the JOB LIST
window.
5.2.0.1
Deleting Jobs on the JOB CONTENT Window
On the JOB CONTENT window, the current edit job is deleted.
1. Select {JOB} under {Main Menu}.
2. Select {JOB}.
– The JOB CONTENT window appears.
3. Select {JOB} → {DELETE JOB} under the pull-down menu.
4. Press “YES”.
– The confirmation dialog box appears.
– When “YES” is selected, the edit job is deleted. When deletion is
completed, the {JOB LIST} window appears.
– When “NO” is selected, the job deletion is cancelled.
5-6
5
5.2
5.2.0.2
Editing Jobs
Deleting Jobs
Deleting Jobs on the JOB LIST Window
On the JOB LIST window, select the job to be deleted from the list of the
registered jobs.
1. Select {JOB} → {SELECT JOB} under {Main Menu}.
– The JOB LIST window appears.
2. Move the cursor to the job to be deleted.
3. Select {JOB} → {DELETE JOB} under the pull-down menu.
4. Press “YES”.
– The confirmation dialog box appears.
– When “YES” is selected, the selected job is deleted. When deletion
is completed, the JOB LIST window appears.
– If “NO” or [CANCEL] is selected, the job deletion is cancelled and
the JOB LIST window appears.
SUPPLE
-MENT
To select all the registered jobs at a time, select {EDIT} from
the menu and then select “SELECT ALL”.
5-7
5
5.3
5.3
Editing Jobs
Modifying Job Names
Modifying Job Names
This operation is used to modify the name of a job that is registered. The
operation can be performed in either the JOB CONTENT window or the
JOB LIST window.
5.3.0.1
Modifying Job Names on the JOB CONTENT Window
1. Select {JOB} under {Main Menu}.
2. Select {JOB}.
– The JOB CONTENT window appears.
3. Select {JOB} → {RENAME JOB} under the pull-down menu.
4. Input the job name.
– Input the new job name.
– The name of the source job is displayed on the input area. It is
possible to partially change this name to enter a new name.
SUPPLE
-MENT
See chapter 1.2.6 “Character Input Operation” at
page 1-23 for information on letter input operations.
5-8
5
5.3
Editing Jobs
Modifying Job Names
5. Press [ENTER].
– The confirmation dialog box appears.
– When “YES” is selected, the job name is changed and a new job
name is displayed.
– When “NO” is selected, the job name is not changed, and the
process is cancelled.
5-9
5
5.3
5.3.0.2
Editing Jobs
Modifying Job Names
Modifying Job Names on the JOB LIST Window
On the JOB LIST window, select the job whose name is to be modified
from the list of the registered jobs.
1. Select {JOB} → {SELECT JOB} under {Main Menu}.
– The JOB LIST window appears.
2. Move the cursor to the name to be changed.
3. Select {JOB} → {RENAME JOB} under the pull-down menu.
4. Input the job name.
– Input the new job name.
– The name of the source job is displayed on the input area. It is
possible to partially change this name to enter a new name.
SUPPLE
-MENT
See chapter 1.2.6 “Character Input Operation” at
page 1-23 for information on letter input operations.
5. Press [ENTER].
– The confirmation dialog box appears.
– When “YES” is selected, the job name is changed and a new job
name is displayed.
5-10
5
5.3
Editing Jobs
Modifying Job Names
– When “NO” is selected, the job name is not changed, and the
process is cancelled.
5-11
5
5.4
5.4
Editing Jobs
Editing Comments
Editing Comments
Comments of up to 32 characters can be added to each job to identify
each job more specifically. Comments are displayed and edited on the
JOB HEADER window.
1. Select {JOB} under {Main Menu}.
2. Select {JOB}.
3. Select {DISPLAY} under the pull-down menu.
4. Select {JOB HEADER}.
– The JOB HEADER window appears.
5. Select “COMMENT”.
– The window for character input appears.
6. Input comments.
– Input comments.
– For the jobs that are already registered, comments are displayed on
the input area. It is possible to partially change comments to enter
new comments.
SUPPLE
-MENT
See chapter 1.2.6 “Character Input Operation” at
page 1-23 for information on letter input operations.
5-12
5
5.4
Editing Jobs
Editing Comments
7. Press [ENTER].
– The comment on the input area is registered and is displayed on the
“COMMENT” area in the JOB HEADER window.
5-13
5
5.5
5.5
Editing Jobs
Job Folder Function
Job Folder Function
This function enables to classify the jobs in each folder.
The jobs can be classified and displayed, so the visibility improves.
Up to 100 folders, including NONE (no folders), can be registered to this
function.
For the folder name, up to 32 one-byte characters can be used.
However, the name of NONE (no folders) cannot be changed.
5.5.1
5.5.1.1
Displaying Jobs by Folders
Operation for Displaying Jobs by Folders
For displaying the jobs by folders, follow the procedures below.
1. Display the {JOB LIST} window.
2. Select {DISPLAY} → {FOLDER} under the pull-down menu.
5-14
5
5.5
Editing Jobs
Job Folder Function
– The folder name is displayed at the head of each job.
– Pressing [SELECT] at the folder name enables to hide the jobs
registered in the folder.
• On the {JOB LIST} window in which the jobs are displayed
by folders, the folders with no jobs are not displayed.
SUPPLE
-MENT
• When the cursor is moved to the folder name while the job
details are displayed, all the information is displayed as
asterisks "*".
5-15
5
5.5
5.5.1.2
Editing Jobs
Job Folder Function
Operation for Canceling Displaying Jobs by Folders
For canceling displaying the jobs by folders, follow the procedures below.
1. Display the {JOB LIST} window.
2. Select {DISPLAY} → {*FOLDER} under the pull-down menu.
– The folder name disappears, and only the JOB names are
displayed.
5-16
5
5.5
5.5.2
Editing Jobs
Job Folder Function
Registering Jobs in Folders
This section explains how to set the jobs to the specified folders.
A job can be set in the specified folder when creating a new job or by
changing the folder after the job creation.
5.5.2.1
Registering Jobs in Folders (At a New Job Creation)
1. Display the {NEW JOB CREATE} window.
2. Move the cursor to the folder name field, and then press [SELECT].
– The {JOB FOLDER LIST} is displayed.
5-17
5
5.5
Editing Jobs
Job Folder Function
3. Move the cursor to the folder name to select, and then press
[SELECT].
– The selected folder name is displayed in the folder name field.
4. Press [ENTER].
– A JOB is created.
SUPPLE
-MENT
The folder name is set as NONE or FOLDER001 to 099
before shipment.
5-18
5
5.5
5.5.2.2
Editing Jobs
Job Folder Function
Changing the Folder Registration of Jobs
The folder in which the created job is registered can be changed to the
other folder.

When changing the folder of one job
1. Display the {JOB LIST} window.
2. Move the cursor to the job whose registered folder is to be changed.
3. Select {JOB} → {FOLDER CHANGE} under the pull-down menu.
– The {JOB FOLDER LIST} window appears.
4. Move the cursor to the folder name to which the job is to be moved,
and press [SELECT].
5-19
5
5.5
Editing Jobs
Job Folder Function
– The job is moved to the specified folder.

When changing the folder of multiple jobs
1. Display the {JOB LIST} window.
2. Move the cursor to the job whose registered folder is to be changed.
3. Press [SHIFT] + [SELECT] to select the job.
– Select all jobs to be changed.
5-20
5
5.5
Editing Jobs
Job Folder Function
4. Select {JOB} → {FOLDER CHANGE} under the pull-down menu.
– The {JOB FOLDER LIST} is displayed.
5. Move the cursor to the folder name to which the job is to be moved,
and press [SELECT].
– The jobs are moved to the specified folder.
5-21
5
5.5
Editing Jobs
Job Folder Function
SUPPLE
-MENT
When loading a job from an external memory device, if the
loaded job has a folder name and the same name does not
exist in the folder names registered in the controller, the
folder name of the loaded job will automatically be registered. However, it is necessary to meet the following
requirement:
Requirement: Among the 99 folder names except for NONE,
there should be a folder with the default value name in which
any jobs are not registered.
If there are no folders which meet this requirement, the
folder name of the loaded job will be registered to NONE.
When the bilingual function is activated;
SUPPLE
-MENT
• Respective folder names can be registered to the first and
second languages.
Example:
The following folder names can be set to FOLDER001:
First language: "FOLDER 1"
Second language: "FOLDER-1"
• When the name of the folder to which the jobs are loaded
from an external device is automatically registered, the language of the folder name depends on the language used
at loading.
5-22
5
5.5
5.5.3
5.5.3.1
Editing Jobs
Job Folder Function
Changing the Folder Name
Changing the Folder Name While Displaying Folder List Window
1. Display the {JOB FOLDER LIST} window.
2. Move the cursor to the folder name to be changed.
3. Select {DATA} → {RENAME(FOLDER)} in the sub-menu.
4. Input the new name of the folder.
– The folder name will be changed.
– The folder name of the job registered in the folder will also be
changed.
5-23
5
5.5
5.5.3.2
Editing Jobs
Job Folder Function
Changing the Folder Name While Displaying Jobs by Folders in Job List Window
1. Display the jobs by folders in the {JOB LIST} window.
2. Move the cursor to the folder name to be changed.
3. Select {JOB} → {RENAME(FOLDER)} in the sub-menu.
4. Input the new name of the folder.
– The folder name will be changed.
– The folder name of the job registered in the folder will also be
changed.
5-24
5
5.5
5.5.4
Editing Jobs
Job Folder Function
Changing the Display Order While Displaying Jobs by Folders
The order of the jobs can be changed while the jobs are displayed by
folders.

Displaying by name
1. Select {DISPLAY} → {NAME} in the sub-menu.
– The jobs are displayed in name order for each folder.
5-25
5
5.5

Editing Jobs
Job Folder Function
Displaying by date
1. Select {DISPLAY} → {DATE} in the sub-menu.
– The jobs are displayed in date order for each folder.
5-26
5
5.6
5.6
Editing Jobs
Setting Edit Lock on Individual Job Units
Setting Edit Lock on Individual Job Units
In order to prevent inadvertent changes in the registered jobs or data, it is
possible to set the edit lock to each job. When the edit lock is ON, the job
cannot be edited or deleted.
The edit lock can be set and canceled on the {JOB HEADER} window.
SUPPLE
-MENT
Setting of the edit lock can be changed only when the security mode is in the management mode or higher.
1. Select {JOB} under {Main Menu}.
2. Select {JOB}.
3. Select {DISPLAY} under the pull-down menu.
4. Select {JOB HEADER}.
– The JOB HEADER window appears.
5. Select “EDIT LOCK” and set the edit prohibit.
– Each time [SELECT] is pressed, the setting alternates between
“ON” (edit disabled) and “OFF” (edit enabled).
5-27
5
5.7
5.7
Editing Jobs
Enabling the Modification of Position Data Only
Enabling the Modification of Position Data Only
Even in the edit-locked job, the position data can be modified.
1. Select {SETUP} under {Main Menu}.
2. Select {TEACHING CONDITION SETTING}.
– The {TEACHING CONDITION SETTING} window appears.
SUPPLE
-MENT
TEACHING CONDITION SETTING window is shown only
when the security mode is edit mode or management mode.
3. Select “STEP ONLY CHANGING” and press [SELECT].
– Each time [SELECT] is pressed, the setting alternates between
“PROHIBIT” and “PERMIT”.
5-28
5
5.8
5.8
Editing Jobs
Prohibit Displaying the Contents of a Job
Prohibit Displaying the Contents of a Job
Contents of a job can be nondisclosed on a job base. The job whose
contents are set to be nondisclosed, “Invisible” is displayed instead of
each job except NOP instruction, which comes to the first line of the job,
and END instruction, which comes to the last line. (Setting the contents
display is available in the software version DN1.91-00 or later.)
For the job whose contents are set to be displayed, only the name of the
job and its control group are displayed on the JOB CONTENT:MASTER
window.
Also, the following operations are limited.
• Job editing operation (adding, changing, deleting) cannot be operated.
• The job cannot be deleted, copied, or changed the names.
• Direct open cannot display the contents of the instructions.
• The command position does not appear on the COMMAND POSITION window.
• The job cannot be set as the target of the job conversion.
• The job cannot be edited during playback.
The contents display setting can be done on the JOB HEADER window to
each job.
1. Select {JOB} under {Main Menu}.
2. Select {JOB}.
3. Select {DISPLAY} under the pull-down menu.
4. Select {JOB HEADER}.
– The JOB HEADER window appears.
5-29
5
5.8
Editing Jobs
Prohibit Displaying the Contents of a Job
5. Select {CONTENTS DISPLAY} and set “PROHIBIT”.
SUPPLE
-MENT
The contents display of a job can be changed only when the
security mode is in the management mode or higher.
NOTE
When “PROHIBIT” is set to {CONTENTS DISPLAY}, the
contents of capacity, lines, steps and the number of local
variables (Only when expanding the “INSTRUCTION
LEVEL”) are not displayed on the JOB HEADER window.
Even if “PROHIBIT” is set to {CONTENTS DISPLAY}, comment, job folder, edit lock and save job can be changed
when the edit lock is “ON”.
6. Select {DISPLAY} under the pull-down menu.
5-30
5
5.8
Editing Jobs
Prohibit Displaying the Contents of a Job
7. Select {JOB}.
– The JOB CONTENT window appears. “Invisible” is displayed
instead of each job except NOP instruction, which comes to the first
line of the job, and End instruction, which comes to the last line, and
instructions are displayed in black regardless of the display color
condition setting. (Refer to chapter 6.11 “Instruction Displaying
Color Setting Function” for the display color condition setting.)
The step No. and the tool No. are displayed on the general-purpose
display area as asterisks " * ".
NOTE
Edit operation cannot be conducted for the job whose contents are set to be nondisclosed.
Jobs whose contents can be modified during the playback
operation, such as a job in the speed modification operation
to a move instruction in the speed override function, are
possible to be modified even if “PROHIBIT” is set to {CONTENTS DISPLAY}. (Refer to chapter 4.4 “Modifying Play
Speed” for the speed override function.)
To prohibit modifying a job during playback, set “ON” to
{EDIT LOCK}. (Refer to chapter 5.6 “Setting Edit Lock on
Individual Job Units” for setting “ON” to {EDIT LOCK}.)
To prohibit saving a job data, to which “PROHIBIT” is set to
its {CONTENT DISPLAY} item, to an external memory
device, set “PROHIBIT” to {TO SAVE TO FD}.
Refer to chapter 5.9 “Prohibit: Saving The Job Data” for
setting “PROHIBIT” to {SAVE JOB}.
5-31
5
5.9
5.9
Editing Jobs
Prohibit: Saving The Job Data
Prohibit: Saving The Job Data
Data saving can be prohibited on a job base to prevent the job of the
DX200 from being saved to the external memory device. (Setting the
save job is available in the software version DN1.91-00 or later.)
Setting “PROHIBIT” to {SAVE JOB} can be set on the JOB HEADER
window of each job.
1. Select {JOB} under {Main Menu}.
2. Select {JOB}.
3. Select {DISPLAY} under the pull-down menu.
4. Select {JOB HEADER}.
– The JOB HEADER window appears.
5. Select {SAVE JOB} and set “PROHIBIT”.
6. The job “PROHIBIT” is set to {SAVE JOB} cannot be saved to the
external memory device.
Refer to chapter 7.3.0.2 “Saving Data” for saving job data in an
external memory device.
When saving a job to which “PROHIBIT” is set to {SAVE JOB} by using
data transmission function, high-speed Ethernet server function, FTP
function and MotoPlus function, an error occurs and it cannot be
saved. (ERROR 2110 “This data cannot be accessed”.)
SUPPLE
-MENT
NOTE
The save job setting can be changed only when the security
mode is in the management mode or higher.
To prohibit displaying of the contents of a job, to which
“PROHITBIT” is set to {JOB SAVE}, set “PROHIBIT” to
{CONTENTS DISPLAY}.
Refer to chapter 5.8 “Prohibit Displaying the Contents of a
Job” for setting the displaying of a job contents.
5-32
6
6.1
6
Convenient Functions
One-touch Operation “Direct Open”
Convenient Functions
6.1
One-touch Operation “Direct Open”
The direct open function immediately shows the JOB CONTENT window
or condition file contents of a job called by the CALL instruction. Move the
cursor to the desired job name or condition file name and simply press
[DIRECT OPEN] to display the contents of the file. This function can be
used for the following window:
• JOB CONTENT window for a job name directly specified by a CALL
instruction
• CONDITION FILE window for a file name directly specified by a work
instruction
• COMMAND POS window for a move instruction
• I/O window with an I/O instruction (when I/O numbers are specified)
<Example> Example Using Direct Open
In the 8th line
COMMAND POS window
In the 9th line
In the 10th line
USER OUTPUT window
In the 11th line
WEAVING CONDITION window
JOB CONTENT window for "JOB-C"
6-1
6
6.1
Convenient Functions
One-touch Operation “Direct Open”
1. In the JOB CONTENT window, move the cursor to the job name or the
condition file for which the window is to be displayed.
2. Press [DIRECT OPEN].
– This key lamp lights and the JOB CONTENT window or the
condition file window appears.
– When [DIRECT OPEN] is pressed once again, the key lamp turns
OFF, and the window returns to the former JOB CONTENT window.
• The direct open function cannot be used again while a
directly opened window is shown.
NOTE
• If another window is selected while the direct open function is effective, the function is automatically cancelled and
the lamp on the direct open key goes out.
• Once another JOB CONTENT window is opened by the
direct open function, the former job cannot be continuously operated. (Stopped until the opened JOB CONTENT
window is closed.)
6-2
6
6.2
6.2
6.2.1
Convenient Functions
Parallel Shift Function
Parallel Shift Function
Function Overview
Parallel shift refers to the shifting of an object from a fixed position in such
a way that all points within the object move an equal distance. In the
model for parallel shift shown in the following, the shift value can be
defined as the distance L (three-dimensional coordinate displacement).
The parallel shift function is relevant to the actual operation of the
manipulator because it can be used to reduce the amount of work
involved in teaching by shifting a taught path (or position).
L
In the example in the figure below, the taught position A is shifted in
increments of the distance L (this is actually a three-dimensional XYZ
displacement that can be recognized by the robot) in order to enable the
operation that was taught at position A to also be performed at positions B
through G.
B
A
L
Teaching position
6-3
C
D
E
F
G
6
6.2
6.2.1.1
Convenient Functions
Parallel Shift Function
Parallel Shift of Step
The block from the SFTON to the SFTOF instructions is subject to the shift
operation.
Line (Step)
Instruction
0000
NOP
0001(001)
MOVJ VJ=50.00
0002(002)
MOVL V=138
0003
SFTON PUF# (1)
0004(003)
MOVL V=138
0005(004)
MOVL V=138
0006(005)
MOVL V=138
0007
SFTOF
0008(006)
MOVL V=138
1
6.2.1.2
2
Shifted block
3
4
5
6
Parallel Shift of Job
When shifting an entire series of operations, the range to be shifted by the
shift instruction can be set using the method indicated above, but the
method shown in the following, in which just the part to be shifted is made
into a separate job, can also be used.
SFTON P 
Job to perform the shifting
CALL JOB: 
SFTOF
6-4
6
6.2
6.2.2
Setting the Shift Value
6.2.2.1
Coordinate Systems
Convenient Functions
Parallel Shift Function
The shift value for parallel shift is X, Y, and Z increment in each
coordinates. There are four coordinates: base coordinates, robot
coordinates, tool coordinates, and user coordinates. In systems with no
servo track, the base coordinates and robot coordinates are the same.
Also, the teaching line coordinates system cannot be used.
Robot coordinates
Tool coordinates
Base coordinates
User coordinates
User
coordinates
6.2.2.2
Setting the Shift Value
When setting the shift value for the position variables, use the current
position (coordinates) of the manipulator in the window.
Position to be shifted
(Move the manipulator using the
programming pendant.)
The difference between them is the shift value.
Teaching position
6-5
6
6.2
Convenient Functions
Parallel Shift Function
The shift value is the X, Y, and Z difference between the shift position and
teaching position and the difference in angular displacement RX, RY, And
RZ (normally set at “0”). If shifting is executed at equal pitch intervals, for
example for pelletizing, find the difference between the teaching position
and the final shift position, then divide by the number of pitch intervals
(number of divisions) to calculate the shift value per pitch.
L1
L2
L2=
L1
Number of pitches
Final shift position
Teaching position
The posture of the wrist is defined by the angular displacement of the
coordinates of the wrist axes. Consequently, if the shift value is specified
with X, Y, and Z only (RX, RY, RZ=0), the wrist is shifted while maintaining
the same posture as at the teaching point. Since shifting is normally
performed without changing the posture, there is no need to specify an
angular displacement for the wrist. The motion when a parallel shift is
performed is shown in the following:
Shift without changing the wrist posture
(RX,RY,RZ=0)
Teaching posture
Shift with wrist posture change
(RX,RY,RZ 0)
Shift value
The shift value is calculated on the position data window for the
coordinates in which the shift is performed. Since this is normally
performed in the user coordinates, the position data window for the user
coordinates is used.
6-6
6
6.2
6.2.3
Convenient Functions
Parallel Shift Function
Registering Shift Instructions
To register the instruction, move the cursor to the address area in the JOB
CONTENT window during teach mode as follows:
1. Select {JOB} under {Main Menu}.
2. Select {JOB}.
– The JOB CONTENT window appears.
Address area
Instruction area
3. Move the cursor to the address area.
6-7
6
6.2
6.2.3.1
Convenient Functions
Parallel Shift Function
SFTON Instruction
This is the instruction that starts a parallel shift.
1. Move the cursor to the line immediately before where the SFTON
instruction is to be registered.
Line immediately
before where
SFTON instruction
is to be registered.
0001
0002
0003
MOVJ VJ=50.00
MOVL V=138
MOVL V=138
2. Press [INFORM LIST].
– The instruction list dialog box appears.
IN/OUT
CONTROL
DEVICE
MOTION
ARITH
SFTON
SHIFT
SFTOF
OTHER
MSHIFT
SAME
PRIOR
3. Select {SHIFT}.
4. Select the SFTON instruction.
– The SFTON instruction is displayed in the input buffer line.
5. Modify the additional items or number values as required.
– <When Nothing is to be Changed>
Proceed to Step 6.
– <When Editing Additional Items>
• Adding or modifying additional items
To change the position variable number, move the cursor to the position variable number and press [SHIFT] + the cursor to increase or
decrease the value.
SFTON P000
To directly input the value using the [Numeric Key]s, press [SELECT]
to display the input buffer line.
P=
SFTON
6-8
6
6.2
Convenient Functions
Parallel Shift Function
After the number is input, press [ENTER] to modify the number
value in the input buffer line.
• Adding the coordinate system in which the shift is performed
Move the cursor to the instruction in the input buffer line and press
[SELECT]. The DETAIL EDIT window appears.
SFTON P001
– Line up the cursor with ”UNUSED” and press [SELECT]. The
selection dialog box appears. Line up the cursor with the coordinate
system to be added, and press [SELECT].
– After the coordinate system addition is completed, press [ENTER].
The DETAIL EDIT window closes and the JOB CONTENT window
appears.
6. Press [INSERT] and then [ENTER].
– The instruction displayed in the input buffer line is registered.
Line where SFTON
instruction is
registered.
6-9
0002
0003
0004
MOVL V=138
SFTON P000 BF
MOVL V=138
6
6.2
6.2.3.2
Convenient Functions
Parallel Shift Function
SFTOF Instruction
This is the instruction that ends a parallel shift.
1. Move the cursor to the line immediately before where the SFTOF
instruction is to be registered.
Line immediately
before where
SFTOF instruction
is to be registered.
0006
0007
0008
MOVL V=138
DOUT OT#(1) ON
TIMER T=1.00
2. Press [INFORM LIST].
– The instruction list dialog box appears.
3. Select {SHIFT}.
4. Select the SFTOF instruction.
– The SFTOF instruction is displayed in the input buffer line.
SFTOF
5. Press [INSERT] and then [ENTER].
– The SFTOF instruction is registered.
0006
0007
0008
MOVL V=138
SFTOF
DOUT OT#(1) ON
6-10
6
6.2
6.2.3.3
Convenient Functions
Parallel Shift Function
MSHIFT Instruction
When a parallel shift of the wrist posture is attempted, the manipulator
may not be shifted to the target posture in the following cases.
• Posture displacement (Rx, Ry, Rz) is specified to the shift value set
by the user.
• When a displacement between two points is calculated using an
INFORM operating instruction (ADD instruction, SUB instruction,
etc.), and a posture displacement (Rx, Ry, Rz) is specified in the shift
value.
In such cases, the MSHIFT instruction can be used to automatically
calculate the optimum shift value for an operation to reach the target shift
position and posture. With an MSHIFT instruction, the shift value between
the reference position and the target position (shift position) when the
parallel shift is performed is determined in the specified coordinate
system, and set as the specified position variable.
1. Move the cursor to the line immediately before where the MSHIFT
instruction is to be registered.
Line immediately
before where
MSHIFT instruction
is registered.
0005
0006
0007
MOVJ V=138
GETS PX001 $PX000
DOUT OT#(1) ON
2. Press [INFORM LIST].
– The instruction list dialog box appears.
IN/OUT
CONTROL
DEVICE
MOTION
ARITH
SFTON
SHIFT
SFTOF
OTHER
MSHIFT
SAME
PRIOR
3. Select {SHIFT}.
4. Select the MSHIFT instruction.
– The MSHIFT instruction is displayed in the input buffer line.
5. Change the number data or additional items as required.
– <When Nothing is to be Changed>
Proceed to Step 6.
– <When Editing Additional Items>
– Adding or modifying additional items
To change the position variable number, move the cursor to the
position variable number and press [SHIFT] + the cursor to increase
or decrease the value.
MSHIFT PX000 BF PX001 PX002
6-11
6
6.2
Convenient Functions
Parallel Shift Function
– To directly input the value using the [Numeric Key]s, press
[SELECT] to display the input buffer line.
PX =
MSHIFT
0 BF PX001 PX002
– After the number is input, press [ENTER] to modify the number
value in the input buffer line.
– Changing the coordinate system in which the shift is performed
Move the cursor to the instruction in the input buffer line and press
[SELECT]. The DETAIL EDIT window appears.
MSHIFT PX000 BF PX001 PX002
– Line up the cursor with “BF” and press [SELECT]. The selection
dialog box appears. Line up the cursor with the coordinate system
to be changed, and press [SELECT].
– After the coordinate system modification is complete, press
[ENTER]. The DETAIL EDIT window closes and the JOB
CONTENT window appears.
6. Press [INSERT] and then [ENTER].
– The instruction displayed in the input buffer line is registered.
Line where
MSHIFT is
registered.
0006
0007
0008
6-12
GETS PX000 $PX000
MSHIFT PX000 RF PX001 PX002
DOUT OT#(1) ON
6
6.2
6.2.4
Convenient Functions
Parallel Shift Function
Continuation of the Parallel Shift Function
CAUTION
•
If the shift function is cancelled through a job editing operation after
the execution of a parallel shift instruction, the job must be started
again from the beginning.
•
Because no shift is performed when the operation is restarted, there
is a possibility of interference between the workpiece and fixture.
If any of the following operations are performed after executing a parallel
shift instruction, the shift function is cancelled.
• Job editing operation (changing, deleting, adding)
• Job copy, job name change
• Registering a new job, deleting a job, or modifying a selected job
• Restart after the alarm occurs
• When control power is turned OFF
NOTE
With any operation other than those listed above, the parallel shift function remains in effect.
6-13
6
6.2
6.2.5
Convenient Functions
Parallel Shift Function
Parallel Shift Function Operation Method
When a parallel shift is performed, there are several ways to move to the
step position. The following three methods can be used to designate the
way to move.
• Previous Step Regarded
Effective when a job in which the B-axis does not pass
the point 0° is performed. (i.e., the operation in which
the B-axis always faces downward)
(Constant B-axis sign)
• Previous Step Regarded
(Minimum R-axis movement)
• Type Regarded
Effective when a job in which the B-axis passes the
point 0° is performed.
Effective when a job created by off-line teaching is
performed.
The operation method can be specified by the following parameter.
Parameter
Settings
Initial value
S2C439
0: Previous step regarded
0
(Constant B-axis sign)
1: Type Regarded
2: Previous Step Regarded
(Minimum R-axis movement)
6-14
6
6.2
6.2.6
6.2.6.1
Convenient Functions
Parallel Shift Function
Examples of Use
Example of Use of Shift Addition/Subtraction
Table 6-1: Workpiece Stacking Operation
Line
Instruction
0000
NOP
0001
SET B000 0
0002
SUB P000 P000
0003
*A
0004
MOVJ
Step 1
0005
MOVL
Step 2
0006
’Gripping workpiece
0007
MOVL
Step 3
0008
MOVL
Step 4
0009
SFTON P000 UF#(1)
Shift start
0010
MOVL
Shift position Step 5
0011
’Releasing workpiece
0012
SFTOF
Shift end
0013
ADD P000 P001
Add the shift value for the next
operation.
0014
MOVL
Step 6
0015
MOVL
Step 7
0016
INC B000
0017
JUMP *A IF B00<6
Make the first shift value zero.

0018
SFTON P000 UF#(1)
SFTOF
SUB P000 P001
Since the shift data is retained
in memory, the same data can
be used (with subtraction
instead of addition) to perform
a workpiece unloading
operation.

1,7
3
4,6
2
Workpiece
5
6-15
6
6.2
6.2.6.2
Convenient Functions
Parallel Shift Function
Example of Use of MSHIFT Instruction
Line
Instruction
0000
NOP
0001
MOVJ VJ=20.00
Move the manipulator to the
reference position.
0002
GETS PX000 $PX000
Set the reference position as
position variable P000.
0003
MOVJ VJ=20.00
Move the manipulator to the
target position.
0004
GETS PX001 $PX000
Set the target position as position
variable P001.
0005
MSHlFT PX010 BF PX000 PX001 Set shift value and set it as
position variable P010.
0006
END
6-16
Explanation
6
6.3
6.3
6.3.1
Convenient Functions
Parallel Shift Job Conversion Function
Parallel Shift Job Conversion Function
Function Overview
If the manipulator and base positions are moved after a job has been
taught, the entire job has to be modified. The parallel shift conversion
function shortens the modification time required in cases like this by
shifting all steps of the job by the same value to create a new job.
When the parallel shift conversion is performed, all job steps are shifted by
the same value.
Steps Outside the P-point Maximum Envelope
NOTE
• “/OV” is added to the step when its position exceeds the Ppoint maximum envelope due to this conversion. At this
time, the position after conversion is taught if the pulse
limit is exceeded. If the interpolation motion is impossible,
when the position is taught by the pulse value, the pulse
value before conversion is taught, and when the position
is taught by the XYZ value, the XYZ value after conversion
is taught. When the position is corrected, “/OV” display
disappears.
Position Variable
• Position variables are not subject to the parallel shift job
conversion.
Not Converted Job
• The following jobs cannot be converted. If conversion is
attempted, no operation is performed.
• Jobs without any group axes
• Concurrent jobs (optional)
CAUTION
•
If a job name after conversion is not specified when executing the
parallel shift job conversion, the position data of the job is shifted
and converted, then the data is overwritten with a new position data
after the shift. Be sure to save the job in the external memory
device or create the same job by copying before executing
conversion.
6-17
6
6.3
6.3.2
Convenient Functions
Parallel Shift Job Conversion Function
Coordinate Systems for Conversion
When performing the parallel shift job conversion, it is necessary to
specify the coordinate systems in which the conversion is to be
performed. The coordinate system can be selected from the following:
• Base coordinates
• Robot coordinates
• Tool coordinates
• User coordinates (64 types)
• Master tool coordinates (R*+R* job)
• Pulse coordinates
In the case of an ordinary job for which group axes are registered, shift
conversion is performed in accordance with the selected coordinate
system. The relationship between group combinations and coordinates
are shown in the following table.
1 to 4 in the table are followed by their explanations.
Table 6-2: Relationship Between Group Combinations and Coordinates at
Conversion
Group
Combination
in Job
Explanation
R
Shift is performed on the basis of selected coordinates.
Usable Coordinate System
Base coordinates, robot coordinates, tool coordinates, user
coordinates, pulse coordinates
R(B)
S
Shift is performed on the basis of selected coordinates.
1. Base
Coordinates
The base axis is shifted by the
specified amount and the TCP of the
manipulator is shifted by the specified
amount in the base coordinates.
2. Robot
Coordinates
The base axis is shifted by the
specified amount.
The TCP of the manipulator is shifted
by the specified amount in the robot
coordinates. These shifts are carried
out independently.
3. Tool
Coordinates
The base axis is shifted by the
specified amount.
The TCP of the manipulator is shifted
by the specified amount in the tool
coordinates. These shifts are carried
out independently.
4. User
Coordinates
The base axis is shifted by the
specified amount and the TCP of the
manipulator is shifted by the specified
amount in the user coordinates.
5. Pulse
Coordinates
The taught position of each axis is
shifted by the specified amount on the
basis of pulse values.
Shift is performed on the basis of pulse values regardless of the
coordinates.
6-18
6
6.3
Convenient Functions
Parallel Shift Job Conversion Function
Table 6-2: Relationship Between Group Combinations and Coordinates at
Conversion
R+S
The manipulator is shifted in the selected coordinates.
The station axis is shifted on the basis of pulse values regardless
of the coordinates.
Base coordinates, robot coordinates, tool coordinates, user
coordinates, pulse coordinates
R(B)+S
The manipulator is shifted in the selected coordinates, as in 1 to
5 above.
The station axis is shifted on the basis of pulse values regardless
of the coordinates.
R+R
Two manipulators are shifted in the selected coordinates.
Base coordinates, robot coordinates, tool coordinates, user
coordinates, master tool coordinates 1), pulse coordinates
R(B)+R(B)
Two manipulators are shifted in the selected coordinate system,
as in 1 to 5 above. Two base axes are also shifted.
1 In the master tool coordinates, conversion only occurs at the “slave” from the
standpoint of the SMOV instruction.

About 1 to 4 in the Table
1. Base Coordinates
The base axis is shifted by B and the TCP of the manipulator is shifted
by A in the base coordinates.
Base coordinates
A
B
Base
6-19
6
6.3
Convenient Functions
Parallel Shift Job Conversion Function
2. Robot Coordinates
The base axis is shifted by B. The TCP of the manipulator is shifted by
A in the robot coordinates. These shifts are carried out independently.
Robot coordinates
Base coordinates
A
B
3. Tool Coordinates
The base axis is shifted by B and the TCP of the manipulator is shifted
by A in the tool coordinates. These shifts are carried out independently.
Base coordinates
Tool coordinates
A
B
4. User Coordinates
The base axis is shifted by B and the TCP of the manipulator is shifted
by A in the user coordinates. These shifts are carried out independently.
Base coordinates
User coordinates
A
B
6-20
6
6.3

Convenient Functions
Parallel Shift Job Conversion Function
Converting R*+R* Jobs with Master Tool Coordinates
R*+R* coordinated jobs can be subjected to the parallel shift job
conversion in the master tool coordinates. Only the steps taken at the
“slave” from the standpoint of the SMOV instruction are subject to
conversion (i.e. the steps of R2 in the figure below).
R2 (Slave)
R1 (Master)
X-axis
Y-axis
Master tool coordinates
Z-axis
Displays R2
Displays R1
0001 MOV
+MOV
0002 MOV
+MOV
0003 SMOV
+MOV
0004 SMOV
+MOV
0005 SMOV
+MOV
0006 MOV
+MOV
6-21
1
6
5
2
3
4
Motion path
after conversion
6
6.3
6.3.3
6.3.3.1
Convenient Functions
Parallel Shift Job Conversion Function
Executing the Parallel Shift Job Conversion
Window Display
A
B
C
D
E
F
A. SOURCE JOB
Selects the job before conversion. The job which is shown in the JOB
CONTENT window is set initially. To change the job, perform the following procedure.
Move the cursor to the job name and press [SELECT]. The JOB LIST
window appears. Select the desired job.
B. STEP SECTION (Start Step  End Step)
Specifies the step section of the source job. All the steps are set initially.
If there is no step in the source job, “***” is displayed. To change the
section, perform the following procedure.
Move the cursor to the step section indication and press [SELECT].
The input buffer line appears. Input the step number and press
[ENTER].
C. DESTINATION JOB
Specifies the converted job. If this is not specified ( “********” is displayed), the source job is overwritten with a job after conversion. If the
converted job is specified, the source job is copied and converted. To
change the job, perform the following procedure.
Move the cursor to the converted job name indication and press
[SELECT]. The character input line appears. The source job name is
displayed in the input line. To enter a job name without using the source
job name, press [CANCEL] and then input a job name.
D. COORDINATES
Selects the conversion coordinates. Move the cursor to the coordinates
name and press [SELECT]. The selection dialog box appears. Select
the desired coordinates.
When the user coordinates are selected, the input buffer line appears.
Input the desired user coordinate number and press [ENTER].
6-22
6
6.3
Convenient Functions
Parallel Shift Job Conversion Function
E. BASE POINT
Calculates the difference by the two teaching points as a shift value.
F. SHIFT VALUE
The axis shown is varied according to the setting of “4. coordinates”
above.
Move the cursor to the input box and press [SELECT] to directly input
the shift value.
If the shift value is calculated by the two teaching points, the difference
is shown as a shift value.
6-23
6
6.3
6.3.3.2
Convenient Functions
Parallel Shift Job Conversion Function
Parallel Shift Job Conversion Operation
There are two methods for specifying the shift value.
• Directly input the shift value by numerical value.
• Calculate the shift value by teaching the original base point and converted base point.
SUPPLE
-MENT
The method using position variables by parameter setting is
described in chapter 6.3.4 “Specifying the Shift Value by
Position Variables” at page 6-30 other than above two methods.
The following are the operation procedures by each setting of shift value
for parallel shift job conversion.

Numerical Value Input
1. Select {JOB} under {Main Menu}.
2. Select {JOB}.
– The JOB CONTENT window appears.
3. Select {UTILITY} under the pull-down menu.
4. Select {PARALLEL SHIFT JOB}.
– The PARALLEL SHIFT JOB window appears.
5. Specify the conversion items.
– Specify each item.
6-24
6
6.3
Convenient Functions
Parallel Shift Job Conversion Function
6. Select the shift value to be set.
– The number can be entered.
7. Type the shift value using [Numeric Key]s.
8. Press [ENTER].
– The shift value is set.
9. Display the PARALLEL SHIFT JOB window. Select “EXECUTE”.
– The confirmation dialog box appears when the converted job is not
specified. Select “YES” then the conversion is executed.
– The JOB CONTENT window appears when the conversion is
completed.
6-25
6
6.3
Convenient Functions
Parallel Shift Job Conversion Function
– When “CANCEL” is selected, the display goes back to the JOB
CONTENT window without executing conversion.
NOTE
If an alarm occurs during conversion, conversion is suspended.
6-26
6
6.3

Convenient Functions
Parallel Shift Job Conversion Function
Calculation by Teaching
1. Select {JOB} under {Main Menu}.
2. Select {JOB}.
– The JOB CONTENT window appears.
3. Select {UTILITY} under the pull-down menu.
4. Select {PARALLEL SHIFT JOB}.
– The PARALLEL SHIFT JOB window appears.
5. Specify the conversion items.
– Specify each item.
6. Display the PARALLEL SHIFT JOB window. Select “TEACH
SETTING” in the item of “BASE POINT”.
– The BASE POINT window appears.
7. Select “BASE POINT(SRC)”.
8. Move the manipulator to the original base point by the [Axis Key]s.
6-27
6
6.3
Convenient Functions
Parallel Shift Job Conversion Function
9. Press [MODIFY] and [ENTER].
– The original base point is set.
10. Select “BASE POINT(DEST)”.
11. Move the manipulator to the converted base point by the [Axis Key]s.
12. Press [MODIFY] and [ENTER].
– The conversion base point is set.
13. Touch “EXECUTE”.
– The difference is calculated by the two teaching points and set as a
shift value.
6-28
6
6.3
Convenient Functions
Parallel Shift Job Conversion Function
14. Display the PARALLEL SHIFT JOB window. Select “EXECUTE”.
– The confirmation dialog box appears when the converted job is not
specified. Select “YES” then the conversion is executed.
– The JOB CONTENT window appears when the conversion is
completed.
– When “CANCEL” is selected, the display goes back to the JOB
CONTENT window without executing conversion.
NOTE
If an alarm occurs during conversion, conversion is suspended.
6-29
6
6.3
6.3.4
Convenient Functions
Parallel Shift Job Conversion Function
Specifying the Shift Value by Position Variables
The shift value can be specified using position variables by parameter
settings.
Parameter S2C652: SHIFT VALUE FOR PARALLEL SHIFT JOB
CONVERSION
0: Shift value by numeral/teaching (Initial setting)
1: Position variable shift value
6.3.4.1
Window Display
A
B
C
D
E
A. FILE NO.
Specifies position variables.
B. SHIFT JOB NAME
The job which was shown in the JOB CONTENT window is set initially.
To change the job, perform the following procedure.
Move the cursor to the conversion job name and press [SELECT]. The
JOB LIST window appears. Move the cursor to the desired job and
press [SELECT]. The PARALLEL SHIFT JOB window reappears, and
the job name which was selected is shown.
C. MODE
Specifies the conversion mode.
SINGLE (INDEPENDENT JOB CONVERSION)
Only the selected job is converted even if the selected job includes the
jobs called by JUMP or CALL instructions. Related jobs are not converted.
RELATIVE (RELATIVE JOB CONVERSION)
Both the selected job and all the related jobs (the jobs called by JUMP
or CALL instructions) are converted.
For details of each conversion mode, refer to chapter 6.3.4.2 “Jobs
Targeted for Conversion” at page 6-32 .
6-30
6
6.3
Convenient Functions
Parallel Shift Job Conversion Function
D. COORDINATES
Selects the conversion coordinates.
Move the cursor to the coordinates name and press [SELECT]. The
selection dialog box appears. Select the desired coordinates.
When the user coordinates are selected, the input buffer line appears.
Input the desired user coordinate number and press [ENTER].
E. CONV. METHOD
Specifies the conversion methods of related jobs such as a coordinated
job with two manipulators or the system with multiple stations.
COMMON (COMMON SHIFT)
All the manipulators (or all the bases, or all the stations) are converted
by the same shift value.
EACH (INDIVIDUAL SHIFT)
Each manipulator (or each base, or each station) is converted separately by different shift values.
For details of each conversion method, refer to
chapter 6.3.4.3 “Conversion of Coordinated Jobs” at page 6-33.
6-31
6
6.3
6.3.4.2
Convenient Functions
Parallel Shift Job Conversion Function
Jobs Targeted for Conversion
There are two ways to specify the job to be converted as described in the
following:
• Independent Job Conversion
Only the selected job is converted even if the selected job includes
the jobs called by JUMP or CALL instructions. Related jobs are not
converted.
Converted
SELECTED JOB
(EDIT JOB)
JOB
JOB
JOB
JOB
JOB
Related jobs are
not converted.
JOB
• Related Job Conversion
Both the selected job and all the related jobs (the jobs called by
JUMP or CALL instructions) are converted.
SELECTED JOB
(EDIT JOB)
JOB
JOB
Converted
JOB
JOB
JOB
6-32
JOB
6
6.3
6.3.4.3
Convenient Functions
Parallel Shift Job Conversion Function
Conversion of Coordinated Jobs
There are two ways to convert a related job such as a coordinated job with
two manipulators or the system with multiple stations as described in the
following:

Common Shift
All the manipulators (or all the bases, or all the stations) are converted by
the same shift value.
Coordinated job with R1+R2
The system with multiple stations
6-33
6
6.3

Convenient Functions
Parallel Shift Job Conversion Function
Individual Shift
Each manipulator (or each base, or each station) is converted separately
by different shift values.
Coordinated job with R1+R2
The system with multiple stations

Variables used in an individual shift
NOTE
Be sure to use the variables of which numbers are consecutive after the selected number. The variables of which
numbers are not consecutive are unable to be selected.
Example 1) When selecting P010 for a coordinated job with R1 + R2:
Use P010 for R1.
6-34
6
6.3
Convenient Functions
Parallel Shift Job Conversion Function
Use P011 for R2.
JOB R1
JOB R2
P010
P011
Example 2) When selecting EX005 for multiple jobs with four stations:
Use EX005 for S1.
Use EX006 for S2.
Use EX007 for S3.
Use EX008 for S4.
JOB S1
JOB S2
JOB S3
JOB S4
EX005
EX006
EX007
EX008

Relation between variables and jobs for conversion in an individual
shift

In the case of independent job conversion:
• Coordinated job with R1 + R2
6-35
6
6.3
Convenient Functions
Parallel Shift Job Conversion Function
Different shift values can be set for each manipulator and base.
Variables
BP001
P001
JOB
For base R1
For R1
R1 + R2
P002
P002
For base R2
For R2
• Job with R (+ S)
Use one variable for a job with one manipulator.
Variables
JOB

BP001
P001
R
For base R1
For R1
In the case of related job conversion:
• Different shift values can be set for each manipulator, base, and station.
In a system with R1, R2, and S1 to S12:
Variables
P001
For R1
Job without
group axes
P002
For R2
R1 + R2
R1
R2
S1
S12
EX001
For S1
EX002
For S1
EX0012
For S1
6-36
BP001
For base R1
P002
For base R2
6
6.3
6.3.4.4
Convenient Functions
Parallel Shift Job Conversion Function
Operation Procedure
The following is the operation procedure for the parallel shift job
conversion using position variables.
1. Set the parameter.
– Set the parameter S2C652 (SHIFT VALUE FOR PARALLEL SHIFT
JOB CONVERSION) to 1 (Position variable shift value).
2. Set the position variable.
– Specify a position variable in advance when setting a shift value by
position variables.
– For the setting of position variables, refer to chapter 3.9.4
Variables” at page 3-105.
“User
3. Select {JOB} under {Main Menu}.
4. Select {JOB}.
– The JOB CONTENT window appears.
5. Select {UTILITY} under the pull-down menu.
6. Select {PARALLEL SHIFT JOB}.
– The PARALLEL SHIFT JOB window appears.
7. Specify the conversion items.
– Specify each item.
8. Select “EXECUTE”.
– Select “EXECUTE” then the parallel shift job conversion is executed.
The JOB CONTENT window appears when the conversion is
completed.
– When “CANCEL” is selected, the display goes back to the JOB
CONTENT window without executing conversion.
NOTE
If an alarm occurs during conversion, conversion is suspended.
6-37
6
6.3
Convenient Functions
Parallel Shift Job Conversion Function
NOTE
Specify the position variable in advance when using the setting value as a shift value.
NOTE
The line to which the Edit Lock function is set or the comment out is performed cannot be changed.
(For details, refer to chapter 3.7.6 “Commenting Out a
Line” at page 3-71 and chapter 3.7.7 “Prohibiting Editing
Line-by-Line” at page 3-82.)
6-38
6
6.4
6.4
6.4.1
Convenient Functions
PAM Function
PAM Function
Function Overview
The function for position adjustment during playback (PAM: Position
Adjustment by Manual) allows position adjustment by simple operations
while observing the motion of the manipulator and without stopping the
manipulator. Positions can be adjusted in both teach mode and play
mode.
The following data can be adjusted by key input from the programming
pendant.
• Teaching Point (Position)
• Teaching Point (Posture angle)
• Operation Speed
• Position Level
6.4.1.1
Input Ranges for Adjustment Data
The input ranges for adjustment data are indicated in the following table.
Data
Input Range
Number of Steps for Adjustment
Up to 10 steps can be adjusted at the same
time.
Position Adjustment Range
(X, Y, Z)
Unit: mm, valid to two decimal places,
maximum ±10 mm
Posture Angle Adjustment Range
(Rx, Ry, Rz)
Unit: deg, valid to two decimal places,
maximum ±10 deg
Speed Adjustment Range (V)
Unit: %, valid to two decimal places,
maximum ±50%
PL Adjustment Range
0 to 8
Adjustment Coordinates
Robot coordinates, base coordinates, tool
coordinates, user coordinates (Default
coordinates: robot coordinates)
The input ranges for adjustment data can be changed by the
following parameters:
• S3C1098: Position adjustment range (unit: 0.001 mm)
SUPPLE
-MENT
• S3C1099: Speed adjustment range (unit: 0.01%)
• S3C1100: Adjustment coordinate specification
• S3C1102: Posture angle adjustment range (unit: 0.01 deg)
For details, refer to chapter 8 “Parameter” at page 8-1.
6-39
6
6.4
Convenient Functions
PAM Function
• Base axis and station axis data cannot be adjusted.
• Adjustment when a TCP instruction is executed is performed by adjusting the data of the selected tool.
NOTE
• When the coordinates for adjustment are user coordinates, an error occurs if teaching has not been performed
in the user coordinates.
• If an attempt is made to adjust “PL” when there is no “PL”
in the step subject to the adjustment, an error occurs.
• Position variable and reference point steps cannot be
adjusted. An error occurs if adjustment is attempted.
• An attempt to adjust the speed at the step that has no
speed tag causes an error.
6-40
6
6.4
6.4.2
6.4.2.1
Convenient Functions
PAM Function
Operating Methods
Setting Adjustment Data
1. Select {JOB} under {Main Menu}.
2. Select {JOB}.
– The JOB CONTENT window (in the teach mode) or the PLAYBACK
window (in the playback mode) appears.
3. Select {UTILITY} under the pull-down menu.
4. Select {PAM}.
– The PAM window appears.
A
B
C
G
D
H
E
F
5. Set adjustment data.
– Set adjustment data.
– A. Job
Set the job name to be adjusted.
Line up the cursor and press [SELECT] to display the JOB LIST
window.
Move the cursor to the desired job and press [SELECT] to set the
adjusted job.
– B. Status
Shows the status of adjustment in the PAM function.
“NOT DONE” appears when adjustment is not executed. “DONE”
appears when the execution of adjustment is completed.
– C. Input Coord
Set the desired coordinates.
Line up the cursor and press [SELECT] to display the selection
dialog box.
Move the cursor to the desired coordinate system and press
[SELECT] to set the input coordinates.
– D. Step Number
Set the step number to be adjusted.
Line up the cursor and press [SELECT] to display the number input
buffer line.
Input the step number and press [ENTER] to set the value.
– E. XYZ Coordinate Adjustment
Set the direction and amount of the X, Y, and Z coordinates.
Line up the cursor with the data to be adjusted and press [SELECT]
6-41
6
6.4
Convenient Functions
PAM Function
to display the number input buffer line.
Input the number data and press [ENTER] to set the adjusted data.
– F. Rx, Ry, Rz Coordinate Adjustment
Set the direction and amount of the Rx, Ry and Rz posture
angles.
Line up the cursor with the data to be adjusted and press [SELECT]
to display the number input buffer line.
Input the number data and press [ENTER] to set the adjusted data.
– G. V Coordinate Adjustment
Set the speed.
Line up the cursor and press [SELECT] to display the number input
buffer line.
Input the number data and press [ENTER] to set the adjusted data.
– H. PL
The position level of the job to be adjusted for the step set in “4. Step
Number” is displayed, and the data can be modified.
When the position level is not decided, [-] is displayed, and cannot
be set.
To modify the position level, line up the cursor, press [SELECT],
input the number value and press [ENTER].
The line to which the Edit Lock function is set or the comment out is performed cannot be changed.
Following errors occur when performing the Edit Lock operation.
NOTE
1011: EDIT LOCK is set for this line.
1012: This line is defined as a comment.
(For details, refer to chapter 3.7.6 “Commenting Out a
Line” at page 3-71 and chapter 3.7.7 “Prohibiting Editing
Line-by-Line” at page 3-82.)
6-42
6
6.4
6.4.2.2
Convenient Functions
PAM Function
Executing the Adjustment

Executing the Adjustment
1. Touch “COMPLETE” on the screen.
– The confirmation dialog box appears.
2. Select “YES”.
– In the teach mode, the job adjustment can be immediately executed.
In the play mode, the job can be adjusted just before execution
(move operation).
– When the job adjustment is completed, the set data shown in the
PAM window is cleared. However, if there is an step which exceeds
the software limit or an step in which the interpolation motion is
impossible during the job adjustment, an error occurs and only the
data of the step cannot be cleared on the window.
6-43
6
6.4

Convenient Functions
PAM Function
Cancelling the Execution
In the play mode, during the adjustment wait status, “STOP” is displayed
in the PAM window. To cancel the adjustment process, touch “STOP” on
the screen. Also, if the following occurs before executing, the process is
automatically cancelled.
• If the mode is changed
• If an alarm occurs
• If the power is turned OFF
6-44
6
6.4

Convenient Functions
PAM Function
Clearing Data
If there is a mistake made when adjusting the data, or if the adjustment of
the step becomes unnecessary, the data can be cleared.
1. Move the cursor to the step of the data to be cleared.
Steps in which
data is to be
cleared.
2. Select {EDIT} under the pull-down menu.
3. Select {LINE CLEAR}.
– The line data is cleared.

Copying Data
To input the same data as those set previously, perform the following
operation.
1. Move the cursor to the line to be copied.
2. Select {EDIT} under the menu.
– The pull-down menu appears.
3. Select {LINE COPY}.
4. Move the cursor to the line where the item is to be copied.
5. Select {EDIT} under the menu.
6-45
6
6.4
Convenient Functions
PAM Function
6. Select {LINE PASTE}.
– The desired data is copied to the line.
– However, if the line where the data is to be copied does not have a
speed value or PL value, it cannot be copied.

Canceling the Adjustment
After the position adjustment in the PAM function, the job can be returned
to the status before adjustment only during teaching. In this case, follow
the procedures below.
Note that the job cannot be undone during playback.
1. Move the cursor to the line to be copied.
– After the position adjustment, the status shows “DONE”.
2. Select {EDIT} under the menu.
– The pull-down menu appears.
3. Select {UNDO} under the pull-down menu.
– The confirmation dialog box appears.
4. Select “YES”
– The status turns “NOT DONE” and the job is undone when selecting
“YES” . The status does not change and the job is not undone when
selecting “NO”.
6-46
6
6.5
6.5
6.5.1
Convenient Functions
Mirror Shift Function
Mirror Shift Function
Function Overview
With the mirror shift function, a job is converted to the job in which the path
is symmetrical to that of the original job. This conversion can be
performed for the specified coordinate among the X-Y, X-Z, or Y-Z
coordinate of the robot coordinates and the user coordinates.
The mirror shift function is classified into the following three: the pulse
mirror-shift function, the robot-coordinates mirror-shift function, and the
user-coordinates mirror-shift function.
Mirror shift
The original path
before the mirror shift
6-47
The converted path
after the mirror shift
6
6.5
6.5.2
Convenient Functions
Mirror Shift Function
Pulse Mirror-shift Function
With the pulse mirror-shift function, the mirror shift is performed by
reversing the sign (+/-) for the axes which are specified with the parameter
in advance.
R-axis
R-axis
T-axis
T-axis
S-axis
6.5.2.1
Parameter Setting
Using the following parameter, specify the axes for which the sign is to be
reversed.
S1CxG065: Mirror Shift Sign Reversing Axis Specification
The 1st axis (0:Not reversed, 1:Reversed)
The 7th axis
6.5.2.2
Object Job
Jobs without group axes and relative jobs cannot be converted.
6.5.2.3
Group Axes Specification
When specifying the group axes for the converted job in a multiple group
axes system, the group axes specified in the original and converted jobs
must be the same.
• Robot Axis: Same model
• Base Axis: Same configuration
• Station Axis: Same configuration
6.5.2.4
Position Variables
Position variables are not converted by the mirror shift function.
6-48
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6.5
6.5.3
Convenient Functions
Mirror Shift Function
Robot-coordinates Mirror-shift Function
With the robot-coordinates mirror-shift function, the mirror shift is
performed on the X-Z coordinate of the robot coordinates.
Z
Z
Y
Y
X
6.5.3.1
X
Object Job
Jobs without group axes cannot be converted.
6.5.3.2
Group Axes Specification
When specifying the group axes for the converted job in a multiple group
axes system, the group axes specified in the original and converted jobs
must be the same.
• Robot Axis: Same model
• Base Axis: Same configuration
• Station Axis: Same configuration
6.5.3.3
Position Variables
Position variables are not converted by the mirror shift function.
• Mirror shift conversion for the base axis is not performed
with the robot-coordinates mirror shift function.
NOTE
• With the robot-coordinates mirror shift function, mirror shift
conversion for the station axis is performed by reversing
the sign for the axes specified with the parameter
S1CxG065 "Mirror Shift Sign Reversing Axis Specification" .
6-49
6
6.5
6.5.4
Convenient Functions
Mirror Shift Function
User-coordinates Mirror-shift Function
With the user-coordinates mirror-shift function, the mirror shift is
performed on the X-Z, X-Y, or Y-Z coordinate of the specified user
coordinates.
Z
6.5.4.1
Z
Y
Y
X
X
Object Job
Jobs without group axes cannot be converted.
6.5.4.2
Group Axes Specification
When specifying the group axes for the converted job in a multiple group
axes system, the group axes specified in the original and converted jobs
must be the same.
• Robot Axis: Same model
• Base Axis: Same configuration
• Station Axis: Same configuration
6.5.4.3
Position Variables
Position variables are not converted by the mirror shift function.
NOTE
With the user-coordinates mirror shift function, mirror shift
conversion for the station axis is performed by reversing the
sign for the axes specified with the parameter S1CxG065
"Mirror Shift Sign Reversing Axis Specification".
6-50
6
6.5
6.5.5
Convenient Functions
Mirror Shift Function
Notes on the Mirror Shift Function
For manipulators, such as a polishing wrist, whose center of S-axis
rotation and T-axis rotation are offset in the X-coordinate direction, the
mirror shift cannot correctly be performed by the pulse mirror-shift
function. Be sure to use the robot-coordinates mirror-shift function or use
the user-coordinates mirror-shift function with the user coordinates
specified on the center of the T-axis rotation.
(1) Using the Robot-coordinates Mirror-shift Function
When the robot-coordinates mirror-shift function is performed, the
mirror shift is performed on the X-Z coordinate of the robot coordinates. The path of the converted job is as follows:
Robot-coordi nates Mirror-shift Conversi on
After conversion
Before conversi on
(2) Using the User-coordinates Mirror-shift Function
To use the user-coordinates mirror-shift function, specify the user
coordinates on the center of T-axis rotation in advance.
User-coordinates Mirror-shift Conversi on
User coordi nates
After conversion
NOTE
Before conversi on
“/OV” is added to the step when its position exceeds the
P-point maximum envelope due to the conversion.
When “/OV” is added to the step, the position after
conversion is taught if the pulse limit is exceeded. If the
interpolation motion is impossible, when the position is
taught by the pulse value, the pulse value before conversion is taught, and when the position is taught by the XYZ
value, the XYZ value after conversion is taught.
6-51
6
6.5
6.5.6
6.5.6.1
Convenient Functions
Mirror Shift Function
Operation Procedures
Calling Up the JOB CONTENT Window
Call up the JOB CONTENT window of the job to be converted as follows:

For Current Job
1. Select {JOB} under {Main Menu}.
2. Select {JOB}.

For Another Job
1. Select {JOB} under {Main Menu}.
2. Select {SELECT JOB}.
– The JOB LIST window appears.
3. Select the desired job.
6.5.6.2
Mirror Shift Conversion
1. Display the JOB CONTENT window.
2. Select {UTILITY} under the pull-down menu.
– The MIRROR SHIFT window appears.
3. Select {MIRROR SHIFT}.
– The MIRROR SHIFT window appears.
6-52
6
6.5
6.5.6.3
Convenient Functions
Mirror Shift Function
Explanation of the Mirror Shift Window
A
B
C
D
E
F
G
H
I
A. SOURCE JOB
Selects the conversion source job.
To select another job to be converted, move the cursor to the name and
press [SELECT] to call up the list of jobs. Select the desired job and
press [SELECT].
B. SOURCE CTRL GROUP
Displays the control group of the conversion source job.
C. STEP SELECTION
Specifies the steps to be converted. From the first step to the last step
of the selected job are specified as initial value.
D. DESTINATION JOB
Specifies the converted job name. To enter the name, move the cursor
to the name and press [SELECT]. The name of the conversion source
job is displayed in the input line as initial value. When "***" is displayed,
the name for the converted job is to be the same as that of the conversion source job.
E. DEST CTRL GROUP
Selects the control group for the converted job. When the destination
job name is entered, the same control group as the conversion source
job is automatically set. To change it, move the cursor to the control
group and press [SELECT] to call up the selection dialog box.
F. COORDINATES
Specifies the coordinates used for conversion.
"PULSE": Executes the pulse mirror-shift conversion.
"ROBOT": Executes the mirror-shift conversion on the basis of the cartesian coordinates.
"USER": Executes the mirror-shift conversion on the basis of the specified user coordinates.
6-53
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6.5
Convenient Functions
Mirror Shift Function
G. USER COORD NO.
Specifies the user coordinates number when "USER" is selected in “6.
COORDINATES”.
This item cannot be set when "PULSE" or "ROBOT" is selected in “6.
COORDINATES”.
H. TARGET
Specifies the coordinate where conversion is to be done when "ROBOT"
or "USER" is selected in “6. COORDINATES”. "XY", "XZ", or "YZ" can
be selected. Always specify "XZ" for "ROBOT".
I. EXECUTE
Mirror shift conversion is executed when pressing “EXECUTE” or
[ENTER]. A job is created with the name of conversion source job when
a job after conversion is not entered.
6-54
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6.6
6.6
6.6.1
Convenient Functions
Multi Window Function
Multi Window Function
Function Overview
Multi window function divides the general-purpose display area up to 4
windows and shows them simultaneously.
There are seven dividing patterns to be optionally choose as necessary.
6.6.2
Setting the Dividing Pattern of the General-Purpose Display Area
The dividing pattern of the general purpose display area can be changed
in the window exclusive for setting.
Table 6-3: Display the dividing Pattern (Sheet 1 of 2)
Number of the window
1
Dividing Pattern
1 window
1
2
2 windows
2
1
3
2 windows
1
2
4
3 windows
1
2
6-55
3
6
6.6
Convenient Functions
Multi Window Function
Table 6-3: Display the dividing Pattern (Sheet 2 of 2)
Number of the window
5
6
Dividing Pattern
3 windows
1
2
3
1
2
3 windows
3
7
4 windows
1
3
6.6.2.1
2
4
Calling Up and Operating Methods of the Display Dividing Pattern Setting Window
Call up the dividing pattern setting window.
1. Select [DEIPLAY SETUP] -[CHANGE WINDOW PATTERN] under
{Main Menu}.
2. Dividing pattern setting window appears in the center of the display.
6-56
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6.6
Convenient Functions
Multi Window Function
In the dividing pattern setting window, set the dividing pattern of the
general-purpose display area.
1. Key operation 1:
When “Window Pattern” is focused in the window, the option of the
dividing pattern shifts as cursor moves upper or lower.
– Choose the desired dividing patter from the “Window Pattern”.
2. Key operation 2:
Press [SELECT] when “Window Pattern” is focused. The list of the
dividing patterns appears. The list closes and a pattern is set after
choosing the desired pattern and press [SELECT].
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6.6
Convenient Functions
Multi Window Function
3. Touching operation:
The desired pattern can be chosen by touching a pattern in the
window.
– Choose a pattern from the dividing pattern buttons.
4. Touch [OK] button or move the cursor to it and press [SELECT].
– The dividing pattern setting window closes and the chosen pattern
(chosen with the procedure either 1, 2 or 3) appears.
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6.6
Convenient Functions
Multi Window Function
Cancel the setting
1. Touch [CANCEL] button or move the cursor to it and press [SELECT].
– Dividing pattern setting window closes. The dividing pattern in the
general-purpose display area doesn’t change.
SUPPLE
-MENT
The cursor moves by pressing [AREA] in the dividing pattern
setting window.
6-59
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6.6
6.6.3
6.6.3.1
Convenient Functions
Multi Window Function
Displaying the Multi Window
Multi Window Mode and Single Window Mode
Specifying more than two-window pattern in the dividing pattern setting
window shows plural windows simultaneously in the general-purpose
display area.
This is called multi window mode.
On the other hand, a single active window can be displayed with pressing
[SHIFT] + [MULTI] operation.
This is called single window mode.
Pressing [SHIFT] + [MULTI] operation switches the display from single
window mode to multi window mode. The mode can be changed as
necessary.
6.6.3.2
Displaying the Status of Plural (more than two) Window Dividing Pattern Setting
When more than two windows are displayed as a desired pattern,
appears on the upper part of the window whereas it doesn't appear when
a single window is displayed.
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6.6
6.6.3.3
Convenient Functions
Multi Window Function
Displaying of Active Window and Non-Active Window
When a display is in the multi window mode, one window should be active
and the rest is (are) non-active. The title of the active window is displayed
in deep blue and non-active window is in light blue.
The active window is the subject of key operation.
Also, the menu area or the operational buttons under the general-purpose
displaying area are displayed for the operation of the active window.
6.6.3.4
Limited Matters in Multi Window Mode
The content of window when it is in multi window mode can be different
from the same window when it is in single window mode because of its
limited size. The content becomes normal when the window is displayed
in the single window mode.
• The input buffer in the JOB window is displayed only when the window is active.
• No auxiliary window appears.
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6.6
6.6.4
6.6.4.1
Convenient Functions
Multi Window Function
Operation of Multi Window
Switching of Multi Window Mode and Single Window Mode
When more than two windows are displayed as a dividing pattern of the
multi window, it is possible to switch multi window mode to single window
mode.
1. Set the mode of the general-purpose displaying area to multi window
mode.
2. Press [SHIFT]+[MULTI].
– Active window is displayed under single window mode in the
general-purpose window displaying area.
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6.6
Convenient Functions
Multi Window Function
3. Press [SHIFT]+[MULTI] in step 2 status.
– The general-purpose display area changes to already set pattern in
multi window mode.
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6.6
6.6.4.2
Convenient Functions
Multi Window Function
Switching of Active Window
Switch the active window in the multi window displaying mode.
1. Set the mode of the general-purpose displaying area to multi window
mode.
2. Key Operation:
Press [MULTI].
– The window to be active shifts. The active window shifts in the order
mentioned in chapter 6.6.2 “Setting the Dividing Pattern of the
General-Purpose Display Area” at page 6-55.
(12341······)
3. Touching Operation:
Touch the window to be active.
– The touched window becomes active.
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6
6.6
Convenient Functions
Multi Window Function
Switch the active window in the single window mode.
1. Set the mode of the general-purpose displaying area to single window
mode.
2. Press [MULTI].
– The following windows are displayed in the order mentioned in
chapter 6.6.2 “Setting the Dividing Pattern of the General-Purpose
Display Area” at page 6-55. (12341······)
NOTE
During the period before menu is selected when alarm
occurred, the active window cannot be switched if alarm
window is displayed, direct open is ON or a window is displayed by key allocation operation.
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6.6
6.6.5
Convenient Functions
Multi Window Function
Switching the Axis Operation Control Group
The appropriate control group for axis operation is automatically selected
in accordance with the window status or its operation in the active window.
Due to this function, when the general-purpose display area is in multi
window mode, the control group for axis operation can vary depending on
the window which is active at the time.
To avoid unexpected control group to function and for the better safeness,
the change of the control group with the [MULTI] operation or touching
operation when switching the active window is notified to the user.
SUPPLE
-MENT
6.6.5.1
The change of the control group for axis operation due to
other than [MULTI] operation or touching operation; due to
the switch of the window by selecting main menu, is not notified to the user.
S2C540 “Choosing Method of Notifying the Change of Axis Operation Control Group when
Switching the Active Window”
The method to notify the change of control group for axis operation due to
the switch of active window can be changed with parameter.
• Setting Value:0
– Keep displaying the message in the human interface display area
for three seconds.
– Message “Control group switched by switching the active window” is
displayed.
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6.6
Convenient Functions
Multi Window Function
• Setting Value:1
– Call up the confirmation dialog box to confirm the switch of the
active window.
– Message “Control group will be changed. Switch the active
window?” is displayed
– “Yes” ······ After switching the window to be active, a message
appears in the human interface display area.
– “No” ······ Cancel the window to be active.
• Setting Value:2
– Do not notify the control group change.
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6.7
6.7
6.7.1
Convenient Functions
Simple Menu Function
Simple Menu Function 1)
Simple Menu
This function enables users to create “USER DEFINITION” menu by
registering the layouts (screen dividing patterns and screen to be
displayed) on the general-purpose display area.
Eight layout patterns can be registered to the user definition menu at
maximum.
The registered layout patterns can be easily called up with the buttons of
simple menu.
1 Simple menu function is available in DS1.50-00 version or later.
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6.7
6.7.2
6.7.2.1
Convenient Functions
Simple Menu Function
Registering the Layout Patterns to User Definition Menu
Register with {REGIST} Button
Register the layout patterns by using {RESIST} button which is in “USER
DEFINITION” menu.
1. Press [SIMPLE MENU] or select {Simple Menu} button on the display
while the layout pattern to be registered is on the general-purpose
display area.
– “USER DEFINITION” menu appears.
2. Press {REGIST} button.
– “USER DEFINITION” menu closes.
– The message “Do you register a current layout?” appears in the
confirmation dialog box.
3. Select “YES”.
– The layout is registered and the dialog box closes.
*It will not be registered when “NO” is selected.
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6.7
6.7.2.2
Convenient Functions
Simple Menu Function
Register by Key Operation
Use the programming pendant keys to register the layout patterns to
“USER DEFINITION” menu.
1. Press [SHIFT] + [SIMPLE MENU] while the layout pattern to be
registered is on the general-purpose display area.
– The message “Do you register a current layout?” appears in the
confirmation dialog box.
2. Select “YES”.
– The layout is registered and the dialog box closes.
*It will not be registered when “NO” is selected.
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6.7
6.7.2.3
Convenient Functions
Simple Menu Function
Conditions to Register the Layout
There are some cases that the layout patterns cannot be registered to
“USER DEFINITION” menu.
Followings are the conditions and the messages that the layout is refused
to register.
Condition
Message
1
when the layout is already
registered.
This layout is already registered.
2
when eight layouts are already
registered.
There is not an undefined domain.
3
When the registering layout
includes the window which cannot
be started up in the {Main Menu}.
The screen which I cannot register is
included [W1W2W3W4]
(The number W1 to W4 indicates the
windows which are actually displayed
on the general-purpose display area,
however, the highlighted numbered
window cannot be registered.
*For the layout of 1 to 4,refer to
table 6-3 “Display the dividing
Pattern” at page 6-55.
4
When a single window is displayed
under the multi window mode.
SUPPLE
-MENT
6.7.2.4
Cannot register at current operation
mode.
The screens which cannot be started up in the {Main Menu}
are impossible to register.
Also, the layout of the screens that are called up from
{EXTERNAL MOMERY DEVICE} or ladder editor (optional
function) cannot be registered.
The Displayed Layout Name
After a layout pattern is registered to “USER DEFINITION” menu, it is
named in accordance with the status of the general-purpose display area
when the layout pattern is created.
Refer to the followings for the details.
Status of generalpurpose display area
Name registered to “USER DEFINITION”
Menu
1
Single window mode
(Same as the sub menu in main menu)
2
Multi window mode
Layout -n (“n” should be a number from 0 to 7)
It is possible to change the name even after the name is registered. Refer
to chapter 6.7.4.3 “Change the Name of Registered Layout Name” at
page 6-76.
6-71
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6.7
6.7.3
6.7.3.1
Convenient Functions
Simple Menu Function
Calling Up of the Registered Layout
Calling up
Call up the registered layout with the following procedures.
1. Press [SIMPLE MENU] or select {Simple Menu} button at the lower-left
on the display.
– “USER DEFINITION” menu appears.
2. Select and press a button on “USER DEFINITION” menu to display a
layout to be called up.
– “USER DEFINITION” menu closes.
– The selected layout appears on the general-purpose display area.
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6.7
6.7.3.2
Convenient Functions
Simple Menu Function
Conditions when Calling Up the Layout
There are some cases where the layout cannot be called up depending on
the conditions when calling up.
Followings are the conditions and the messages that the layout is refused
to be called up.
Condition
Message
1 When all the
registered layout
windows cannot be
displayed due to
security mode or its
purpose of use.
There are no windows to display within the chosen
layout.
When undisplayed screen is included in the layout to be called up due to
above mentioned reasons, the message, “Please selected a Main Menu”
appears to the said screen.
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6.7
6.7.4
Convenient Functions
Simple Menu Function
Editing “USER DEFINITION” Menu
Editing procedures of “changing the registered name” and “deleting the
registered item” are possible to the items registered to “USER
DEFINITION MENU” window.
Those editions are executed on “USER DEFINITION MENU” window.
Displaying of “USER DEFINITION MENU” window is possible in the
operation mode or more and editing of this menu is possible in the editing
mode or more.
6.7.4.1
Displaying “USER DEFINITION” Window
Displays “UNSER DEFINITION MENU” Window with {EDIT} button.
1. Press [SIMPLE MENU] or select {Simple Menu} button at the lower-left
on the display.
– “USER DEFINITION MENU” menu appears.
2. Press {EDIT} button.
– “USER DEFINITION” menu closes.
– “USER DEFINITION MENU” window appears on the active window
in the general-purpose display area.
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6.7
6.7.4.2
Convenient Functions
Simple Menu Function
Displaying “USER DEFINITION MENU” window Under Main Menu
Displays “USER DEFINITION MENU” window under main menu.
1. Select {SYSTEM INFO} under {Main Menu}.
– {SYSTEM INFO} sub menu appears.
2. Select {USER DEFINITION}.
– “USER DEFINITION MENU” window appears on the active window
in the general-purpose display area.
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6.7
6.7.4.3
Convenient Functions
Simple Menu Function
Change the Name of Registered Layout Name
The registered layout names can be changed.
1. Display “USER DEFINITION MENU” window.
2. Move the cursor to the layout name to be changed and press
[SELECT].
– The software key pad for inputting letters appears.
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6
6.7
Convenient Functions
Simple Menu Function
3. Input the layout name, then press [ENTER] or {ENTER} button.
– The software key pad closes.
– The name changes.
* If complete the software key pad operation with [CANCEL] or {CANCEL}
button, the name editing operation is also canceled.
SUPPLE
-MENT
When the bilingual function is valid, name in each
language can be set.
6-77
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6.7
6.7.4.4
Convenient Functions
Simple Menu Function
Deleting the Layout
The layout registered to “USER DEFINITION” menu can be deleted.
1. Display “USER DEFINITION MENU” window.
2. Move the cursor to the layout to be deleted and press [SHIFT] +
[SELECT]. (multiple selection possible)
– “●” mark is indicated at the head of the selected line.
3. Select {DATA} in the menu.
– A pull down menu appears.
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6.7
Convenient Functions
Simple Menu Function
4. Select {DELETE MENU}.
– The confirmation dialog box with a message “Delete? Layout -4
(layout name)” appears to the line marked with “●”.
5. Select “YES” in the dialog box.
– The marked layout is deleted.
* The layout will not be deleted if “NO” in the dialog box is selected.
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6.7
6.7.4.5
Convenient Functions
Simple Menu Function
Delete All Layout
All layouts registered to “USER DEFINITION” menu can be deleted at a
time.
1. Display “USER DEFINITION MENU” window.
2. Select {EDIT} in the menu.
– A pull down menu appears.
3. Select {SELECT ALL}.
– “●” mark is indicated at the head of all the registered layouts.
6-80
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6.7
Convenient Functions
Simple Menu Function
4. Select {DATA} in the menu.
– A pull down menu appears.
5. Select {DELETE MENU}.
– The confirmation dialog box with a message “Delete? Layout -0
(layout name)” appears to the lines marked with “●”.
6. Select “YES” in the dialog box.
– The marked layouts are deleted.
* The layout will not be deleted if “NO” in the dialog box is selected.
SUPPLE
-MENT
Move the cursor to the line with “●” mark, and press [SHIFT] +
[SELECT] to disappear “●” mark.
When select {EDIT} → {CANCEL SELECT} under the pull down
menu to cancel select and “●” marks disappear.
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6.7
6.7.5
Convenient Functions
Simple Menu Function
Save/Load (to external memory devices) the User Definition Menu Data
The data registered to “USER DEFINITION” menu (user menu data) can
be saved to and loaded from the external memory device.
In this case, the name of the file is “USERMENU.DAT”.
6.7.5.1
Saving the Data
User menu data can be saved at the security level of operation mode or
more.
1. Select {EX. MOMORY} under {Main Menu}.
– {EX. MOMORY} sub menu appears.
2. Select {SAVE}.
– {SAVE} window of external memory device appears.
3. Select {FILE/GENERAL DATA}.
– {FILE/GENERAL DATA} window of external memory device
appears.
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6.7
Convenient Functions
Simple Menu Function
4. Select {USER MENU DATA}.
– “” mark is indicated at the head of {USER MENU DATA}.
5. Press [ENTER].
– The confirmation dialog box with a message “SAVE” appears.
6. Select “YES” in the dialog box.
– {USER MENU DATA} is saved.
* It will not be saved if “NO” in the dialog box is selected.
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6.7
6.7.5.2
Convenient Functions
Simple Menu Function
Loading the Data
User menu data can be loaded at the security level of editing mode or
more.
1. Select {EX. MOMORY} under {Main Menu}.
– {EX. MOMORY} sub menu appears.
2. Select {LOAD}.
– {LOAD} window of external memory device appears.
3. Select {FILE/GENERAL DATA}.
– {FILE/GENERAL DATA} window of external memory device
appears.
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6.7
Convenient Functions
Simple Menu Function
4. Select {USER MENU DATA}.
– “” mark is indicated at the head of {USER MENU DATA}.
5. Press [ENTER].
– The confirmation dialog box with a message “LOAD?” appears.
6. Select “YES” in the dialog box.
– {USER MENU DATA} is loaded.
* It will not be loaded if “NO” in the dialog box is selected.
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6.8
6.8
6.8.1
Convenient Functions
Parameter Setting Function
Parameter Setting Function
Parameter Setting Function
Among the parameters explained in chapter 8 “Parameter” at page 8-1,
frequently used parameters’ settings can be changed from the exclusive
windows. Those windows are sorted out depending on the parameters’
function as shown below.
• TEACHING CONDITION SETTING
Teaching-relevant parameters are displayed.
• OPERATE CONDITION SETTING
Mode switching/power-relevant parameters are displayed.
• OPERATE ENABLE SETTING
ON/OFF of the manipulator-relevant parameters are displayed.
• FUNCTION ENABLE SETTING
Enable/unable of optional function-relevant parameters settings are
displayed.
• JOG CONDITION SETTING
Operation of the jog-relevant parameters are displayed.
• PLAYBACK CONDITION SETTING
Playback operation-relevant parameters are displayed.
• FUNCTIONAL CONDITION SETTING
Execution of each function-relevant parameters are displayed.
Select above mentioned menu from {SETUP} window under main menu.
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Convenient Functions
Parameter Setting Function
Move the cursor to select a menu, then the settings of the desired
parameters can be changed by one of the following three methods
according to its content.
• When there are two options.
The options alternate every time [SELECT] is pressed.
• When there are three or more options.
A dialog box with the options appears. Select one to change the
settings.
• When it requires to input a value.
Input a value using [Numeric Key]s and press [ENTER] to change
the settings.
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6.8
6.8.2
Convenient Functions
Parameter Setting Function
Teaching Condition Setting
Select {SETUP} → {TEACHING CONDITION SETTING} to display the
following window.
• LANGUAGE LEVEL (S2C211)
Refer to chapter 8.3.0.13 “S2C211: LANGUAGE LEVEL” at
page 8-15.
Setting
Parameter Value
SUBSET
0
STANDARD
1
EXPANDED
2
• INSTRUCTION INPUT LEARNING (S2C214)
Refer to chapter 8.3.0.14 “S2C214: INSTRUCTION INPUT
LEARNING FUNCTION” at page 8-15.
Setting
Parameter Value
VALID
0
INVALID
1
• MOVE INSTRUCTION SET POSITION (S2C206)
Refer to chapter 8.3.0.8 “S2C206: ADDITIONAL STEP POSITION”
at page 8-13.
Setting
Parameter Value
STEP
0
LINE
1
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6.8
Convenient Functions
Parameter Setting Function
• BUZZER WHEN POSITION TEACHING (S2C433)
Refer to chapter 8.3.0.43 “S2C433: POSITION TEACHING
BUZZER” at page 8-27.
Setting
Parameter Value
CONSIDER
0
NOT
CONSIDER
1
• STEP ONLY CHANGING (S2C203)
Refer to chapter 8.3.0.6 “S2C203: CHANGING STEP ONLY” at
page 8-13.
Setting
Parameter Value
PERMIT
0
PROHIBIT
1
• RECT/CYL INDRICAL (S2C196)
Refer to chapter 8.3.0.2 “S2C196: SELECTION OF CARTESIAN/
CYLINDRICAL” at page 8-12.
Setting
Parameter Value
CYL.
0
RECT
1
• TOOL NO. SWITCH (S2C431)
Refer to chapter 8.3.0.42 “S2C431: TOOL NO. SWITCHING” at
page 8-27.
Setting
Parameter Value
PROHIBIT
0
PERMIT
1
• TOOL NO. INTERLOCK FOR STEP ENTRY(S2C234)
Refer to chapter 8.3.0.29 “S2C234: STEP REGISTRATION AT
TOOL NO. CHANGE” at page 8-19.
Setting
Parameter Value
PERMIT
0
PROHIBIT
1
• POS. TEACH ONLY JOG CONTROL GROUP (S2C320)
Refer to chapter 8.2.0.15 “S2C320: CONTROLLED GROUP JOB
TEACHING POSITION CHANGE” at page 8-7.
Setting
Parameter Value
PROHIBIT
0
PERMIT
1
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6.8
Convenient Functions
Parameter Setting Function
• JOB UNDELETE FUNCTION(S2C413)
Refer to chapter 8.3.0.39 “S2C410: WORD REGISTRATION
FUNCTION / WORD EDITING FUNCTION SPECIFICATION” at
page 8-24.
Setting
Parameter Value
INVALID
0
VALID
1
• INDEPENDENT :MOTION OF NEXT/TEST(S2C231)
Refer to chapter 8.6.0.3 “S2C231: OPERATION METHOD AT
FWD/BWD OPERATION OR TEST RUN BY INDEPENDENT CONTROL” at page 8-46.
→This appears only when the independent control is valid.
Setting
Parameter Value
SINGLE
0
ALL
1
• BWD OPERATION NO GROUP AXIS (S2C688 d0 bit)
• BWD OPERATION CONCURRENT JOB (S2C688 d1 bit)
Refer to chapter 8.6.0.10 “S2C688: EXECUTION OF “BWD”
OPERATION” at page 8-49.
→This appears only when the independent control is valid.
Setting
Bit Status
PERMIT
0
PROHIBIT
1
• STATION TWIN (S2C434)
Refer to chapter 8.3.0.44 “S2C434: JOB LINKING DESIGNATION
(When Twin Synchronous Function Used)” at page 8-27.
→This appears only when the STATION TWIN SYNCHRONOUS
JOB is valid.
Setting
Parameter Value
INVALID
0
VALID
1
• CLEARANCE TEACHING METHOD (S2C612)
→This appears only when it is for motor gun use.
Setting
Parameter Value
UPPER TIP
0
LOWER TIP 1
GUN
CLOSE
2
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6.8
6.8.3
Convenient Functions
Parameter Setting Function
Operation Condition Setting
Select {SETUP} → {OPERATE CONDITION SETTING} to display the
following window.
• SPEED DATA INPUT FORM (S2C221)
Refer to chapter 8.3.0.21 “S2C221: SPEED DATA INPUT FORM”
at page 8-17.
Setting
Parameter Value
MM/SEC
0
CM/MIN
1
INCH/MIN
2
MM/MIN
3
• CYCLE SWITCH IN TEACH MODE (S2C313)
Refer to chapter 8.3.0.33 “S2C313: TEACH MODE FIRST CYCLE
MODE” at page 8-20.
Setting
Parameter Value
STEP
0
1 CYCLE
1
AUTO
2
NONE
3
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Convenient Functions
Parameter Setting Function
• CYCLE SWITCH IN PLAY MODE (S2C314)
Refer to chapter 8.3.0.34 “S2C314: PLAY MODE FIRST CYCLE
MODE” at page 8-20.
Setting
Parameter Value
STEP
0
1 CYCLE
1
AUTO
2
NONE
3
• CYCLE SWITCH IN LOCAL MODE (S2C294)
Refer to chapter 8.3.0.31 “S2C294: LOCAL FIRST CYCLE MODE”
at page 8-19.
Setting
Parameter Value
STEP
0
1 CYCLE
1
AUTO
2
NONE
3
• CYCLE SWITCH IN REMOTE MODE (S2C293)
Refer to chapter 8.3.0.30 “S2C293: REMOTE FIRST CYCLE
MODE” at page 8-19.
Setting
Parameter Value
STEP
0
1 CYCLE
1
AUTO
2
NONE
3
• SET SYCLE ON POWER ON (S2C312)
Refer to chapter 8.3.0.32 “S2C312: POWER ON FIRST CYCLE
MODE” at page 8-20.
Setting
Parameter Value
STEP
0
1 CYCLE
1
AUTO
2
NONE
3
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Convenient Functions
Parameter Setting Function
• SECURITY MODE WHEN POWER ON (S2C195)
Refer to chapter 8.3.0.1 “S2C195: SECURITY MODE WHEN
CONTROL POWER SUPPLY IS TURNED ON” at page 8-12.
Setting
Parameter Value
OPERATION
MODE
0
EDITING
MODE
1
MANAGEMENT 2
MODE
• JOB STEP WHEN POWER ON (S2C215)
Refer to chapter 8.3.0.15 “S2C215: ADDRESS SETTING WHEN
CONTROL POWER IS TURNED ON” at page 8-15.
Setting
Parameter Value
POWER
OFF
0
INITIAL
1
• GENERAL OUT KEEP WHEN POWER ON (S2C235)
Refer to chapter 8.5.0.1 “S2C235: USER OUTPUT RELAY WHEN
CONTROL POWER IS ON” at page 8-41.
Setting
Parameter Value
POWER
OFF
0
INITIAL
1
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6.8
6.8.4
Convenient Functions
Parameter Setting Function
Operate Enable Setting
Select {SETUP} → {OPERATE ENABLE SETTING} to display the
following window.
• EXTERNAL START (S2C219)
Refer to chapter 8.3.0.19 “S2C219: EXTERNAL START” at
page 8-16.
Setting
Parameter Status
PERMIT
0
PROHIBIT
1
• PP START (S2C220)
Refer to chapter 8.3.0.20 “S2C220: PROGRAMMING PENDANT
START” at page 8-16.
Setting
Parameter Status
PERMIT
0
PROHIBIT
1
• EXTERNAL MODE SWITCH (S2C225)
Refer to chapter 8.3.0.24 “S2C225: EXTERNAL MODE SWITCH”
at page 8-17.
Setting
Parameter Status
PERMIT
0
PROHIBIT
1
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Convenient Functions
Parameter Setting Function
• EXTERNAL CYCLE SWITCH (S2C227)
Refer to chapter 8.3.0.25 “S2C227: EXTERNAL CYCLE SWITCHING” at page 8-17.
Setting
Parameter Status
PERMIT
0
PROHIBIT
1
• PP CYCLE SWITCH (S2C228)
Refer to chapter 8.3.0.26 “S2C228: PROGRAMMING PENDANT
CYCLE SWITCHING” at page 8-18.
Setting
Parameter Status
PERMIT
0
PROHIBIT
1
• EXTERNAL SERVO ON (S2C229 d0 bit)
• PP SERVO ON (S2C229 d1 bit)
• DSW SERVO ON (S2C229 d2 bit)
Refer to chapter 8.3.0.27 “S2C229: SERVO ON FROM EXTERNAL PP PROHIBITION” at page 8-18.
Setting
Bit Status
PERMIT
0
PROHIBIT
1
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6.8
6.8.5
Convenient Functions
Parameter Setting Function
Function Enable Setting
Select {SETUP} → {FUNCTION ENABLE SETTING} to display the
following window.
• MASTER JOB CHANGE (S2C207)
Refer to chapter 8.3.0.9 “S2C207: MASTER JOB CHANGING
OPERATION” at page 8-14.
Setting
Parameter Status
PERMIT
0
PROHIBIT
1
• RESERVED START (S2C222)
Refer to chapter 8.3.0.22 “S2C222: RESERVED START” at
page 8-17.
Setting
Parameter Status
PERMIT
0
PROHIBIT
1
• RESERVED START JOB CHANGE (S2C209)
Refer to chapter 8.3.0.11 “S2C209: RESERVED WORK JOB
CHANGING OPERATION” at page 8-14.
Setting
Parameter Status
PERMIT
0
PROHIBIT
1
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Convenient Functions
Parameter Setting Function
• JOB SELECT WHEN REMOTE OR PLAY (S2C224)
Refer to chapter 8.3.0.23 “S2C224: JOB SELECTION AT
REMOTE FUNCTION (PLAY MODE)” at page 8-17.
Setting
Parameter Status
PERMIT
0
PROHIBIT
1
• I/O-VARIABLE CUSTOMIZE FUNCTION (S2C397)
Refer to chapter 8.3.0.38 “S2C397: I/O VARIABLE CUSTOMIZE
FUNCTION” at page 8-23.
Setting
Parameter Status
INVALID
0
VALID
1
• GENERAO I/O NAME DISP. ON JOB (S2C544)
Refer to chapter 8.3.0.46 “S2C544: I/O NAME DISPLAY FUNCTION FOR JOB” at page 8-29.
Setting
Parameter Status
INVALID
0
VALID
1
• ANTICIPATION FUNCTION (S2C646)
Refer to chapter 8.8.0.1 “S2C646: ANTICIPATOR FUNCTION” at
page 8-52.
Setting
Parameter Status
INVALID
0
VALID
1
• ALL AXES ANGLE DISP FUNCTION (S2C684 d0 bit)
Refer to chapter 8.3.0.47 “S2C684:ALL AXES ANGLE DISPLAY
FUNCTION” at page 8-29.
Setting
Parameter Status
INVALID
0
VALID
1
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6.8
6.8.6
Convenient Functions
Parameter Setting Function
Jog Condition Setting
Select {SETUP} → {JOG CONDITION SETTING} to display the following
window.
• COORD SWITCH WHEN JOG OPERATION (S2C197)
Refer to chapter 8.3.0.3 “S2C197: COORDINATE SWITCHING
PROHIBITED” at page 8-12.
Setting
Parameter Status
TOOL & USER OK
0
TOOL NG
1
USER NG
2
TOOL & USER NG
3
• MANUAL SPEED SAVE EVERY COORDS (S2C204)
Refer to chapter 8.3.0.7 “S2C204: MANUAL SPEED STORING
FOR EACH COORDINATE” at page 8-13.
Setting
Parameter Status
INVALID
0
VALID
1
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6.8
6.8.7
Convenient Functions
Parameter Setting Function
Playback Condition Setting
Select {SETUP} → {PLAYBACK CONDITION SETTING} to display the
following window.
• CHECK/MACHINE LOCK (S2C208)
Refer to chapter 8.3.0.10 “S2C208: CHECK AND MACHINELOCK KEY OPERATION IN PLAY MODE” at page 8-14.
Setting
Parameter Status
PERMIT
0
PROHIBIT
1
• MASTER CALLING UP (S2C210)
Refer to chapter 8.3.0.12 “S2C210: MASTER OR SUBMASTER
CALL OPERATION IN PLAY MODE” at page 8-14.
Setting
Parameter Status
PERMIT
0
PROHIBIT
1
• INITIAL MOVE SPEED OF ROBOT (S2C217)
Refer to chapter 8.3.0.17 “S2C217: INITIAL OPERATION OF
MANIPULATOR” at page 8-16.
Setting
Parameter Status
SPECIAL
PLAY
0
LOW
SPEED
1
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Convenient Functions
Parameter Setting Function
• START METHOD AFTER ABSO OVER (S2C316)
Refer to chapter 8.3.0.35 “S2C316: START CONDITION AFTER
ALARM-4107 (“OUT OF RANGE (ABSO DATA)”)” at page 8-20.
Setting
Parameter Status
POS.
CHECK
0
LOW
SPEED
1
• SIGNAL NO. WHEN DROP VALUE OVER (S2C240)
Refer to chapter 8.5.0.7 “S4C240: USER OUTPUT NO. WHEN
MANIPULATOR DROP ALLOWABLE RANGE ERROR OCCURS” at
page 8-45.
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6.8
6.8.8
Convenient Functions
Parameter Setting Function
Functional Condition Setting
Select {SETUP} → {FUNCTIONAL CONDITION SETTING} to display the
following window.
• COORDINATE (PAM) (S2C1100)
Refer to chapter 8.2.0.24 “S3C1098 to S3C1102: POSITION CORRECTING FUNCTION DURING PLAYBACK” at page 8-11.
Setting
Parameter Status
BASE
0
ROBOT
1
TOOL
2
USER #1
3
:
USER #63 65
• POSITION ADJUST RANGE (PAM) (S2C1098)
• SPEED ADJUST RANGE (PAM) (S2C1099)
• POSTURE ANGLE ADJUST RANGE (PAM) (S2C1102)
Refer to chapter 8.2.0.24 “S3C1098 to S3C1102: POSITION CORRECTING FUNCTION DURING PLAYBACK” at page 8-11.
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6.9
6.9
6.9.1
Convenient Functions
Jog Key Allocation
Jog Key Allocation
Jog Key Allocation Function
This function enables to operate external axis without switching control
groups by using operation keys of 7th-axis (E+, E-) and 8th-axis (8+,8-) on
the programing pendant after setting any external axis to them.
CAUTION
•
Operation of external axis by using the allocated operation keys of
7th-axis and 8th-axis are valid only when operating a robot.
In the case where operating external axes, operate them by using
keys from the key for 1st -axis.
Furthermore, when the robot is equipped with 7th and 8th axes,
keys on the pendant are used to operate existing axes on a priority
basis.
For example, when the robot is equipped with 7 axes, E-axis will
move even if the external axis operation is allocated to 7th-axis (E+,
E-) operational key.
NOTE
This function can operate other control group than displayed in the upper part of the programming pendant (Status display area or the LED of [ROBOT] or [EX.AXIS]).
Also, the simultaneous operation of the robot and the external axes is possible by pressing several axis operational
keys at a time. Please be careful to the axes movements
when pressing them.
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6.9
Convenient Functions
Jog Key Allocation
6.9.2
Jog Key Allocation Setting
6.9.2.1
Allocation of the Jog Key
CAUTION
•
Allocation of the jog keys is valid only in the management mode
while only confirmation of allocated axes is valid in the operation
mode and edit mode.
NOTE
The setup conditions are saved in the following parameters.
Even if the same numbered external axes are allocated to a
key (example:S1 for the 1st-axis), the value of the parameter to be saved varies depending on the composition of the
control group of the system. In this consequence, when
loading the parameter file (ALL.PRM or AC.PRM), please
make sure to confirm the allocating status before executing
the function.
Parameters for saving the setup conditions of jog key allocation.
S2C739 7th-axis
S2C740 8th-axis
1. Select {SETUP} under main menu.
2. Select {JOG KEY ALLOCATION}.
– Jog key allocation window appears.
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6.9
Convenient Functions
Jog Key Allocation
3. Move the cursor to “GROUP” and press down [SELECT].
– The list of allocatable external axes appears.
4. Select an external axis to be allocated.
– The selected external axis is indicated in “GROUP” and “1” is
indicated in “AXIS NO”.
5. (In the cases where the external axis is composed of more than two
axes and the axis from the 2nd-axis are operated)
Move the cursor to “AXIS NO”. and press down [SELECT].
– The list of selected external axes appears.
6. Select a desired axis number.
– The selected axis is indicated in “AXIS NO”.
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6.9
6.9.2.2
Convenient Functions
Jog Key Allocation
Cancellation of Jog Key Allocation
1. Select {SETUP} under main menu.
2. Select {JOG KEY ALLOCATION}.
– Jog key allocation window appears.
3. Move the cursor to “GROUP” and press [SELECT].
– The list of allocatable external axes appears.
4. Select “NONE”.
– “******” is indicated in “GROUP” and “AXIS NO”.
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6.9
6.9.2.3
Convenient Functions
Jog Key Allocation
Operating Method of Allocated External Axis
CAUTION
•
When the same external axis (same group and axis number) is
allocated to 7th- and 8th-[Axis Key]s, it won’t move even both keys
are pressed individually. In the case like this, the message “Check
the setting of JOG KEY ALLOCATION(7th and 8th)” is indicated to
alarm that the same external axis is allocated to two different keys.
Please cancel the allocation setting or allocate another external axis
to either of the key.
1. Press [ROBOT].
– A mark of robot is indicated at the left side of the status area on the
programming pendant, and this expresses that the robot is selected
to be the object of operation.
Also, the LED of [ROBOT] lights.
2. Press 7th(E+,E-)-axis or 8th(8+,8-)-axis operation key.
– The allocated external axes moves if there are no 7th- and 8th-axes
and the allocation setting was done properly.
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Convenient Functions
6.10 Energy-Saving Function
6.10
Energy-Saving Function
6.10.1 Energy-Saving Function
Energy-saving function is a function to save power by halting the power to
the robot after applying brake to the motor when robot’s all axes won’t
move for a designated period of time while servo is turned ON in play
mode. The initial designated period of time is 10 minutes.
This energy-saving function is valid when all the following condition met.
1. Energy-saving function is valid.
2. The system input signal (signal to prohibit on energy-saving mode
#40580) is turned OFF.
Followings are the status of the robot while this function is valid.
1. The message “On energy saving mode” is indicated on the
programming pendant.
2. The servo is turned ON.
3. The jobs under execution are continuously executed.
4. The system output signal (ENERGY-SAVING:SOUT#0576(#50727))to
indicate that it is in energy-saving status is turned ON while other
signals won’t change.
CAUTION
This function is cancelled in the following cases.
– When the programming pendant mode is switched to teach
mode.
– When the system input signal of external servo OFF(1,2,3) is
input.
– When the axis, which belongs to the subject control group of the
executing job, is about to move while energy-saving function is
valid.
•
In the cases where emergency stop or servo OFF is executed when
alarming.
NOTE
This function will not be cancelled if the system input signal
(signal to prohibit energy-saving #40580) is turned ON.
This signal merely prohibits to shift the status to energy-saving status.
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Convenient Functions
6.10 Energy-Saving Function
6.10.2
6.10.2.1
Energy-Saving Setting Method
Valid/Invalid of Energy-Saving Setting
CAUTION
•
Valid/invalid of the energy-saving function is available only in the
management mode while only confirmation of this function is
available in the operation mode and edit mode.
1. Select {SETUP} under main menu.
2. Select {ENERGY SAVING FUNCTION}.
– Energy-saving function window appears.
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Convenient Functions
6.10 Energy-Saving Function
3. Move the cursor to “ENERGY SAVING FUNCTION” and press
[SELECT].
– Valid and invalid alternates at each press of [SELECT]1).

Press [SELECT].

1 The Energy-Saving Function cannot be “INVALID” depending on the
manipulator type.
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Convenient Functions
6.10 Energy-Saving Function
4. Move the cursor to {SETTING TIME} and press [SELECT].
– Input the time you want to start energy-saving after the robot is
stopped into {SETTING TIME} section (unit: min.). The initial value
is set to 10 min. and the range of the inputting value is from 1 to 60.
6.10.2.2
Accumulated Energy-Saving Time Clearance
1. Select {SETUP} under main menu.
2. Select {ENERGY SAVING FUNCTION}.
– Energy-saving function window appears.
3. Move the cursor to {ACCUMULTED ENERGY-SAVING TIME}.
4. Move the cursor to {DATA} and press [SELECT].
– “CLEAR ACCUMULTED” appears in the pull-down menu.
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Convenient Functions
6.10 Energy-Saving Function
5. Select {CLEAR ACCUMULTED}
– The confirmation dialog box appears.
6. Select “YES” on the dialog box,
– The accumulated energy-saving time is cleared.
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Convenient Functions
6.10 Energy-Saving Function
6.10.3
6.10.3.1
Energy-Saving Status Confirmation Method
Confirmation by the accumulated energy-saving time
1. Select {SETUP} under main menu.
2. Select {ENERGY SAVING FUNCTION}.
– Energy-saving function window appears.
The accumulated energy-saving time is being counted up while the
status is in the energy-saving mode.
6.10.3.2
Confirmation by System Signal Output
1. Select {IN/OUT} under main menu.
2. Select {SPECIFIC OUTPUT}.
– The specific output window appears.
3. Press the [PAGE] or [SELECT] to display SOUT#0576 (#50727).
– The system output status during the energy-saving status is
indicated.
This signal is turned ON while in the energy-saving mode.
– This signal is turned OFF after the energy-saving mode is released.
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Convenient Functions
6.11 Instruction Displaying Color Setting Function
6.11
6.11.1
Instruction Displaying Color Setting Function
Setting the Instruction Displaying Color on the Job Window
With this function, each instruction can be displayed on a color to color
basis on the job window.
Respective colors are specified on the following instruction basis.
• Move instruction
• DEVICE instruction
• Comment instruction
• Label instruction
• Macro instruction (when the macro function is effective)
• I/O instruction
• Instructions to which LINE EDIT LOCK is specified.
• Instructions to which LINE COMMENT is specified.
• All the instructions other than listed above
The color of each instruction in the job window can be set on the DISPLAY
COLOR CONDITION SETTING window.
1. Select {SETUP} under {Main Menu}.
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6.11 Instruction Displaying Color Setting Function
2. Select {DISPLAY COLOR CONDITION SETTING}.
– The display color condition setting window appears.
3. Move the cursor to the instruction to be changed and press [SELECT].
– The list of the candidate colors for the instruction is displayed.
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6.11 Instruction Displaying Color Setting Function
4. Select a color.
– The color of each instruction is fixed.
5. Select JOB window.
– Each instruction is displayed in the selected colors on the job
window.
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Convenient Functions
6.12 Present Manipulator Position Output Function
6.12
6.12.1
6.12.1.1
Present Manipulator Position Output Function
Function for Outputting Present Cartesian Position of Manipulator to Register
Outline
Output the present manipulator’s cartesian position (base coordinate) to
the specified register.
6.12.1.2
Parameters
The following parameters specify the function and output register number.
S1CxG
Meaning
208
Specify a function which outputs a specified value of the present cartesian position
(base coordinate) to the register
0: invalid
1: Valid
209
Specify the output size to the register
0: 2 bytes output
1: 4 bytes output
210
Cartesian position (command value) X
register number of output destination
211
Cartesian position (command value) Y
register number of output destination
212
Cartesian position (command value) Z
register number of output destination
213
Cartesian position (command value) Rx
register number of output destination
214
Cartesian position (command value) Ry
register number of output destination
215
Cartesian position (command value) Rz
register number of output destination
216
Cartesian position (command value) Re
register number of output destination
217
Specify a function which outputs a FB value of the present cartesian position (base
coordinate) to the register
0: invalid
1: Valid
218
Specify the output size to the register
0: 2 bytes output
1: 4 bytes output
219
Cartesian position (FB value) X
register number of output destination
220
Cartesian position (FB value) Y
register number of output destination
221
Cartesian position (FB value) Z
register number of output destination
222
Cartesian position (FB value) Rx
register number of output destination
223
Cartesian position (FB value) Ry
register number of output destination
224
Cartesian position (FB value) Rz
register number of output destination
225
Cartesian position (FB value) Re
register number of output destination
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Convenient Functions
6.12 Present Manipulator Position Output Function
(Example 1)
S1C1G
Setting value
208
1
209
0
210
10
211
11
212
12
213
13
214
14
215
15
216
16
When setting the parameter as above, the manipulator’s present cartesian
position is output to the registers as follows.
M010 = Manipulator’s present cartesian position (command value)
X
[unit: mm]
M011 = Manipulator’s present cartesian position (command value)
Y
[unit: mm]
M012 = Manipulator’s present cartesian position (command value)
Z
[unit: mm]
M013 = Manipulator’s present cartesian position (command value)
Rx [unit: deg]
M014 = Manipulator’s present cartesian position (command value)
Ry [unit: deg]
M015 = Manipulator’s present cartesian position (command value)
Rz [unit: deg]
M016 = Manipulator’s present cartesian position (command value)
Re [unit: deg]
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Convenient Functions
6.12 Present Manipulator Position Output Function
(Example 2)
S1C1G
Setting value
217
1
218
1
219
10
220
12
221
14
222
16
223
18
224
20
225
22
When setting the parameter as above, the manipulator’s present cartesian
position is output to the registers as follows
M010= Lower 2 bytes of the manipulator’s present cartesian position (FB value)
X
[unit: µmm]
M011= Upper 2 bytes of the
manipulator’s present cartesian position (FB value)
X
[unit: µmm]
M012= Lower 2 bytes of the
manipulator’s present cartesian position (FB value)
Y
[unit: µmm]
M013= Upper 2 bytes of the
manipulator’s present cartesian position (FB value)
Y
[unit: µmm]
M014= Lower 2 bytes of the
manipulator’s present cartesian position (FB value)
Z
[unit: µmm]
M015= Upper 2 bytes of the
manipulator’s present cartesian position (FB value)
Z
[unit: µmm]
M016= Lower 2 bytes of the
manipulator’s present cartesian position (FB value)
Rx [unit: 0.0001deg]
M017= Upper 2 bytes of the
manipulator’s present cartesian position (FB value)
Rx [unit: 0.0001deg]
M018= Lower 2 bytes of the
manipulator’s present cartesian position (FB value)
Ry [unit: 0.0001deg]
M019= Upper 2 bytes of the
manipulator’s present cartesian position (FB value)
Ry [unit: 0.0001deg]
M020= Lower 2 bytes of the
manipulator’s present cartesian position (FB value)
Rz [unit: 0.0001deg]
M021= Upper 2 bytes of the
manipulator’s present cartesian position (FB value)
Rz [unit: 0.0001deg]
M022= Lower 2 bytes of the
manipulator’s present cartesian position (FB value)
Re [unit: 0.0001deg]
M023= Upper 2 bytes of the
manipulator’s present cartesian position (FB value)
Re [unit: 0.0001deg]
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Convenient Functions
6.12 Present Manipulator Position Output Function
• When validating the command value register output function (S1CxG208=1), never fail to set the output register
number (S1CxG210 to 216) of each coordinate value.
• When validating the FB value register output function
(S1CxG217=1), never fail to set the output register number (S1CxG219 to 225) of each coordinate value.
NOTE
• In case 2 bytes is set as the register output size
(S1CxG209=1 or S1CxG218=1), the unit of X,Y and Zaxes coordinate value becomes “mm” and that of Rx, Ry,
Rz and Re coordinate value becomes “deg”. In both
cases, only the lower 2 bytes are output.
• When setting 4 bytes to the register output size
(S1CxG209=1 or S1CxG218=1), the unit of X,Y and Zaxes coordinate value becomes “µmm” and that of Rx, Ry,
Rz and Re coordinate value becomes “0.0001deg”.
• When setting 4 bytes to the register output size
(S1CxG209=1 or S1CxG218=1), upper byte of the coordinate value is output to the following register number to the
specified output register number. In this consequence,
confirm the register’s status of use before setting the output size to the register.
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Convenient Functions
6.12 Present Manipulator Position Output Function
6.12.2
6.12.2.1
Function for Outputting Present Pulse Position to Register
Outline
The present position of the robot axis, the base axis, or the station axis in
pulses is output to the specified registers.
6.12.2.2
Parameters
The following parameters specify the details of the function and output
register numbers.
S1CxG
Description
202
Specifies the axis to apply the function 1 for outputting the present position in pulses
to registers. (command value) The axis is specified in bits.
Bit OFF: disable
Bit ON: enable
203
Specifies the axis to apply the function 1 for outputting the present position in pulses
to registers. (FB value) The axis is specified in bits.
Bit OFF: disable
Bit ON: enable
204
Specifies the output size to the register.
Bit OFF: output in 2 bytes
Bit ON: output in 4 bytes
205
Specifies the axis to apply the function 2 for outputting the present position in pulses
to registers. (command value) The axis is specified in bits.
Bit OFF: disable
Bit ON: enable
206
Specifies the axis to apply the function 2 for outputting the present position in pulses
to registers. (FB value) The axis is specified in bits.
Bit OFF: disable
Bit ON: enable
207
Specifies the output size to the register.
Bit OFF: output in 2 bytes
Bit ON: output in 4 bytes
632
to
639
Function 1
register number of output destination
640
to
647
Function 1
resolution setting
648
to
655
Function 1
offset value setting
656
to
663
Function 2
register number of output destination
664
to
671
Function 2
resolution setting
672
to
679
Function 2
offset value setting
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Convenient Functions
6.12 Present Manipulator Position Output Function
2-byte output specification:
• (specified M register) = (pulse (command or FB)) / (resolution) + (offset value) [unit: pulse]
When the output size to the register is set to 2 bytes (no
axis specified in S1CxG204 or S1CxG207), the pulse value
in the size of 2 bytes will be output to the specified register
number. If the size exceeds 2 bytes, only the lower 2 bytes
will be output.
NOTE
4-byte output specification:
• (specified M register) = Lower 2 bytes of {(pulse (command or FB)) /
(resolution) + (offset value)} [unit: pulse]
• (specified M register + 1) = Upper 2 bytes of {(pulse (command or
FB)) / (resolution) + (offset value)} [unit: pulse]
When the output size to the register is set to 4 bytes (an
axis specified in S1CxG204 or S1CxG207), the lower 2
bytes will be output to the specified register number, and
the upper 2 bytes will be output to the next number of the
specified register number. Before performing setting, check
the usage status of the registers.
NOTE
<Example 1>
S1C1G
Setting value
202
63
203
0
204
0
632
10
633
11
634
12
635
13
636
14
637
15
When the parameters are set as shown in the above table, the present
position is output to the registers as follows:
M010 = Present pulse position (command value)
S (1st axis)
[unit: pulse]
M011 = Present pulse position (command value)
L (2nd axis)
[unit: pulse]
M012 = Present pulse position (command value)
U (3rd axis)
[unit: pulse]
M013 = Present pulse position (command value)
R (4th axis)
[unit: pulse]
M014 = Present pulse position (command value)
B (5th axis)
[unit: pulse]
M015 = Present pulse position (command value)
T (6th axis)
[unit: pulse]
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Convenient Functions
6.12 Present Manipulator Position Output Function
<Example 2>
S1C1G
Setting value
202
0
203
63
204
63
632
10
633
12
634
14
635
16
636
18
637
20
When the parameters are set as shown in the above table, the present
position is output to the registers as follows:
M010 = Lower 2 bytes of the
Present pulse position (FB value)
S (1st axis)
[unit: pulse]
M011 = Upper 2 bytes of the
Present pulse position (FB value)
S (1st axis)
[unit: pulse]
M012 = Lower 2 bytes of the
Present pulse position (FB value)
L (2nd axis)
[unit: pulse]
M013 = Upper 2 bytes of the
Present pulse position (FB value)
L (2nd axis)
[unit: pulse]
M014 = Lower 2 bytes of the
Present pulse position (FB value)
U (3rd axis)
[unit: pulse]
M015 = Upper 2 bytes of the
Present pulse position (FB value)
U (3rd axis)
[unit: pulse]
M016 = Lower 2 bytes of the
Present pulse position (FB value)
R (4th axis)
[unit: pulse]
M017 = Upper 2 bytes of the
Present pulse position (FB value)
R (4th axis)
[unit: pulse]
M018 = Lower 2 bytes of the
Present pulse position (FB value)
B (5th axis)
[unit: pulse]
M019 = Upper 2 bytes of the
Present pulse position (FB value)
B (5th axis)
[unit: pulse]
M020 = Lower 2 bytes of the
Present pulse position (FB value)
T (6th axis)
[unit: pulse]
M021 = Upper 2 bytes of the
Present pulse position (FB value)
T (6th axis)
[unit: pulse]
• If the pulse is a negative value, the pulse will be output to
the register in 2’s complement notation.
• Even in one control group, “command value” or “FB value”
can be specified differently for each axis. However, if
“command value” and “FB value” are specified for the
same axis, the value “0” will be output to the register.
NOTE
• If “0” is set as the resolution setting parameter (S1CxG640
to 647, S1CxG664 to 671), it will be treated as “1” when
output to the register is performed.
• If “0” is set as the register number of output destination
(S1CxG632 to 639, S1CxG656 to 663), the present pulse
position will not be output to the register. Thus, no value
can be output to the register number M000. Also, if the
same register number of output destination is used more
than twice, the former data will be overwritten by the latter
data.
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Convenient Functions
6.12 Present Manipulator Position Output Function
6.12.3 Function for Outputting TCP Speed to Register
This function can be used when the software version is
DN2.15-00 or later.
NOTE
6.12.3.1 Outline
The TCP (tool center point) speed of the manipulator is output to the
specified registers.
6.12.3.2 Parameters
The following parameters specify the details of the function and output
register numbers.
S1CxG
Description
330
Enables/Disables the function for outputting the TCP speed to registers. (command value)
0: no output to register
1: output in 2 bytes [unit: mm/sec]
2: output in 4 bytes [unit: µm/sec]
331
TCP speed (command value)
332
Enables/Disables the function for outputting the TCP speed to registers. (FB value)
0: no output to register
1: output in 2 bytes [unit: mm/sec]
2: output in 4 bytes [unit: µm/sec]
333
TCP speed (FB value)
register number of output destination
register number of output destination
<Example 1>
S1C1G
Setting value
330
1
331
10
332
2
333
11
When the parameters are set as shown in the above table, the speed is
output to the registers as follows:
M010 =
TCP speed (command value)
[unit: mm/sec]
M011 =
Lower 2 bytes of the TCP speed (FB value)
[unit: µm/sec]
M012 =
Upper 2 bytes of the TCP speed (FB value)
[unit: µm/sec]
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Convenient Functions
6.12 Present Manipulator Position Output Function
• When the output size to the register is set to 2 bytes (“1” is
set in S1CxG330 or S1CxG332), the TCP speed in the
size of 2 bytes will be output to the specified register number. If the size exceeds 2 bytes, only the lower 2 bytes will
be output.
NOTE
• When the output size to the register is set to 4 bytes (“2” is
set in S1CxG330 or S1CxG332), the lower 2 bytes will be
output to the specified register number, and the upper 2
bytes will be output to the next number of the specified
register number. Before performing setting, check the
usage status of the registers.
• If “0” is set as the register number of output destination
(S1CxG331 or S1CxG333), the present TCP speed will
not be output to the register. Thus, no value can be output
to the register number M000. Also, if the same register
number of output destination is used more than twice, the
former data will be overwritten by the latter data.
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Convenient Functions
6.12 Present Manipulator Position Output Function
6.12.4 Function for Outputting Each Axis Speed to Register
NOTE
This function can be used when the software version is
DN2.15-00 or later.
6.12.4.1 Outline
The speed of each axis of the robot axis, the base axis, and the station
axis is output to the specified registers.
6.12.4.2 Parameters
The following parameters specify the details of the function and output
register numbers.
S1CxG
Description
334
Enables/Disables the function for outputting each axis speed to registers. (command value)
0: no output to register
1: output in 2 bytes [unit: deg/sec (mm/sec for a linear motion axis)]
2: output in 4 bytes [unit: 0.0001 deg/sec (µm/sec for a linear motion axis)]
335
Enables/Disables the function for outputting each axis speed to registers. (FB value)
0: no output to register
1: output in 2 bytes [unit: deg/sec (mm/sec for a linear motion axis)]
2: output in 4 bytes [unit: 0.0001 deg/sec (µm/sec for a linear motion axis)]
776
to
783
Each axis speed (command value)
784
to
791
Each axis speed (FB value)
register number of output destination
register number of output destination
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Convenient Functions
6.12 Present Manipulator Position Output Function
<Example 1>
S1C1G
Setting value
334
1
335
0
776
10
777
11
778
12
779
13
780
14
781
15
When the parameters are set as shown in the above table, the speed is
output to the registers as follows:
M010 = Each axis speed (command value)
S (1st axis)
[unit: deg/sec]
M011 = Each axis speed (command value)
L (2nd axis)
[unit: deg/sec]
M012 = Each axis speed (command value)
U (3rd axis)
[unit: deg/sec]
M013 = Each axis speed (command value)
R (4th axis)
[unit: deg/sec]
M014 = Each axis speed (command value)
B (5th axis)
[unit: deg/sec]
M015 = Each axis speed (command value)
T (6th axis)
[unit: deg/sec]
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Convenient Functions
6.12 Present Manipulator Position Output Function
<Example 2>
S1C1G
Setting value
334
0
335
2
784
10
785
12
786
14
787
16
788
18
789
20
When the parameters are set as shown in the above table, the speed is
output to the registers as follows:
M010 = Lower 2 bytes of the
Each axis speed (FB value)
S (1st axis)
[unit: 0.0001 deg/sec]
M011 = Upper 2 bytes of the
Each axis speed (FB value)
S (1st axis)
[unit: 0.0001 deg/sec]
M012 = Lower 2 bytes of the
Each axis speed (FB value)
L (2nd axis)
[unit: 0.0001 deg/sec]
M013 = Upper 2 bytes of the
Each axis speed (FB value)
L (2nd axis)
[unit: 0.0001 deg/sec]
M014 = Lower 2 bytes of the
Each axis speed (FB value)
U (3rd axis)
[unit: 0.0001 deg/sec]
M015 = Upper 2 bytes of the
Each axis speed (FB value)
U (3rd axis)
[unit: 0.0001 deg/sec]
M016 = Lower 2 bytes of the
Each axis speed (FB value)
R (4th axis)
[unit: 0.0001 deg/sec]
M017 = Upper 2 bytes of the
Each axis speed (FB value)
R (4th axis)
[unit: 0.0001 deg/sec]
M018 = Lower 2 bytes of the
Each axis speed (FB value)
B (5th axis)
[unit: 0.0001 deg/sec]
M019 = Upper 2 bytes of the
Each axis speed (FB value)
B (5th axis)
[unit: 0.0001 deg/sec]
M020 = Lower 2 bytes of the
Each axis speed (FB value)
T (6th axis)
[unit: 0.0001 deg/sec]
M021 = Upper 2 bytes of the
Each axis speed (FB value)
T (6th axis)
[unit: 0.0001 deg/sec]
• When the output size to the register is set to 2 bytes (“1” is
set in S1CxG334 or S1CxG335), the axis speed in the
size of 2 bytes will be output to the specified register number. If the size exceeds 2 bytes, only the lower 2 bytes will
be output.
NOTE
• When the output size to the register is set to 4 bytes (“2” is
set in S1CxG334 or S1CxG335), the lower 2 bytes will be
output to the specified register number, and the upper 2
bytes will be output to the next number of the specified
register number. Before performing setting, check the
usage status of the registers.
• If “0” is set as the register number of output destination
(S1CxG776 to 783, S1CxG784 to 791), the present axis
speed will not be output to the register. Thus, no value
can be output to the register number M000. Also, if the
same register number of output destination is used more
than twice, the former data will be overwritten by the latter
data.
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Convenient Functions
6.12 Present Manipulator Position Output Function
6.12.5
Function for Outputting Each Axis Position to Register
NOTE
6.12.5.1
This function can be used when the software version is
DN2.15-00 or later.
Outline
The position of each axis of the robot axis, the base axis, and the station
axis is output to the specified registers.
6.12.5.2
Parameters
The following parameters specify the details of the function and output
register numbers.
S1CxG
Description
336
Enables/Disables the function for outputting each axis position to registers. (command value)
0: no output to register
1: output in 2 bytes [unit: deg (mm for a linear motion axis)]
2: output in 4 bytes [unit: 0.0001 deg (µm for a linear motion axis)]
337
Enables/Disables the function for outputting each axis position to registers. (FB value)
0: no output to register
1: output in 2 bytes [unit: deg (mm for a linear motion axis)]
2: output in 4 bytes [unit: 0.0001 deg (µm for a linear motion axis)]
792
to
799
Each axis position (command value)
800
to
807
Each axis position (FB value)
register number of output destination
register number of output destination
6-128
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Convenient Functions
6.12 Present Manipulator Position Output Function
<Example 1>
S1C1G
Setting value
336
1
337
0
792
10
793
11
794
12
795
13
796
14
797
15
When the parameters are set as shown in the above table, the position is
output to the registers as follows:
M010 = Each axis position (command value)
S (1st axis)
[unit: deg]
M011 = Each axis position (command value)
L (2nd axis)
[unit: deg]
M012 = Each axis position (command value)
U (3rd axis)
[unit: deg]
M013 = Each axis position (command value)
R (4th axis)
[unit: deg]
M014 = Each axis position (command value)
B (5th axis)
[unit: deg]
M015 = Each axis position (command value)
T (6th axis)
[unit: deg]
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Convenient Functions
6.12 Present Manipulator Position Output Function
<Example 2>
S1C1G
Setting value
336
0
337
2
800
10
801
12
802
14
803
16
804
18
805
20
When the parameters are set as shown in the above table, the position is
output to the registers as follows:
M010 = Lower 2 bytes of the
Each axis position (FB value)
S (1st axis)
[unit: 0.0001 deg]
M011 = Upper 2 bytes of the
Each axis position (FB value)
S (1st axis)
[unit: 0.0001 deg]
M012 = Lower 2 bytes of the
Each axis position (FB value)
L (2nd axis)
[unit: 0.0001 deg]
M013 = Upper 2 bytes of the
Each axis position (FB value)
L (2nd axis)
[unit: 0.0001 deg]
M014 = Lower 2 bytes of the
Each axis position (FB value)
U (3rd axis)
[unit: 0.0001 deg]
M015 = Upper 2 bytes of the
Each axis position (FB value)
U (3rd axis)
[unit: 0.0001 deg]
M016 = Lower 2 bytes of the
Each axis position (FB value)
R (4th axis)
[unit: 0.0001 deg]
M017 = Upper 2 bytes of the
Each axis position (FB value)
R (4th axis)
[unit: 0.0001 deg]
M018 = Lower 2 bytes of the
Each axis position (FB value)
B (5th axis)
[unit: 0.0001 deg]
M019 = Upper 2 bytes of the
Each axis position (FB value)
B (5th axis)
[unit: 0.0001 deg]
M020 = Lower 2 bytes of the
Each axis position (FB value)
T (6th axis)
[unit: 0.0001 deg]
M021 = Upper 2 bytes of the
Each axis position (FB value)
T (6th axis)
[unit: 0.0001 deg]
• If the axis position is a negative value, the axis position will
be output to the register in 2’s complement notation.
• When the output size to the register is set to 2 bytes (“1” is
set in S1CxG336 or S1CxG337), the axis position in the
size of 2 bytes will be output to the specified register number. If the size exceeds 2 bytes, only the lower 2 bytes will
be output.
NOTE
• When the output size to the register is set to 4 bytes (“2” is
set in S1CxG336 or S1CxG337), the lower 2 bytes will be
output to the specified register number, and the upper 2
bytes will be output to the next number of the specified
register number. Before performing setting, check the
usage status of the registers.
• If “0” is set as the register number of output destination
(S1CxG792 to 799, S1CxG800 to 807), the present axis
position will not be output to the register. Thus, no value
can be output to the register number M000. Also, if the
same register number of output destination is used more
than twice, the former data will be overwritten by the latter
data.
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Convenient Functions
6.13 Softlimit Setting Function
6.13
Softlimit Setting Function
6.13.1 About the Softlimit Setting Function
The softlimit setting function is a function to set the softlimit to limit the
range of the manipulator motion in software.
6.13.2 The Softlimit Setting Screen
SUPPLE
-MENT
The softlimit setting screen is displayed only at the teach
mode and the management mode.
1. Select {ROBOT} in {Main Menu}.
2. Select {SOFTLIMIT SETTING}.
– The softlimit setting screen is displayed.
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Convenient Functions
6.13 Softlimit Setting Function
3. Set the control group as desired.
– Switch to the desired control group by [PAGE] or the selection
dialog.
– As for the selection dialog, select [PAGE] on the screen and move
the cursor to desired control group. Press [SELECT].
6.13.3
Setting the Softlimit by Numerical Value Input
1. Move the cursor to the desired axis of the softlimit (+) or the softlimit (-),
and press [SELECT].
2. Enter the values of the softlimit (+)/ the softlimit (-), and press
[ENTER].
– The softlimit is set.
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Convenient Functions
6.13 Softlimit Setting Function
6.13.4 Set the Current Value to the Softlimit
1. Move the manipulator by the [Axis Key].
– Move the manipulator to the position of which value is maximum
number or minimum number of the softlimit by the [Axis Key].
2. Move the cursor to the desired axis of the softlimit (+) or the softlimit (-).
– When change the maximum number of the first softlimit,
move the cursor to the first axis of the softlimit (+).
– When change the minimum number of the first softlimit,
move the cursor to the first axis of the softlimit (-).
3. Press [MODIFY].
– The message [Update the data with <ENTER>.] appears.
– If perform the one of the following operations, the modify operation
will be canceled.
• Press [MODIFY].
• Press [SELECT].
• Press the one of [↑] [↓] [←] [→].
• Press [PAGE].
• Press [DIRECT OPEN].
• Press [Numeric Key].
• Select the reserved display.
• Switch the screen.
• Switch the mode.
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Convenient Functions
6.13 Softlimit Setting Function
– The message [Update operation with <CHANGE> was canceled.]
appears.
4. Press [ENTER].
– The current position is set as the softlimit.
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Convenient Functions
6.13 Softlimit Setting Function
6.13.5
Set the Softlimit (+)/ the Softlimit (-) to the Initial Maker Value
1. Select {DATA} in the pull-down menu.
– {Initial Maker Value} appears.
2. Select {Initial Maker Value}.
– The confirmation dialog appears.
3. Select [YES].
– The initial maker value is set for all displayed axes.
The operation is canceled when select [NO].
NOTE
The initial maker value limits the range of the mechanical
motion of the manipulator, and it varies according to the
model of the robot.
It is different from the motion range which was set to add
the base station axis.
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Convenient Functions
6.13 Softlimit Setting Function
6.13.6
Change the Coordinate Display of the Softlimit (+)/ the Softlimit (-)
1. Select {DISPLAY} in the pull-down menu.
– {Coordinate Change} appears.
2. Select {Coordinate Change}.
– When the displaying coordinate is a pulse,
the robot axis is changed to the angle display;
the base axis is changed to the distance display; and
the station axes is changed for each axis by the value of the station
axis display parameter (S2C265 to 288).
When the first bit is OFF, the first axis is changed to the angle
display.
When the second bit is ON, the second axis is changed to the
distance display.
When the display coordinate is angle/distance, the all axes are
changed to the pulse display.
•
When the display of the softlimit value is the angle
display, the pulse display and the sign may be different.
•
Be sure to confirm the motion range by the jog operation
after changing the softlimit value.
NOTE
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Convenient Functions
6.14 Job Edit Function During Playback
6.14
Job Edit Function During Playback
6.14.1 Function
Jobs can be edited during playback, including during the play mode.
<Editable>
user job
<Not Editable>
macro job and system job
6.14.2 Job Edit During Playback
6.14.2.1 Basic Operation
The job edit operation during playback is described below.
1. During playback, select {Main Menu} {JOB}, then select the submenu
{SELECT JOB}.
– JOB LIST display appears.
2. Select {EDITING} under the pull-down menu {JOB}.
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Convenient Functions
6.14 Job Edit Function During Playback
3. Select the job to be edited from JOB LIST.
– The selected job will be registered in the display of the submenu
“PLAY EDIT JOB LIST”.
4. Edit the selected job.
– Edit the job selected in the above step in the same manner as the
teach mode.
– Regarding restrictions on editing, refer to
chapter 6.14.2.2 “Editing” at page 6-140.
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Convenient Functions
6.14 Job Edit Function During Playback
5. Select {WRITING} under the pull-down menu {JOB} to reflect the
edited data.
– If the job to be written to is listed in “JOB LIST”, a confirmation dialog
“Overwrite?” appears. Select “YES” to reflect the edited data. Refer
to the “SUPPLEMENT” on the next page.
– If the job with the same name is not listed in “JOB LIST”, the job to
be written to will be added to “JOB LIST”. Refer to the
“SUPPLEMENT” on the next page.
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Convenient Functions
6.14 Job Edit Function During Playback
If data is reflected during playback, the message “Requesting playback edit JOB writing” appears, and the status
becomes a write request. To write the job, execute the
instruction “LATESTJOB” in the write request status or end
playback. If data is reflected in the play mode but not during
playback, the job will be written immediately.
SUPPLE
-MENT
However, if the job to be written to is being executed (including jobs in the call stack),
“Error 5240: Cannot write in the JOB in execution.”
appears, and the edited data will not be reflected.
If a job in the call stack is written to in the play mode but not
during playback,
“Error 5241: Cannot write in the JOB in JOB STACK.”
appears, and the edited data will not be reflected.
If data is reflected during teaching, the job will be written
immediately.
6.14.2.2
Editing
The data of the selected job (see the step 4 of chapter 6.14.2.1 “Basic
Operation” at page 6-137) can be edited in the same manner as the
normal teach mode.
However, the functions that affect the manipulator motion are restricted as
follows:
• Position teaching cannot be edited.
• The pull-down menu during editing is restricted as shown in fig. 6-1
“Pull-down Menu (EDIT) * Cursor Is on Line No.” to fig. 6-4 “Pulldown Menu (UTILITY)” at page 6-141.
Fig. 6-1: Pull-down Menu (EDIT) * Cursor Is on Line No.
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Convenient Functions
6.14 Job Edit Function During Playback
Fig. 6-2: Pull-down Menu (EDIT) * Cursor Is on Instruction
Fig. 6-3: Pull-down Menu (DISPLAY)
Fig. 6-4: Pull-down Menu (UTILITY)
In addition to the job edit operation described above, {CREATE NEW
JOB}, {RENAME JOB}, {COPY JOB}, and {DELETE JOB} under the pulldown menu {JOB} are also available.
All of the above operations are performed for the jobs listed in “PLAY EDIT
JOB LIST”.
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Convenient Functions
6.14 Job Edit Function During Playback
To reflect the edited data in the job listed in JOB LIST, {WRITING} must be
done.
Regarding {DELETE JOB}, only the jobs listed in “PLAY EDIT JOB LIST”
can be deleted. The jobs in “JOB LIST” will not be deleted.
SUPPLE
-MENT
6.14.2.3
The above {WRITING}, {DELETE JOB}, {RENAME JOB},
and {COPY JOB} can be done in the same manner on the
“PLAY EDIT JOB LIST” display.
Editing Multiple Jobs
The procedure to delete or write multiple jobs at once on the PLAY EDIT
JOB LIST display is described below.

Deleting Multiple Jobs
1. Select {Main Menu} {JOB}, then select the submenu {PLAY EDIT JOB
LIST}.
2. Select the job to be deleted by [SHIFT] + [SELECT].
– “●” appears on the left of the selected job.
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Convenient Functions
6.14 Job Edit Function During Playback
3. Select {DELETE JOB} under the pull-down menu {JOB}.
– A confirmation dialog box appears for each selected job. Select
“YES” to delete the job from the PLAY EDIT JOB LIST display.

Writing to Multiple Jobs
1. Select {Main Menu} {JOB}, then select the submenu {PLAY EDIT JOB
LIST}.
2. Select the job to be written to by [SHIFT] + [SELECT].
– “●” appears on the left of the selected job.
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Convenient Functions
6.14 Job Edit Function During Playback
3. Select {WRITING} under the pull-down menu {JOB}.
– If the job to be written to is listed in JOB LIST, a confirmation dialog
“Overwrite?” appears. Select “YES” to reflect the edited data. If
“NO” is selected, the edited data will not be reflected. To cancel
writing, press [CANCEL] while the confirmation dialog appears.
If the job with the same name is not listed in “JOB LIST”, the job to
be written to will be added to “JOB LIST”. Refer to the
“SUPPLEMENT” below.
If data is reflected during playback, the message “Requesting playback edit JOB writing” appears, and the status
becomes a write request. To write the job, execute the
instruction “LATESTJOB” in the write request status or end
playback. If data is reflected in the play mode but not during
playback, the job will be written immediately.
SUPPLE
-MENT
However, if the job to be written to is being executed (including jobs in the call stack),
“Error 5240: Cannot write in the JOB in execution.”
appears, and the edited data will not be reflected.
If a job in the call stack is written to in the play mode but not
during playback,
“Error 5241: Cannot write in the JOB in JOB STACK.”
appears, and the edited data will not be reflected.
If data is reflected during teaching, the job will be written
immediately.
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Convenient Functions
6.14 Job Edit Function During Playback
6.14.2.4 Canceling Write Request
The procedure to cancel a write request is described below.

Canceling Write Request
1. Select {Main Menu} {JOB}, then select the submenu {PLAY EDIT JOB
LIST},
or
select {Main Menu} {JOB}, then select the submenu {JOB EDIT
(PLAY)}.
2. Select {WRITING CANCEL} under the pull-down menu {JOB}.
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Convenient Functions
6.14 Job Edit Function During Playback
CAUTION
•
When the mode switch is changed to the teach mode during job editing
Even if the mode switch is changed to the teach mode without reflecting
or canceling the edited data, the changed data will be saved. In this
case, select {Main Menu} {JOB}, then select the submenu {SELECT
JOB} or {PLAY EDIT JOB LIST} to edit data in the same manner as in
the play mode. However, position teaching cannot be done.
SUPPLE
-MENT
•
Regarding the job edited in the play mode, even after
the mode is changed to the teach mode, the edited data
will not be reflected if {WRITING} is not done.
Writing a job
{WRITING} operates differently depending on the status of the robot.
Select {JOB}, then select {WRITING} to reflect the edited data in the
job. The data is reflected as described below depending on whether
the job is being executed or not.
1. When the job is NOT being executed: The data is reflected immediately.
2. When the job is being executed: The data is reflected when the
instruction “LATESTJOB” is executed or when the job execution is
completed.
“Requesting playback edit JOB writing” appears while waiting for reflect
operation (during a write request).
• The executing job cannot be written to even by the
instruction “LATESTJOB”.
SUPPLE
-MENT
•
• If a power failure occurs during a write request, the
write request will be canceled upon restarting, and the
job will not be reflected.
During a file transfer
{WRITING} cannot be done during file transfer (i.e. external memory
operation or data transmission).
In addition, a file cannot be transferred during a write request.
•
During a write request
Editing is inhibited during a write request (while “Requesting playback
edit JOB writing” appears).
To edit data, wait for the writing to be completed or cancel the write
request.
•
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Convenient Functions
6.15 Logging Function
6.15
Logging Function
6.15.1 Logging Function
The logging function allows to save the controller's operation and data
editing history (log) in chronological order, and display them on the
screen.
Users can select the log obtaining operation and store the log data to an
external device.
6.15.2 Objected Data for Logging
The following data can be saved in this function:
• OPERATION-related Data
• START, HOLD, and E-STOP (The operations in the remote mode
are also saved in the log.)
• Mode switching (PLAY/TEACH/REMOTE)
(The operations in the remote mode are also saved in the log.)
• Safety fence OPEN
• Selecting jobs (including direct open)
• Calling the master job
• Initializing the files and jobs
• Loading and saving files and jobs (normal termination/abnormal
termination)
(Loading and saving operations by the DCI function or the data
transmission function are not saved in logs.)
• Creating a new job, deleting, renaming, parallel shift job conversion, mirror shift conversion, PAM (position correcting during
playback)
• Changing the home position of the manipulator
• Login/logoff (Only available when the password protection function (optional) is used.)
• EDIT-related Data
• Job
– Adding the instructions
– Changing the requirements in the instructions
– Deleting the instructions
– The operation of cut, paste, and reverse paste
– The operation of UNDO and REDO
– Editing the job header
– Line Edit Lock and the comment operation
– Canceling all the line Edit Lock, canceling all the comment.
• Editing the conditions file/general data
• Editing the parameters
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Convenient Functions
6.15 Logging Function
• Editing the CIO
Editing on the ladder program window.
When compiling is executed, the edit histories (addition/changing/deletion of lines) are output. The recorded times are the
actual times at which the lines were edited, so they may not
match the time at which compiling was executed.
• Editing variables
(The operations in the remote mode are not saved in the log.)
• Editing the I/O
Logs of switching ON and OFF of the general input signals and
general output signals are obtained.
NOTE
6.15.3
Only the editing operations by the user itself are targeted for
log obtaining. Even if the variables or the I/O states are
changed by executing the instructions in the job, they are
not recorded in the log.
Number of Entries Stored in the Logs
The number of entries stored in the logs for each data is as follows:
• OPERATION-related Data: 100 entries
• EDIT-related Data: 200 entries
If the number of stored entries exceeds the number described above, old
data will be deleted and the new data will be recorded.
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Convenient Functions
6.15 Logging Function
6.15.4 Operating Methods
6.15.4.1 Displaying Logs in List
The log list can be referred to with the following procedures:
Main menu → {SYSTEM INFO} → {LOGDATA}
Selecting {LOGDATA} displays the {LOGDATA} window.
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Convenient Functions
6.15 Logging Function
The list of the logs to be displayed in the {LOGDATA} window can be
arranged by the log types (OPERATION/EDIT). Selecting {DISPLAY} of
the pull-down menu displays {ALL}, {OPERATION}, {EDITING}, and only
the logs of the selected type will be displayed.
Displays only the OPERATION-related logs.
Displays only the EDIT-related logs.
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Convenient Functions
6.15 Logging Function
6.15.4.2 Displaying Log Details
On the {LOGDATA} window, moving the cursor to the desired log and
pressing the [SELECT] display the selected log's details.
When touching the {RETURN} button at the bottom of the window or
pressing [CANCEL], the window returns to the {LOGDATA} window.
The items displayed in the {DETAIL} window are shown in the tables on
the following pages. However, the following items are displayed
regardless of whether the displayed log type is OPERATION or EDIT.
• INDEX
• DATE
• EVENT
• LOGIN NAME
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Convenient Functions
6.15 Logging Function
Table 6-4: OPERATION-related Log
Log Name
START
Remark
-
Items displayed in the detailed display section
Series
Job name
Line number
Current value
-
HOLD
-
Series
Job name
Line number
Current value
-
ESP
-
Series
Job name
Line number
Current value
-
TEACH MODE
-
-
-
-
-
-
PLAY MODE
-
-
-
-
-
-
REMOTE MODE
-
-
-
-
-
-
SELECT JOB
-
Series
Job name
-
-
-
SAFETY FENCE
OPEN
-
Series
Job name
Line number
Current value
-
MASTER JOB
CALL
-
Series
Job name
-
-
-
FILE INIT
-
File name
-
-
-
-
FILE LOAD END
-
File name
-
-
-
-
FILE SAVE END
-
File name
-
-
-
-
FILE LOAD
ERROR
-
File name
-
-
-
-
FILE SAVE
ERROR
-
File name
-
-
-
-
JOB CREATE
-
Job name
-
-
-
-
JOB DELETE
-
Job name
-
-
-
-
JOB RENAME
-
Job name
-
-
-
-
PARALLEL SHIFT
-
Job name
-
-
-
-
MIRROR SHIFT
-
Job name
-
-
-
-
PAM
-
Job name
-
-
-
-
ORG ABSO
-
Group number
Axis number
Setting
Current value
-
LOGIN
-
-
-
-
-
-
LOGOUT
-
-
-
-
-
-
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Convenient Functions
6.15 Logging Function
Table 6-5: EDIT-related Log (Sheet 1 of 2)
Log Name
Remark
Items displayed in the detailed display section
JOB EDIT(INS)
-
Series
Job name
Line number
Value after
editing
Current
value
JOB EDIT(MOD)
-
Series
Job name
Line number
Value after
editing
Current
value
JOB EDIT(DEL)
-
Series
Job name
Line number
Deleted line
-
JOB EDIT(P. REG)
-
Series
Job name
Line number
Current value
-
JOB EDIT(P. MOD)
-
Series
Job name
Line number
Current value
-
JOB EDIT(CUT)
-
Series
Job name
Processing
start position
Processing
completion
position
-
JOB EDIT(PASTE)
-
Series
Job name
Processing
start position
Processing
completion
position
-
JOB EDIT(R. PST)
-
Series
Job name
Processing
start position
Processing
completion
position
-
JOB EDIT(UNDO)
-
Series
Job name
-
-
-
JOB EDIT(REDO)
-
Series
Job name
-
-
-
JOB EDIT(HEADER)
Numeric
value
Job name
Element
number
Value before
editing
Value after
editing
-
Charact
er string
Job name
Element
number
Value after
editing
-
JOB EDIT
(EDITLOCK)
-
Series
Job name
Processing
start position
Processing
completion
position
-
JOB EDIT
(EDITLOCK CLR)
-
Series
Job name
Processing
start position
Processing
completion
position
-
JOB EDIT(EDITLOCK
CLR ALL)
-
Series
Job name
Processing
start position
Processing
completion
position
-
JOB EDIT(COMMENT) -
Series
Job name
Processing
start position
Processing
completion
position
-
JOB EDIT(COMMENT
CLR)
-
Series
Job name
Processing
start position
Processing
completion
position
-
JOB EDIT(COMMENT
CLR ALL)
-
Series
Job name
Processing
start position
Processing
completion
position
-
OTHER FILE EDT
Numeric
value
File name
Element
number
Value before
editing
Value after
editing
-
Charact
er string
File name
Element
number
Value after
editing
-
PARAMETER EDIT
-
Parameter
type
Parameter
number
Value before
editing
Value after
editing
-
LADDER EDIT(ADD)
-
Line number
Value after
editing
System/User
-
-
LADDER EDIT(CHG)
-
Line number
Value after
editing
System/User
-
-
LADDER EDIT(DEL)
-
Line number
Deleted line
System/User
-
-
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Convenient Functions
6.15 Logging Function
Table 6-5: EDIT-related Log (Sheet 2 of 2)
Log Name
Remark
Items displayed in the detailed display section
COMPILE
-
-
-
-
-
-
VARIABLE EDIT
Numeric
value
Variable type
Edit number
Value before
editing
Value after
editing
-
Charact
er string
Variable type
Edit number
Value after
editing
-
-
Position
variable
Variable type
Edit number
Setting value
-
-
-
I/O number
Value after
editing
-
-
-
I/O EDIT
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Convenient Functions
6.15 Logging Function
6.15.4.3 Updating Logging Information
When a new log is added while displaying the {LOGDATA} window,
pressing [SELECT] displays a confirmation dialog "The log was added.
Update the display?". When selecting “YES”, a log data is obtained again
and the window is updated.
When selecting “NO”, the window display is not updated, but after that,
when pressing [SELECT], the same dialog appears again.
When the log display type is set to "OPERATION" or "EDIT", the
confirmation dialog described above only when the log belongs to the
displayed type is added and [SELECT] is pressed.
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Convenient Functions
6.15 Logging Function
6.15.4.4
Deleting Logging Information
Only when security is in management mode, selecting “DATA” in the pulldown menu on the LOGDATA window displays {INITIALIZE}. Selecting
{INITIALIZE} displays the confirmation dialog “Initialize?”. When “YES” is
selected, all the logs of the currently displayed type are deleted.
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Convenient Functions
6.15 Logging Function
6.15.4.5 Selecting Operations to Acquire Logs
Selecting the operations whose logging data is to be acquired can avoid
unnecessary logs from being acquired.
When selecting {Main Menu} → {SETUP} → {LOGDATA COND.}, the
LOGDATA CONDITION SETTING window appears.
Move the cursor to the item to which its logging data is the subject of
acquisition, press [SELECT] and then "SAVE" and "NOT SAVE" alternate.
Once "NOT SAVE" is selected to an item, its logging data would not be
acquired even if "SAVE" is selected.
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Convenient Functions
6.15 Logging Function
The item names and the targeted logs are as follows:
Item Name
Target Log
START OPERATION LOG
START
HOLD OPERATION LOG
HOLD
E. STOP OPERATION LOG
ESP
SAFETY FENCE LOG
SAFETY FENCE OPEN
MODE SWITCH LOG
• TEACH MODE
• PLAY MODE
• REMOTE MODE
JOB SELECTION LOG
SELECT JOB
MASTER JOB SELECTION LOG
MASTER JOB CALL
LOG ON/LOG OFF LOG
• LOGIN
• LOGOUT
FILE INITIALIZE LOG
FILE INIT
FILE LOAD LOG
• FILE LOAD END
• FILE LOAD ERROR
FILE SAVE LOG
• FILE SAVE END
• FILE SAVE ERROR
JOB CREATE/DELETE LOG
• JOB CREATE
• JOB DELETE
JOB RENAME LOG
JOB RENAME
JOB SHIFT LOG
• PARALLEL SHIFT
• MIRROR SHIFT
JOB PAM LOG
PAM
ABSO SET LOG
ORG ABSO
JOB EDIT LOG
• JOB EDIT(INS)
• JOB EDIT(MOD)
• JOB EDIT(DEL)
• JOB EDIT(P. REG)
• JOB EDIT(P. MOD)
JOB CUT/PASTE LOG
• JOB EDIT(CUT)
• JOB EDIT(PASTE)
• JOB EDIT(R. PST)
JOB UNDO/REDO LOG
• JOB EDIT(UNDO)
• JOB EDIT(REDO)
JOB HEADER EDIT LOG
• JOB EDIT(HEADER)
LINE EDIT PROHIBIT/RELEASE
LOG
• JOB EDIT(EDITLOCK)
• JOB EDIT(EDITLOCK CLR)
• JOB EDIT(EDITLOCK CLR ALL)
COMMENT/RELEASE LOG
• JOB EDIT(COMMENT)
• JOB EDIT(COMMENT CLR)
• JOB EDIT(COMMENT CLR ALL)
FILE EDIT LOG
OTHER FILE EDT
PARAMETER EDIT LOG
PARAMETER EDIT
VARIABLE EDIT LOG
VARIABLE EDIT
SIGNAL EDIT LOG
I/O EDIT
LADDER EDIT LOG
• LADDER EDIT(ADD)
• LADDER EDIT(CHG)
• LADDER EDIT(DEL)
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Convenient Functions
6.16 Analog Output Function Corresponding to Speed
6.16
Analog Output Function Corresponding to Speed
6.16.1 Overview
The analog output function corresponding to speed changes the analog
output value automatically, according to the manipulator operating speed.
This function does not need resetting of the analog output value according
to the operating speed, so that the time required for job teaching can be
reduced.
For example, when the thickness of sealing or painting should be
constant, the discharged amount of seals or paints can be controlled by
the manipulator operating speed.
Speed : slow
Discharged amount : small
Speed : fast
Discharged amount : large
NOTE
For the analog output function corresponding to speed, the
following circuit board is needed.
• Analog output expansion circuit board: JANCD-YEW02-E
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Convenient Functions
6.16 Analog Output Function Corresponding to Speed
6.16.2
6.16.2.1
Instructions
Instructions for Analog Output Function Corresponding to Speed
The instructions, ARATION and ARATIOF, are used for the analog output
function corresponding to speed.

ARATION
The analog output function corresponding to speed is performed after
executing ARATION instruction. This instruction is valid during circular
interpolation, linear interpolation or spline interpolation. It is executed only
at playback or [FWD] operation; it is not executed during axis operation.
This instruction is also used when each set value for the analog output
function corresponding to speed is to be changed.
ARATION AO#(1) BV=10.00 V=200.0 OFV=2.00

Output port number
General analog output port to execute the analog output corresponding
to speed
Setting range : 1 to 40
Basic voltage
Voltage to be output at the speed set with the basic speed.
Setting range : -14.00 to +14.00V
Basic speed
Operating speed which becomes the basis for when the set voltage is
output.
Setting range : 0.1 to 1500.0mm/sec
1 to 9000cm/min
Offset voltage
Analog voltage when the operating speed is 0.
Setting range : -14.00 to +14.00V
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Convenient Functions
6.16 Analog Output Function Corresponding to Speed
According to the set value of the ARATION instruction, the output
characteristics for the relation between the operating speed and the
analog voltage are calculated. The analog output function corresponding
to speed is executed depending on these output characteristics.
The following graph shows the output characteristics.
Fig. 6-5: Output Characteristics When Analog Output Function Corresponding to
Speed is Used
Analog voltage
14V
Basic
voltage
Offset
voltage
0
NOTE

Basic
speed
Operating
speed
When the analog output value exceeds ± 14.00 V because
of the operating speed, the value is limited within ± 14.00 V.
ARATIOF
When the ARATIOF instruction is executed, the analog output
corresponding to speed is completed, and the set offset voltage becomes
the fixed output.
ARATIOF AO#(1)

Output port number
General analog output port to end the analog output corresponding to
speed
Setting range : 1 to 40
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Convenient Functions
6.16 Analog Output Function Corresponding to Speed
6.16.2.2
Registration of Instructions
The instructions can be registered when the cursor is in the address area
on the job content display in teach mode. Perform the following
operations before registering an instruction.
1. Select {JOB} under {Main Menu}
2. Select {JOB CONTENT}
3. Move the cursor to the address area
Address
area

Instruction
area
ARATION
1. Move the cursor to one line above the place to register the ARATION
instruction
The line above the
place to register
ARATION instruction.
2. Press [INFORM LIST]
3. Select [IN/OUT]
– The instruction list dialog appears.
4. Select “ARATION”
– The ARATION instruction is indicated in the input buffer line.
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Convenient Functions
6.16 Analog Output Function Corresponding to Speed
5. Change any additional items and numerical values
– <Register without changes>
To register without changes, perform operation of step 6.
– <Register with addition or change of the additional items>
• To change the output port number
In case of using [SHIFT] and the cursor, move the cursor to the
output port number, and then press [SHIFT] and the cursor simultaneously, to change the output port number.
In case of using [Numeric Key]s, move the cursor to the output
port number, and press [SELECT] to display an input buffer line.
Enter the number, and then press [ENTER] to change the number
displayed.
• To change the basic voltage, the speed, and the offset voltage
Move the cursor to the instruction in the input buffer line, and then
press [SELECT]. The detail edit display is shown.
Move the cursor to “UNUSED” of the additional item to be
changed, and then press [SELECT]. The selection dialog is displayed.
Move the cursor to the additional item to be changed, and press
[SELECT].
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Convenient Functions
6.16 Analog Output Function Corresponding to Speed
When the additional item is changed, press [ENTER]. The detail
edit window closes, and the job content window appears.
6. Press [INSERT] and [ENTER]
– The instruction indicated in the input buffer line is registered.
The line where
ARATION
instruction is
registered.

ARATIOF
1. Move the cursor to one line above the place to register ARATIOF
instruction
The line above the
place to register
ARATIOF instruction.
2. Press [INFORM LIST]
3. Select [IN/OUT]
– The instruction list dialog appears.
4. Select “ARATIOF”
– The ARATIOF instruction is indicated in the input buffer line.
5. Press [INSERT] and [ENTER]
– The ARATIOF instruction is registered.
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Convenient Functions
6.16 Analog Output Function Corresponding to Speed
6.16.2.3 Analog Output Display
The current settings can be confirmed on the analog output window.
TERMINAL
General analog output port
OUTPUT (V)
Indicates the voltage which is currently output.
BASIC (V)
Indicates the basic voltage used for the analog output corresponding to
speed.
This value is used until a new value is set by ARATION instruction.
TRAIT
Indicates the current output characteristics of the output port.
SP RAT : during execution of the analog output corresponding to speed
STATIC : fixed output status
OFFSET (V)
Indicates the offset voltage used for the analog output corresponding to
speed.
This value is used until a new value is set by ARATION instruction.
BASIC SPD
Indicates the basic speed used for the analog output corresponding to
speed.
This value is used until a new value is set by ARATION instruction.
ROBOT
Indicates the manipulator number for the analog output corresponding
to speed.
1. Select {IN/OUT} in the {Main Menu}
2. Select {ANALOG OUTPUT}
– The analog output window appears.
The output terminal numbers which follow the AOUT4 can be
switched and displayed by pressing [PAGE].
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6.16 Analog Output Function Corresponding to Speed
6.16.3
6.16.3.1
Examples
Examples of Output Characteristics
The graph below shows the change in the output characteristics when the
following job is done.
Output Voltage (V)
MOVJ VJ=50.00
ARATION AO#(1) BV=7.00 V=150.0 OFV=-10.00
7.00
MOVL V=50.0
-4.33
MOVC V=100.0
1.33
MOVC V=100.0
1.33
MOVC V=100.0
1.33
MOVL V=200.0
12.67
Analog voltage
(V)
14V
Basic
voltage
10
7
5
0
50
-5
Offset
-10
voltage
6-166
100
150
Basic
speed
200
Operating speed
(mm/s)
6
Convenient Functions
6.16 Analog Output Function Corresponding to Speed
6.16.3.2 Example of Variation of Operating Speed and Analog Output Value
The following graph shows the change of the analog output according to the speed variation.
MOVL V=200.0    
ARATION AO#(1) BV=10.00 V=200.0 OFV=-2.00
MOVC V=150.0    
MOVC VR=20.0     (When the tool center point speed is 100 mm/s)
MOVC V=150.0    
MOVL V=180.0    
MOVL     (When the tool center point speed is 180 mm/s)
AOUT AO#(1) 10.00    
Fig. 6-6: Analog Voltage according to Speed
Analog
voltage (V)
Operating
speed (mm/s)
10
8.8
7
1
200
5
6
7
180
4
4
2
150
3
100
Time
NOTE
• Since the analog output corresponding to speed is made
for the calculated speed, there may be little difference
from the actual operating speed of the manipulator.
• When a posture speed is specified, the analog output corresponding to speed is made for the operating speed at
the tool center point with the posture speed.
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Convenient Functions
6.16 Analog Output Function Corresponding to Speed
6.16.4
Filter Process
In the analog output function corresponding to speed, the output analog
signal can be filtered by setting a filter constant at the parameters.
6.16.4.1
When Parameter is Set to “0”
The analog signal according to the speed reference (the speed
determined by a path operation) is output.
Analog output signal
Manipulator actual speed
Voltage Speed
Time
6.16.4.2
When Parameter is Set to Values Other Than “0”
The analog signal according to the speed of filtered speed reference is
output. By the filter process, the output signal can be close to the
manipulator’s actual speed.
Analog output signal
Manipulator actual speed
Voltage Speed
Time
6.16.4.3
Parameter Setting
Adjust the settings of parameters during actual operations.
Table 6-6: Parameter (Sheet 1 of 3)
Parameter
Number
Analog Output
Content
Unit
S3C1111
S3C1112
Analog output No.1
Analog output No.1
Primary filter constant
Secondary filter constant
[msec]
[msec]
S3C1113
S3C1114
Analog output No.2
Analog output No.2
Primary filter constant
Secondary filter constant
[msec]
[msec]
S3C1115
S3C1116
Analog output No.3
Analog output No.3
Primary filter constant
Secondary filter constant
[msec]
[msec]
S3C1117
S3C1118
Analog output No.4
Analog output No.4
Primary filter constant
Secondary filter constant
[msec]
[msec]
S3C1119
S3C1120
Analog output No.5
Analog output No.5
Primary filter constant
Secondary filter constant
[msec]
[msec]
S3C1121
S3C1122
Analog output No.6
Analog output No.6
Primary filter constant
Secondary filter constant
[msec]
[msec]
S3C1123
S3C1124
Analog output No.7
Analog output No.7
Primary filter constant
Secondary filter constant
[msec]
[msec]
S3C1125
S3C1126
Analog output No.8
Analog output No.8
Primary filter constant
Secondary filter constant
[msec]
[msec]
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Convenient Functions
6.16 Analog Output Function Corresponding to Speed
Table 6-6: Parameter (Sheet 2 of 3)
Parameter
Number
Analog Output
Content
Unit
S3C1127
S3C1128
Analog output No.9
Analog output No.9
Primary filter constant
Secondary filter constant
[msec]
[msec]
S3C1129
S3C1130
Analog output No.10
Analog output No.10
Primary filter constant
Secondary filter constant
[msec]
[msec]
S3C1131
S3C1132
Analog output No.11
Analog output No.11
Primary filter constant
Secondary filter constant
[msec]
[msec]
S3C1133
S3C1134
Analog output No.12
Analog output No.12
Primary filter constant
Secondary filter constant
[msec]
[msec]
S3C1135
S3C1136
Analog output No.13
Analog output No.13
Primary filter constant
Secondary filter constant
[msec]
[msec]
S3C1137
S3C1138
Analog output No.14
Analog output No.14
Primary filter constant
Secondary filter constant
[msec]
[msec]
S3C1139
S3C1140
Analog output No.15
Analog output No.15
Primary filter constant
Secondary filter constant
[msec]
[msec]
S3C1141
S3C1142
Analog output No.16
Analog output No.16
Primary filter constant
Secondary filter constant
[msec]
[msec]
S3C1143
S3C1144
Analog output No.17
Analog output No.17
Primary filter constant
Secondary filter constant
[msec]
[msec]
S3C1145
S3C1146
Analog output No.18
Analog output No.18
Primary filter constant
Secondary filter constant
[msec]
[msec]
S3C1147
S3C1148
Analog output No.19
Analog output No.19
Primary filter constant
Secondary filter constant
[msec]
[msec]
S3C1149
S3C1150
Analog output No.20
Analog output No.20
Primary filter constant
Secondary filter constant
[msec]
[msec]
S3C1151
S3C1152
Analog output No.21
Analog output No.21
Primary filter constant
Secondary filter constant
[msec]
[msec]
S3C1153
S3C1154
Analog output No.22
Analog output No.22
Primary filter constant
Secondary filter constant
[msec]
[msec]
S3C1155
S3C1156
Analog output No.23
Analog output No.23
Primary filter constant
Secondary filter constant
[msec]
[msec]
S3C1157
S3C1158
Analog output No.24
Analog output No.24
Primary filter constant
Secondary filter constant
[msec]
[msec]
S3C1159
S3C1160
Analog output No.25
Analog output No.25
Primary filter constant
Secondary filter constant
[msec]
[msec]
S3C1161
S3C1162
Analog output No.26
Analog output No.26
Primary filter constant
Secondary filter constant
[msec]
[msec]
S3C1163
S3C1164
Analog output No.27
Analog output No.27
Primary filter constant
Secondary filter constant
[msec]
[msec]
S3C1165
S3C1166
Analog output No.28
Analog output No.28
Primary filter constant
Secondary filter constant
[msec]
[msec]
S3C1167
S3C1168
Analog output No.29
Analog output No.29
Primary filter constant
Secondary filter constant
[msec]
[msec]
S3C1169
S3C1170
Analog output No.30
Analog output No.30
Primary filter constant
Secondary filter constant
[msec]
[msec]
S3C1171
S3C1172
Analog output No.31
Analog output No.31
Primary filter constant
Secondary filter constant
[msec]
[msec]
S3C1173
S3C1174
Analog output No.32
Analog output No.32
Primary filter constant
Secondary filter constant
[msec]
[msec]
S3C1175
S3C1176
Analog output No.33
Analog output No.33
Primary filter constant
Secondary filter constant
[msec]
[msec]
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Convenient Functions
6.16 Analog Output Function Corresponding to Speed
Table 6-6: Parameter (Sheet 3 of 3)
Parameter
Number
Analog Output
Content
Unit
S3C1177
S3C1178
Analog output No.34
Analog output No.34
Primary filter constant
Secondary filter constant
[msec]
[msec]
S3C1179
S3C1180
Analog output No.35
Analog output No.35
Primary filter constant
Secondary filter constant
[msec]
[msec]
S3C1181
S3C1182
Analog output No.36
Analog output No.36
Primary filter constant
Secondary filter constant
[msec]
[msec]
S3C1183
S3C1184
Analog output No.37
Analog output No.37
Primary filter constant
Secondary filter constant
[msec]
[msec]
S3C1185
S3C1186
Analog output No.38
Analog output No.38
Primary filter constant
Secondary filter constant
[msec]
[msec]
S3C1187
S3C1188
Analog output No.39
Analog output No.39
Primary filter constant
Secondary filter constant
[msec]
[msec]
S3C1189
S3C1190
Analog output No.40
Analog output No.40
Primary filter constant
Secondary filter constant
[msec]
[msec]
The standard parameter settings are as follows.
• For small capacity robot with a payload 6 kg and 16 kg
Primary filter constant : 50 msec
Secondary filter constant : 50 msec
• For large capacity robot with a payload 60 kg and 130 kg
Primary filter constant : 100 msec
Secondary filter constant : 100 msec
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Convenient Functions
6.16 Analog Output Function Corresponding to Speed
6.16.5 Precautions
6.16.5.1 When Analog Output Corresponding to Speed is Interrupted
If the manipulator is stopped for some reason and the editing operation is
performed, the analog output corresponding to speed is interrupted. This
interruption is performed in all output terminals, and the analog voltage
fixed immediately before the interruption is output to each output terminal.
The analog output corresponding to speed is not interrupted in any other
cases.
6.16.5.2 When More than One Manipulator is Used
The attribute of the job where the instruction is executed determines the
manipulator where the analog output corresponding to speed is
performed.
For a coordinated job, the analog output corresponding to speed is
performed at the operating speed of the manipulator at the slave side.
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Convenient Functions
6.17 QR Code Creation Function
6.17
6.17.1
QR Code Creation Function
Outline
This function codifies the status of the DX200 (system configuration, alarm
information, or current position data, etc.) into a QR code and displays it
on the programming pendant display.
By using this function, user can send the current status of DX200 to
Yaskawa representative rapidly and accurately when making inquiries or
an abnormality happened.
Also, with an Android application called “MOTOMAN Touch!”, user can
send both the QR code pasted on the DX200 in which its serial number,
etc. are codified and its circumstantial pictures to the Yaskawa
representative at a time. This application enables to send correct
information in a short period of time and helps customer to reduce down
time accordingly.
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Convenient Functions
6.17 QR Code Creation Function
<QR Code Creation Function>
• While the QR Code Creation function is under function,
only following keys and the exclusive keys used for this
function are available. (for the key exclusively used for this
function, refer to chapter 6.17.5 “Operation Method” .
[START]
[HOLD]
[E.STOP] button
Enable switch
NOTE
Accordingly, operation of the manipulator in the teaching
mode (jog operation) is not available. The manipulator
stops its operation if the QR Code Creation function is
executed.
Do not complete the QR Code Creation function while the
axis operation key is being pressed because the operation
triggered by the key immediately resumes when the function completes.
• Even if PLAYBACK OPERATION CONTINUATION
FUNCTION (S2C437=1) is set valid, its window would not
appear if the QR Code Creation Function is executed.
<MOTOMAN Touch!>
• Inquire of Yaskawa representative for downloading
method of “MOTOMAN Touch!”.
• “MOTOMAN Touch!” is not designed to avoid failures or
reduce the recovery time.
• When sending data using “MOTOMAN Touch!”, set a call
center at your Yaskawa representative. Otherwise, reply
from Yaskawa may delay.
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Convenient Functions
6.17 QR Code Creation Function
6.17.2
Main Function
Main specifications of QR Code Creation function
Item
Specification
QR Code Data
• ALARM (the latest four alarms)
• ALARM HISTORY
(the latest ten alarms at each alarm)
MAJOR FAILURE ALARM
MINOR FAILURE ALRAM
USER ALARM (SYSTEM)
USER ALARM (USER)
OFF-LINE ALARM
• MONITORING TIME
SYS MONITORING TIME
SERVRO POWER TIME
PLAYBACK TIME
MOVING TIME
OPERATING TIME
• HOME POSITION
• CURRENT POSITION
• SERVO MONITOR
Note: Only “ALARM” and “ALARM HISTORY” data are
available in the maintenance mode.
Function
• Operations executed by a key
Display switch ([FWD] or [BWD])
Completion of the
QR Code Creation Function
• Operations executed by a button on the display
Display switch (“Next”, “Back”, or “First”.)
Completion of the
QR Code Creation Function
QR Code Format
• Format type
10 to 18
(automatically set according to the number of data)
• Data
8-bit byte (binary)
• Error correction level
Level M
• Maximum number of data in a QR code
560-byte at maximum
(when the format type is 18)
The QR Code Creation function is applicable from version DN1.52-00 and
later.
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Convenient Functions
6.17 QR Code Creation Function
Main specifications of “MOTOMAN Touch!”
Item
Specification
Reading/Displaying
of the DX200 serial
number, etc.
Read the QR code on the DX200 with the smart phone QR
code reader, and then displays the serial number, etc.
Reading/Displaying
of the DX200 alarm
history, etc.
Read the QR code on the programming with the smart
phone QR code reader, and then displays the alarm
history, etc.
Picture attachment
Attach circumstantial pictures to an e-mail.
Send mail
Attach above mentioned QR code data and pictures to an
e-mail and send it to the in charge call center. (use the
mailer)
“MOTOMAN Touch!” is an application which operates in Android 4.0.3
(API level 15) or higher environment. However, depending on the
manufacturers or type of the smart phone, it may not work.
QR code is a trademark of DENSO WAVE INCORPORATED.
Android is a trademark of Google Inc.
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Convenient Functions
6.17 QR Code Creation Function
6.17.3
6.17.3.1
QR Code Creation Function Start-Up Method
Start-up the function by pressing {SYSTEM INFO} under the main menu→ {QR CODE}.
1. Select {SYSTEM INFO} under the main menu.
– {QR CODE} appears in the sub menu.
2. Select {QR CODE} from the sub menu.
– QR CODE Creation function starts up.
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6.17 QR Code Creation Function
3. Select data to be codified into a QR code, and then press {Create}
button.
– A QR code appears.
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Convenient Functions
6.17 QR Code Creation Function
6.17.3.2
Start-up the function by selecting {UTILITY} under the pull down menu → {QR CODE
DISPLAY}
1. Select {UTILITY} under the pull down menu.
– {QR CODE} appears in the sub menu when the window has a
function to display QR code data.
2. Select {QR CODE DISPLAY} from the sub menu.
– QR CODE Creation function starts up and a QR code of the data
displayed on the window appears.
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Convenient Functions
6.17 QR Code Creation Function
6.17.3.3 Start-up the function by selecting {UTILITY} under the pull down menu → {QR CODE ALL
PAGE}
1. Select {UTILITY} under the pull down menu.
– {QR CODE} appears in the sub menu when the window has a
function to display a QR code data.
2. Select {QR CODE ALL PAGE} from the sub menu.
– QR Code Creation function starts up and QR codes of the window
on which page switching or display switching is available appear.
(when ALARM HISTORY is selected, data for the latest ten alarms
at each alarm are created)
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Convenient Functions
6.17 QR Code Creation Function
6.17.4
Display Configuration
The window for the QR Code Creation Function consists of two areas.
• Data for QR code select area
• QR code display area
Data for QR code select area
QR code display area
Displaying status of the button varies depending on the ON/OFF of the
button function or the shift of the focusing point.
Example: {Next}
Normal display
Active display
No display
The QR code number and the total number of QR codes are displayed in
the QR code display area.
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Convenient Functions
6.17 QR Code Creation Function
6.17.5 Operation Method
6.17.5.1 Data for QR Code Select Area
Select data to be codified into a QR code and press {Create} button.
A QR code appears.
For the above mentioned operation, use programming pendant keys or
directly touch the display.
When using the programming pendant keys, following keys are available.

Cursor
• Shift the area to be focused

[SELECT]
• When the focus is In the list area of data to be codified into a QR
code, select a data to be codified into the QR code
• When the focus is on {Create}, create a QR code

[PAGE]
• Display the following QR code one by one
(if more than two QR codes are created)
• Display the previous QR code by pressing [SHIFT] + [PAGE].

[AREA]
• Shift the area to be focused

[CANCEL]
• Complete the QR Code Creation Function.
6.17.5.2 QR Code Display Area
Display a QR code or switch QR codes one by one.
For the above mentioned operation, use programming pendant keys or
directly touch the display.
When using the programming pendant keys, following keys are available.

Cursor
• Shift the area to be focused

[SELECT]
• When the focus is on {Return}:
Display the first QR code
• When the focus is on {Back} :
Display the previous QR code
• When the focus is on {Next} :
Display the next QR code
• When the focus is on {Close}:
Complete the QR Code Creation Function.

[PAGE]
• Display the following QR code one by one
(if more than two QR codes are created)
• Display the previous QR code by pressing [SHIFT] + [PAGE].
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6.17 QR Code Creation Function

[AREA]
• Shift the area to be focused

[CANCEL]
• Complete the QR Code Creation Function.
6.17.6
QR Code Structure
6.17.6.1
Basic Structure
The basic structure of a QR code is shown below.
• Data header
• System information
• Data 1
When the volume of the data is too large, this function divides the data into
several sections before codifying into a QR code.
At this time, the data header and the system information is set to the first
data.
• Data header
• System information
• Data 1
• Data 2
• Data 3
“ , (comma)” , “ (space)” , and “(new line character)” are employed to
separate the data.
Data which is not selected in the “Data for QR code select area” will not be
codified into the QR code.
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6.17 QR Code Creation Function
6.17.6.2 Data Header
No
Item
Construction
1
Version
??x.xx
2
Year, month, date
YYMMDD
3
Time
HHTT
Note: “?”: any one character, “*” : any line, “X”: any number
1.
Version
Structure
:“??x.xx”
??
:Version of the controller
If the controller is DX200 , “D2” is indicated.
x.xx
2.
3.
:Version of the QR Code Creation function
(decimal number)
Year, Month, Date
Structure
: “YYMMDD”
YY
:Year when the QR code is created (last two digits)
MM
:Month when the QR code is created
DD
:Date when the QR code is created
Time
Structure
: “HHTT”
HH
:Hour when the QR code is created
TT
:Minute when the QR code is created
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Convenient Functions
6.17 QR Code Creation Function
6.17.6.3
System Information
No
Item
Construction
1
System version
*.x.xx*(*)-xx
2
Parameter version
xx.xx
3
Purpose of system
*
Note: “?”: any single character, “*” : any line, “X”: any number
1.
System version
Structure
:“*.x.xx*(*)-xx”
System version number displayed on the
version window
2.
Parameter version
Structure
:“xx.xx”
Parameter version number displayed on the
version window
3.
Purpose of system
Structure
:“*”
Purpose of system displayed on the version
window
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Convenient Functions
6.17 QR Code Creation Function
6.17.6.4 Alarm
Four alarms can be codified into the QR code at maximum in ascending
order.
No
Item
Construction
1
Alarm data code
<Alarm>
2
Alarm data
Refer to ■ “Alarm Data” .
1.
Alarm data code
Structure
:“<Alarm>”
The first line of the alarm data

Alarm Data
No
Item
Construction
1
Alarm number
xxxx
2
Sub code
*
3
Information about options
*
4
Date of alarm occurrence
YYYY/MM/DD
5
Time of alarm occurrence
HH:TT:SS
Note: “?”: any single character, “*” : any line, “X”: any number
1.
Alarm number
Structure
:“xxxx”
Alarm number
2.
Sub code
Structure
:“ * ”
Sub code
Only the inverted characters are displayed
if there are.
Example: Sub code
[R1 : HIGH : RT]
3. Information about options
Structure
:“ * ”
Sub code
Information about options
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Convenient Functions
6.17 QR Code Creation Function
4.
Date of alarm occurrence
Structure
:“ YYYY/MM/DD”
Date when the alarm occurred
5. Time of alarm occurrence
Structure
:“ HH:TT:SS”
Time when the alarm occurred
6.17.6.5
Alarm History
The latest ten alarms, in the order of registration, for each alarm can be
codified.
No
Item
Construction
1
Alarm history data code
<ALARM HISTORY>
2
Major failure alarm code
MAJYOR
3
Major failure alarm data
Refer to ■ “Alarm Data” .
4
Minor failure alarm code
MINOR
5
Minor failure alarm data
Refer to ■ “Alarm Data” .
6
User alarm (system) code
IO_SYS
7
User alarm (system) data
Refer to ■ “Alarm Data” .
8
User alarm (user) code
IO_USR
9
User alarm (user) data
Refer to ■ “Alarm Data” .
10
OFF line alarm code
OFFLINE
11
OFF line alarm data
Refer to ■ “Alarm Data” .
1. Alarm history data code
Structure
:“ <ALARM HISTORY>”
The first line of the alarm history data
2.
Major failure alarm code
Structure
:“ <MAJOR>”
The first line of the major failure alarm data
4.
Minor failure alarm code
Structure
:“ <MINOR>”
The first line of the minor failure alarm data
6.
User alarm (system) code
Structure
:“ IO_SYS”
The first line of the user (system) alarm data
8.
User alarm (user) code
Structure
:“ IO_USR”
The first line of the user (user) alarm data
10. OFF line alarm code
Structure
:“ OFFLINE”
The first line of the OFF line alarm data
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6.17 QR Code Creation Function

Alarm History Data
Following shows the structure of the alarm history data (one line).
No
Item
Construction
1
Alarm number
xxxx
2
Sub code
*
3
Mode
*
4
Information about options
*
5
Date of alarm occurrence
YYYY/MM/DD
6
Time of alarm occurrence
HH:TT:SS
Note: “?”: any single character, “*” : any line, “X”: any number
1.
Alarm number
Structure
:“xxxx”
Alarm number
2.
Sub code
Structure
:“ * ”
Sub code
Only the inverted characters are displayed
if there are.
Example: Sub code
[R1 : HIGH : RT]
3. Mode
Structure
:“ * ”
Mode
4. Information about options
Structure
:“ * ”
Sub code
Information about options
5. Date of alarm occurrence
Structure
:“ YYYY/MM/DD”
Date when the alarm occurred
6. Time of alarm occurrence
Structure
:“ HH:TT:SS”
Time when the alarm occurred
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6.17 QR Code Creation Function
6.17.6.6
Monitoring Time
No
Item
Construction
1
Monitoring time data code
<MONITORING TIME>
2
System monitoring time code
SYS MONITORING TIME
3
System monitoring time data
Refer to
■ “System Monitoring Time Data”
.
4
Servo power time code
SERVO POWER TIME
5
Servo power time data
6
Play back time code
7
Play back time data
8
Moving time code
9
Moving time data
10
Operating time code
11
Operating time data
1.
Refer to ■ “Data for Servo Power
Time, Play Back Time and
Moving Time” .
PLAY BACK
Refer to ■ “Data for Servo Power
Time, Play Back Time and
Moving Time” .
MOVING TIME
Refer to ■ “Data for Servo Power
Time, Play Back Time and
Moving Time” .
OPERATING TIME
Refer to ■ “Data for Servo Power
Time, Play Back Time and
Moving Time” .
Monitoring time data code
Structure
:“<MONITORING TIME>”
The first line of the monitoring time data
2.
System monitoring time code
Structure
:“SYSTEM MONITORING TIME”
The first line of the system monitoring time data
4.
Servo power time code
Structure
:“SERVO POWER TIME”
The first line of the servo power time data
6.
Play back time code
Structure
:“PLAYBACK TIME”
The first line of the play back time data
8.
Moving time code
Structure
:“MOVING TIME”
The first line of the moving time data
10. Operating time code
Structure
:“OPERATING TIME”
The first line of the operating time data
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
System Monitoring Time Data
Following shows the structure of the system monitoring time data (one
line).
No
Item
Construction
1
Item code
*
2
Starting date of measurement
YY/MM/DD
3
Starting time of measurement
HH:TT
4
Elapsed time
xxxxx:xx’xx
Note: “?”: any single character, “*” : any line, “X”: any number
1.
Item code
Structure
:“ * ”
CONTROL POWER
SERVO POWER
PLAYBACK TIME
MOVING TIME
OPERATING TIME
ENERGY TIME
2.
Starting date of measurement
Structure
:“YY/MM/DD”
Date when the measurement is started
3.
Starting time of measurement
Structure
:“HH:TT”
Time when the measurement is started
4.
Elapsed time
Structure
:“xxxxx:xx’xx”
Elapsed time since the measurement is started
(do not use “0”.)
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
Data for Servo Power Time, Play Back Time and Moving Time
Following shows the structure of the servo power time data, play back
time data and moving time data (one line).
No
Item
Construction
1
Control group
*
2
Starting date of measurement
YY/MM/DD
3
Starting time of measurement
HH:TT
4
Elapsed time
xxxxx:xx’xx
Note: “?”: any single character, “*” : any line, “X”: any number
1.
Control group
Structure
:“ ?xx ”
Control group
Robot
:R1 to R8
Base
:B1 to B8
Station
:S1 to S24
(Setting is unnecessary if the control group does not exist in the system.
2.
Starting date of measurement
Structure
:“YY/MM/DD”
Date when the measurement is started
3.
Starting time of measurement
Structure
:“HH:TT”
Time when the measurement is started
4.
Elapsed time
Structure
:“xxxxx:xx’xx”
Elapsed time since the measurement is started
(do not use “0”.)
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
Operating Time Data
No
Item
Construction
1
Purpose of operation
*
2
Starting date of measurement
YY/MM/DD
3
Starting time of measurement
HH:TT
4
Elapsed time
xxxxx:xx’xx
Note: “?”: any single character, “*” : any line, “X”: any number
1. Purpose of operation
Structure
:“ * ”
Purpose of this operation
(Setting is unnecessary if the control group does not exist in the system.
2. Starting date of measurement
Structure
:“YY/MM/DD”
Date when the measurement is started
3. Starting time of measurement
Structure
:“HH:TT”
Time when the measurement is started
4. Elapsed time
Structure
:“xxxxx:xx’xx”
Elapsed time since the measurement is started
(do not use “0”.)
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6.17.6.7
Home Position
No
Item
Construction
1
Home position data code
<HOME POSITION>
2
Home position data
Refer to ■ “Home Position Data” .
1. Home position data code
Structure
:“ <HOME POSITION>”
The first line of the home position data

Home Position Data
Following shows the structure of the home position data (one line).
No
Item
Construction
1
Control group (robot /station)
?xx
2
Axis name 1 to 8 :
Absolute data 1 to 8
?:-xxxxx • • •
3
Control group (base)
?xx
4
Axis name 1 to 8 :Absolute data 1 to 8 ?:-xxxxx • • •
Note: “?”: any single character, “*” : any line, “X”: any number
1. Control group (robot / station)
Structure
:“ ?xx ”
Control group
Robot
:R1 to R8
Station
:S1 to S24
(Setting is unnecessary if the control group does not exist in the system.)
2. Axis name: Absolute data
Structure :“ ?:-xxxxx • • •
?
”
:S, L, U, R, B, T, E, 1, 2, 3, 4, 5, 6 (axis name)
(Setting is unnecessary if this control group does not exist in the system.)
-
:- (minus sign)
(Setting is unnecessary if the data is not a negative data.)
xxxxx
:Absolute data
(Display “ * “, if “ * “ is used to display.)
3. Control group (base)
Structure
:“ ?xx ”
Control group
Base
:B1 to B8
(Setting is unnecessary if this control group does not exist in the system.)
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4. Axis name: Absolute data
Structure :“ ?:-xxxxx • • •
?
”
:1, 2, 3, 4, 5, 6 (axis name)
(Setting is unnecessary if this control group does not exist in the system.)
-
:- (minus sign)
(Setting is unnecessary if the data is no a negative data.)
xxxxx
:Absolute data
(Display “ * “, if “ * “ is used to display.)
6.17.6.8 Current Position
No
Item
Construction
1
Current position data code
2
Current position data
<CURRENT POSITION>
Refer to ■ “Current Position Data
(Pulse coordinate)” and
chapter 6.8.2 “Teaching
Condition Setting” .
1. Current position data code
Structure
:“ <CURRENT POSITION> ”
The first line of the current position data
2. Current position data
Setting of the current position requires a coordinate
(pulse, robot, or user), which is selected in the current position
window.
In case other than above mentioned coordinate is selected, set the
current position with the pulse coordinate.

Current Position Data (Pulse coordinate)
Following shows the structure of the current position data (one line).
No
Item
Construction
1
Coordinate
*
2
Tool
TOOL:xx
3
Control group (robot / station)
?xx
4
Axis name 1 to 8 :Absolute data 1 to 8 ?:-xxxxx • • •
5
Control group (base)
6
Axis name 1 to 8 :Absolute data 1 to 8 ?:-xxxxx • • •
?xx
Note: “?”: any single character, “*” : any line, “X”: any number
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1. Coordinate
Structure :“ * ”
*
:PULSE (pulse coordinate)
2. Tool
Structure :“ TOOL:xx”
xx
:00 to 63 (tool number)
3. Control group (robot / station)
Structure
:“ ?xx ”
Control group
Robot
:R1 to R8
Station
:S1 to S24
(Setting is unnecessary if this control group does not exist in the system.)
4. Axis name: Current position data
Structure :“ ?:-xxxxx • • • ”
?
:S, L, U, R, B, T, E, 1, 2, 3, 4, 5, 6 (axis name)
(Setting is unnecessary if this control group does not exist in the system.)
-
:- (minus sign)
(Setting is unnecessary if the data is not a negative data.)
xxxxx• • • :Current position data
5. Control group (base)
Structure
Base
:“ ?xx ”
:B1 to B8
(Setting is unnecessary if this control group does not exist in the system.)
6. Axis name: Current position data
Structure :“ ?:-xxxxx • • • ”
?
:1, 2, 3, 4, 5, 6 (axis name)
(Setting is unnecessary if this control group does not exist in the system.)
-
:- (minus sign)
(Setting is unnecessary if the data is not a negative data.)
xxxxx• • • :Current position data
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
Current Position Data (Base / user / robot coordinate)
Following shows the structure of the current position data (base / user /
robot coordinate (one line).
No
Item
Construction
1
Coordinate
*
2
Tool
TOOL:xx
3
Control group (robot)
?xx
4
X-axis coordinate
X:-xxx.xxxmm
5
Y-axis coordinate
Y:-xxx.xxxmm
6
Z-axis coordinate
Z:-xxx.xxxmm
7
Rx angle
Rx:-xxx.xxxxdeg.
8
Ry angle
Ry:-xxx.xxxxdeg.
9
Rz angle
Rz:-xxx.xxxxdeg.
10
Re angle (7-axis robot)
Re:-xxx.xxxxdeg.
11
Figure (front or back)
*:*
12
Figure (up or down
*:*
13
Figure (flip or no flip)
*:*
14
X0-axis coordinate (base)
X0:-xxx.xxxmm
15
Y0-axis coordinate (base)
Y0:-xxx.xxxmm
16
Z0-axis coordinate (base)
Z0:-xxx.xxxmm
Note: “?”: any single character, “*” : any line, “X”: any number
1.
Item code
Structure
:“ * ”
*
:ROBOT (robot coordinate)
:BASE (base coordinate)
:USER#1 to USER#63 (user coordinate)
2.
Tool
Structure
xx
3.
:“TOOL:xx”
:00 to 63 (tool number)
Control group
Structure
:“?xx”
Control group
Robot
:R1 to R8
(Setting is unnecessary if this control group does not exist in the system.)
4. X-axis coordinate
Structure :“ X:-xxx.xxxmm”
-
:- (minus sign)
(Setting is unnecessary if the data is not a negative data.)
xxx.xxx• • • :Current position data (unit: mm)
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5. Y-axis coordinate
Structure :“ Y:-xxx.xxxmm”
-
:- (minus sign)
(Setting is unnecessary if the data is not a negative data.)
xxx.xxx• • •:Current position data (unit: mm)
6. Z-axis coordinate
Structure :“ Z:-xxx.xxxmm”
-
:- (minus sign)
(Setting is unnecessary if the data is not a negative data.)
xxx.xxx• • •:Current position data (unit: mm)
7. Rx angle
Structure :“ Rx:-xxx.xxxxdeg.”
-
:- (minus sign)
(Setting is unnecessary if the data is not a negative data.)
xxx.xxx• • •:Current position data (unit: deg)
8. Ry angle
Structure :“ Ry:-xxx.xxxxdeg.”
-
:- (minus sign)
(Setting is unnecessary if the data is not a negative data.)
xxx.xxx• • •:Current position data (unit: deg)
9. Rz angle
Structure :“ Rz:-xxx.xxxxdeg.”
-
:- (minus sign)
(Setting is unnecessary if the data is not a negative data.)
xxx.xxx• • •:Current position data (unit: deg)
10. Re angle
Structure :“ Re:-xxx.xxxxdeg.”
-
:- (minus sign)
(Setting is unnecessary if the data is not a negative data.)
xxx.xxx• • •:Current position data (unit: deg)
11. Figure (front or back)
Structure :“ *:*”
*
:FRONT
:REAR
*
:S<180
*
:S>=180
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12. Figure (up or down)
Structure :“ *:*”
*
:UP
:DOWN
*
:R<180
*
:R>=180
xxx.xxx• • •:Current position data (unit: deg)
13. Figure (frip or no flip)
Structure :“ *:*”
*
:FLIP
:NO FLIP
*
:T<180
*
:T>=180
xxx.xxx• • •:Current position data (unit: deg)
14. X0-axis coordinate
Structure :“ X0:-xxx.xxxmm”
-
:- (minus sign)
(Setting is unnecessary if the data is not a negative data.)
xxx.xxx• • •:Current position data (unit: deg)
15. Y0-axis coordinate
Structure :“ Y0:-xxx.xxxmm”
-
:- (minus sign)
(Setting is unnecessary if the data is not a negative data.)
xxx.xxx• • •:Current position data (unit: deg)
16. Z0-axis coordinate
Structure :“ Z0:-xxx.xxxmm”
-
:- (minus sign)
(Setting is unnecessary if the data is not a negative data.)
xxx.xxx• • •:Current position data (unit: deg)
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6.17 QR Code Creation Function
6.17.6.9
Servo Monitor
No
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
Item
Servo monitor data code
Feedback pulse code
Feedback pulse data
Construction
<SERVO MONITOR>
FEEDBACK PULSE
Refer to ■ “Servo Monitor
Data” .
Error pulse code
ERROR PULSE
Error pulse data
Refer to ■ “Servo Monitor
Data” .
Speed deviation code
SPEED DEVIATION
Speed deviation data
Refer to ■ “Servo Monitor
Data” .
Speed instruction code
SPEED INST
Speed instruction data
Refer to ■ “Servo Monitor
Data” .
Speed feedback code
FEEDBACK SPEED
Speed feedback data
Refer to ■ “Servo Monitor
Data” .
Torque instruction code
TORQUE SPEC
Torque instruction data
Refer to ■ “Servo Monitor
Data” .
Maximum torque code
MAX TORQUE
Maximum torque data
Refer to ■ “Servo Monitor
Data” .
Encoder accumulative rotation code
ENCODER ROTATE SUM
Encoder accumulative rotation data
Refer to ■ “Servo Monitor
Data” .
Position code in 1 turn
IN 1 TURN POSITION
Position data in 1 turn
Refer to ■ “Servo Monitor
Data” .
Motor absolute value code
MOTOR ABSOLUTE
Motor absolute value data
Refer to ■ “Servo Monitor
Data” .
Encoder temperature code
ENCODER TEMP.
Encoder temperature data
Refer to ■ “Servo Monitor
Data” .
Maximum torque (constant speed) code MAX TRQ (CONST)
Maximum torque (constant speed) data Refer to ■ “Servo Monitor
Data” .
Minimum torque (constant speed) code MIN TRQ (CONST)
Minimum torque (constant speed) data Refer to ■ “Servo Monitor
Data” .
Motor torque load ratio code
MOTOR DUTY CYCLE
Motor torque load ratio data
Refer to ■ “Servo Monitor
Data” .
Load ratio measure time code
MEASURE TIME DUTY
Load ratio measure time data
Refer to ■ “Servo Monitor
Data” .
1. Servo monitor data code
Structure
:“<SERVO MONITOR>”
The first line of the servo monitor data
2. Feedback pulse code
Structure
:“FEEDBACK PULSE”
The first line of the feedback pulse data
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4. Error pulse code
Structure
:“ERROR PULSE”
The first line of the error pulse data
6. Speed deviation code
Structure
:“SPEED DEVIATION”
The first line of the speed deviation data
8. Speed instruction code
Structure
:“ SPEED INST”
The first line of the speed instruction data
10. Speed feedback code
Structure
:“FEEDBACK SPEED ”
The first line of the speed feedback data
12. Torque instruction code
Structure
:“TORQUE SPEC”
The first line of the torque instruction data
14. Maximum torque code
Structure
:“MAX TORQUE”
The first line of the maximum torque data
16. Encoder accumulative rotation code
Structure
:“ENCODER ROTATION SUM”
The first line of the encoder accumulative rotation data
18. Position code in 1 turn
Structure
:“IN 1 TURN POSITION”
The first line of the position data in 1 turn
20. Motor absolute value code
Structure
:“MOTOR ABSOLUTE”
The first line of the motor absolute value data
22. Encoder temperature code
Structure
:“ENCODER TEMP.”
The first line of the encoder temperature data
24. Maximum torque (constant speed) code
Structure
:“MAX TRQ(CONST)”
The first line of the maximum torque (constant speed) data
26. Minimum torque (constant speed) code
Structure
:“MIN TRQ(CONST)”
The first line of the minimum torque (constant speed) data
28. Motor torque load ratio code
Structure
:“MOTOR DUTY CYCLE”
The first line of the motor torque load ratio data
30. Load ratio measure time code
Structure
:“MEASURE TIME DUTY”
The first line of the load ratio measure time data
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
Servo Monitor Data
Following shows the structure of the servo monitor (one line).
No
Item
Construction
1
Control group (robot / station)
?xx
2
Axis name 1 to 8 :Servo monitor data 1 to 8
?:-xxxxx • • •
3
Control group (base)
?xx
4
Axis name 1 to 8 :Servo monitor data 1 to 8
?:-xxxxx • • •
Note: “?”: any single character, “*” : any line, “X”: any number
1. Control group (robot / station)
Structure
:“ ?xx ”
Control group
Robot
:R1 to R8
Station
:S1 to S24
(Setting is unnecessary if this control group does not exist in the system.)
2. Axis name: Servo monitor data
Structure :“ ?:-xxxxx • • • ”
?
:S, L, U, R, B, T, E, 1, 2, 3, 4, 5, 6 (axis name)
(Setting is unnecessary if this control group does not exist in the system.)
-
:- (minus sign)
(Setting is unnecessary if the data is not a negative data.)
xxxxx• • • :Current position data
5. Control group (base)
Structure
Base
:“ ?xx ”
:B1 to B8
(Setting is unnecessary if this control group does not exist in the system.)
6. Axis name: Servo monitor data
Structure :“ ?:-xxxxx • • • ”
?
:1, 2, 3, 4, 5, 6 (axis name)
(Setting is unnecessary if this control group does not exist in the system.)
-
:- (minus sign)
(Setting is unnecessary if the data is no a negative data.)
xxxxx• • • :Current position data
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Convenient Functions
6.17 QR Code Creation Function
6.17.7 MOTOMAN Touch!
6.17.7.1 Installing Method of MOTOMAN Touch! (In case downloading from Google Play is not
available)
1. Connect a smart phone to the PC using an USB cable.
2. Start Explorer on the PC, and then copy “MOTOMAN Touch.apk” file
and paste it in the “Download” folder on the smart phone
(refer to fig. 6-7).
3. Tap the Download folder in the file manger of the smart phone
(refer to fig. 6-8).
4. Tap “MOTOMAN Touch.apk” (refer to fig. 6-9).
5. Tap {Settings} when “Install blocked” dialog box appeared (refer to
fig. 6-10).
Fig. 6-7:
Fig. 6-8:
Fig. 6-9:
6-201
Fig. 6-10:
6
Convenient Functions
6.17 QR Code Creation Function
Setting of “apk file” install permission to smart phone
→permit install
1. Scroll to find “Security” screen and then check “Unknown sources”
(refer to fig. 6-11 and fig. 6-12).
2. Tap {OK} on the “Unknown sources” dialog box (refer to fig. 6-13).
3. Tap {Install} (refer to fig. 6-14).
Fig. 6-11:
Fig. 6-12:
Fig. 6-13:
6-202
Fig. 6-14:
6
Convenient Functions
6.17 QR Code Creation Function
6.17.7.2 Start-Up MOTOMAN Touch! Application
1. Tap “MOTOMAN Touch!” icon.
2. “Software License Agreement” screen appears at the fist start-up.
Confirm it and tap {Agree} (refer to fig. 6-15).
3. “MOTOMAN Touch!” log-in screen appears. Tap {Use without log-in}
(refer to fig. 6-16).
CAUTION
•
Log-in function is not available yet.
4. “MOTOMAN Touch!” home screen appears (refer to fig. 6-17).
– Basic operation
• To return to the previous screen, press return button
smart phone.
on the
• To return to the “MOTOMAN Touch!” home screen, tap the robot icon
on the screen.
Fig. 6-15:
Fig. 6-16:
6-203
Fig. 6-17:
6
Convenient Functions
6.17 QR Code Creation Function
6.17.7.3
Setting of Call Center
Initially set a call center as a destination of the e-mail. This setting is
necessary for the use of “MOTOMAN Touch!”.
The e-mail created with “MOTOMAN Touch!” application is sent to this call
center.
1. Tap “Call center information setting”
home screen (refer to fig. 6-17).
on the “MOTOMAN Touch!”
2. Tap the pen mark
at the very bottom of the "Call Center
Information" screen (refer to fig. 6-18).
3. Tap the vacant box next to “Country” on the "Call Center Select"
screen (refer to fig. 6-19).
4. Select a country where the user is (refer to fig. 6-20).
5. Choose and tap your Yaskawa representative on “Company/Office”
screen (refer to fig. 6-21).
6. The screen returns to “MOTOMAN Touch!” home screen and shows
the details of the Yaskawa representative the customer has chosen
(refer to fig. 6-22).
7. To return to “MOTOMAN Touch!” home screen, press return button
on the smart phone (refer to fig. 6-23).
Fig. 6-18:
Fig. 6-19:
Fig. 6-20:
Fig. 6-21:
Fig. 6-22:
Fig. 6-23:
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Convenient Functions
6.17 QR Code Creation Function
6.17.7.4 Registration of Customer Information
Initially set the corresponding information. To the e-mail address set in
this chapter, an reply mail is returned from the call center to which the
customer has sent the QR code information. In this consequence, set the
information correctly.
1. Tap {Registration of Customer Info}
home screen (refer to fig. 6-17).
on the “MOTOMAN Touch!”
2. Input data to “Company name”, “Address”, “Post Code”, “Country”, and
“Name” (refer to fig. 6-25).
3. Tap the check mark
fig. 6-26).
at the bottom of the screen (refer to
CAUTION
•
Tap the check mark
to save the input customer information to
the smart phone memory.
To confirm the saved customer information, return to the “MOTOMAN
Touch!” home screen, and then tap {Registration of Customer Info}
(refer to fig. 6-26).
.
Fig. 6-24:
Fig. 6-25:
6-205
Fig. 6-26:
6
Convenient Functions
6.17 QR Code Creation Function
6.17.7.5
Reading of Product Code
This function reads the QR code pasted on the DX200. Setting of this
function is necessary for the use of “MOTOMAN Touch!”.
1. Tap {Product code reading}
screen (refer to fig. 6-17).
on the “MOTOMAN Touch!” home
2. Start the camera function of the “MOTOMAN Touch!” (refer to
fig. 6-27). Focus the QR code on the DX200 so that it is captured in
the red square.
CAUTION
•
Use zoom
or flash
function in
accordance with the imaging condition.
If the image is not appropriately auto focused, touch the QR code in
the screen to adjust the focus.
3. When the QR code is successfully captured, “Serial number of
product” appears on “Product Information” screen (refer to fig. 6-28).
Tap the mail button
and proceed to the step described in
chapter 6.17.7.7 “Inquiry Mail” .
Fig. 6-27:
6-206
Fig. 6-28:
6
Convenient Functions
6.17 QR Code Creation Function
6.17.7.6 Calling Up of the Product Code
Up to 100 QR codes can be called up again on “Reading history of
product code” screen.
1. Tap {Reading history of product code} on the “MOTOMAN Touch!”
home screen
(refer to fig. 6-17).
2. Tap the desired QR code on “Reading history of product code” screen
(refer to fig. 6-29) to see the serial number of the product (refer to
fig. 6-28).
3. Tap the mail button
and proceed to the next step
(chapter 6.17.7.7 “Inquiry Mail” ).
CAUTION
•
To delete all the history, tap the deleting button
at the bottom of
the screen. Please be careful that the deleted history data is never
restored again.
Fig. 6-29:
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Convenient Functions
6.17 QR Code Creation Function
6.17.7.7
Inquiry Mail
After reading the QR code of the product, user can choose attaching data
and send an e-mail to the customer’s call center on this screen
(refer to fig. 6-30).
1. {Add controller data (Read the QR code)}
With this button, reading of the DX200 QR code displayed on the
programming pendant window and sending of the code by attaching to
an e-mail are available.
(In this case, this code is not left in the creation history.)
2. {Attach photo}
Attaching of pictures already taken by the smart phone to an e-mail is
available. Tap this button to open the photo gallery and select desired
pictures one by one. It is not possible to select all the desired pictures
at a time.
3. {e-mail sending}
This button enables to send a QR code of a product to the customer’s
call center. If the DX200 QR code and pictures are already selected,
they are also sent as attachments.
There are three ways of accessing methods to the call center.l

{QR code transmission only}:
Send an inquiry e-mail
This method is employed if corresponding with the call center through
phone call is already started. The QR code information is sent as
supplementary information.

{QR code transfer and incoming call}:
Make a phone call to the call center after sending an inquiry e-mail
This method is employed if the customer is planning to make an inquiry
phone call to the call center after sending the e-mail.

{Call back request with QR code}:
Require a phone call from the call center after sending an inquiry email
This method is employed if the customer requires a reply call from the call
center after sending the e-mail.
Fig. 6-30:
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Convenient Functions
6.17 QR Code Creation Function
6.17.7.8 Sending Method of Controller Data
1. Tap {Add controller data (Read the QR code)} on the “Inquiry Email”
screen (refer to fig. 6-30).
2. “QR codes that has already been read” screen appears and those QR
codes are displayed (Refer to fig. 6-31). No codes are displayed at the
beginning.
3. Tap camera button
.
4. The camera function starts (refer to fig. 6-32). Focus the QR code on
the programming pendant so that it is captured in the red square.
CAUTION
•
Use zoom
or flash
function in
accordance with the imaging condition.
If the image is not appropriately auto focused, touch the QR code in
the screen to adjust the focus.
5. When the QR code is successfully captured, the product information
appears on {Controller Data} screen (refer to fig. 6-33).
6. Repeat the above mentioned step 3
(refer to fig. 6-34).
to take more than two codes
7. After all the codes are read, tap the complete button
fig. 6-34).
(refer to
8. “Inquiry Email” screen appears again. The box on the left side of {Add
controller data (Read the QR code)} button is checked to report that
reading of all the codes are complete (refer to fig. 6-35).
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Convenient Functions
6.17 QR Code Creation Function
Fig. 6-31:
Fig. 6-32:
Fig. 6-34:
Fig. 6-35:
6-210
Fig. 6-33:
6
Convenient Functions
6.17 QR Code Creation Function
6.17.7.9 Attaching Method of Picture
1. Tap {Attach photo} on “Inquiry Email” screen (refer to fig. 6-30).
2. Select {Gallery} on the application selecting screen (refer to fig. 6-36).
3. Tap to choose desired pictures in the photo gallery (refer to fig. 6-37).
Only one picture is chosen to attach at a time, therefore, to choose
more than two desired pictures, return to “Inquiry Email” screen (refer
to fig. 6-38) and tap a desired one each time choosing the picture.
4. Total memory capacity of the pictures chosen is indicated at the
bottom of {Attach photo} button (refer to fig. 6-38).
5. Tap the cancellation button
Fig. 6-36:
Fig. 6-37:
6-211
when cancelling the attached photos.
Fig. 6-38:
6
Convenient Functions
6.17 QR Code Creation Function
6.17.7.10
Sending an E-Mail: Transmission type (QR code transmission only)
1. Tap {e-mail sending} on “Inquiry Email” screen (refer to fig. 6-30).
2. Select {QR code transmission only} on the “Transmission type” dialog
box, and then tap {OK} (refer to fig. 6-39).
(Supplementary Explanation)
From the next time, the “Transmission type” selected in this
step is repeatedly and automatically selected.
3. Tap {OK} on "e-mail sending" screen (refer to fig. 6-40).
(Supplementary Explanation)
On this screen, the transmission type can be selected by not only tapping {OK}, but also by tapping the indication, {QR code transmission
only}.
Furthermore, by tapping the indication of the call center, which is right
below the “e-mail address”, customer can change the e-mail sending
address.
4. Select a mailer on "e-mail sending" screen, here, tap {Gmail} as an
example (refer to fig. 6-41).
5. The selected mailer starts-up, title of the {QR code transmission only}
mail and QR code information are posted to this mail, and the selected
pictures are attached. Also, the customer information registered on
{Registration of Customer Info} screen is posted at the end of the mail
(refer to fig. 6-42).
6. The e-mail is finally sent out with some messages if any.
Gmail is a trademark of Google Inc.
Fig. 6-39:
Fig. 6-40:
Fig. 6-41:
6-212
Fig. 6-42:
6
Convenient Functions
6.17 QR Code Creation Function
6.17.7.11 Sending an E-Mail: Transmission type (QR code transfer and incoming call)
1. Tap {e-mail sending} on “Inquiry Email” screen (refer to fig. 6-30).
2. Select {QR code transfer and incoming call} on the “Transmission
type” dialog box, and then tap {OK} (refer to fig. 6-39).
(Supplementary Explanation)
From the next time, the “Transmission type” selected in this step is
repeatedly and automatically selected.
3. Tap {OK} on "e-mail sending" screen (refer to fig. 6-43).
(Supplementary Explanation)
On this screen, the transmission type can be selected by not only tapping {OK}, but also by tapping the indication, {QR code transfer and
incoming call}.
Furthermore, by tapping the indication of the call center, which is right
below the “e-mail address”, customer can change the e-mail sending
address. This modification is reflected to the call center information.
And the newly selected e-mail address appears prior to other addresses
from the next time.
4. Select a mailer on "e-mail sending" screen, here, tap {Gmail} as an
example (refer to fig. 6-41).
5. The selected mailer starts-up, title of the {QR code transfer and
incoming call} mail and QR code information are posted to this mail,
and the selected pictures are attached. Also, the customer information
registered on {Registration of Customer Info} screen is posted at the
end of the mail (refer to fig. 6-41).
6. The e-mail is finally sent out with some messages if any.
7. When the screen returns to “e-mail sending” screen (refer to fig. 6-43)
after the e-mail is successfully sent, tap a telephone number indicated
right below “Phone number of call center”.
8. Select a telephone application (refer to fig. 6-44). Here, tap {Dial}.
9. The call center phone number is posted to the dial application. Tap the
call button
to make a phone call (refer to fig. 6-45).
Fig. 6-43:
Fig. 6-44:
6-213
Fig. 6-45:
6
Convenient Functions
6.17 QR Code Creation Function
6.17.7.12
Sending an E-Mail :Transmission type (Call back request with QR code)
1. Tap {e-mail sending} on “Inquiry Email” screen (refer to fig. 6-30).
2. Select {Call back request with QR code} on the “Transmission type”
dialog box, and then tap {OK} (refer to fig. 6-39).
(Supplementary Explanation)
From the next time, the “Transmission type” selected in this step is
repeatedly and automatically selected.
3. Tap {OK} on "e-mail sending" screen (refer to fig. 6-46).
(Supplementary Explanation)
On this screen, the transmission type can be selected by not only tapping {OK}, but also by tapping the indication, {Call back request with QR
code}.
Furthermore, by tapping the indication of the call center, which is right
below the “e-mail address”, customer can change the e-mail sending
address. This modification is reflected to the call center information.
And the newly selected e-mail address appears prior to other addresses
from the next time.
Likewise, by tapping a telephone number indicated right below “Phone
number of call center”, the phone number the customer desired to be
called can be changed. However, this modification is valid only once
and for all and dose not influence the previously registered telephone
number to customer information.
4. Select a mailer on "e-mail sending" screen, here, tap {Gmail} as an
example (refer to fig. 6-41).
5. The selected mailer starts-up, title of the {Call back request with QR
code} mail and QR code information are posted to this mail, and the
selected pictures are attached. Also, the customer information
registered on {Registration of Customer Info} screen is posted at the
end of the mail (refer to fig. 6-47 and fig. 6-48).
6. The e-mail is finally sent out with some messages if any.
Fig. 6-46:
Fig. 6-47:
6-214
Fig. 6-48:
6
Convenient Functions
6.18 Time Measuring Function
6.18
Time Measuring Function
6.18.1 Time Measuring Function
Time measuring function measures the execution time for the specified
section in the job or the signal output time of the specified signal.
6.18.2 Timer Variable
The result measured by the time measuring function is stored in the timer
variable. The contents of the timer variable can be checked in the timer
variable window.
To display the timer variable window, select “VARIABLE” and then “TIMER
VARIABLE”.
A
B
C
* The unit is 0.01 sec. (example: 1.00sec for 100)
* When setting a name to the timer variable which is set to be displayed in
the job window, the set name and the time measurement result are
displayed in the job window.
A. Move the cursor to a variable number
Move the cursor to any variable number and press [SELECT] to display
the numerics input box. After inputting a variable number in the box, press
[ENTER]. The cursor moves to the variable number.
B. Edit variable contents
The contents cannot be edited, but can be updated by executing the
SETTM instruction.
C. Register a variable name
Move the cursor to the “NAME” of the variable number to be registered
and press [SELECT]. The character input line appears. After inputting a
variable name, press [ENTER] to register the input variable name.
6-215
6
Convenient Functions
6.18 Time Measuring Function
6.18.3
Time Measuring Method
To measure the time, use the SETTM instruction of INFORM instructions.
SETTM
SUBSET
STANDARD
EXPANDED
Not Available
Available
Available
Function
Execute these function, such as to start measuring, to end, to reset, and to
set the time.
Construction
SETTM
1
TM
variable number
2
TSTART
3
TSTOP
4
TRESET
5
D/LD
D[]/LD[]
EN D
Constant
6
TM
Variable
Number
Explanation
1. TM variable number
Add the following tag.
No
Tag
Explanation
Note
1
TM variable
number
Specifies the TM variable number for the
measurement time writing.
Number: 0 to 59
6-216
6
Convenient Functions
6.18 Time Measuring Function
2. TMSTART/TSTOP/TRESET/D Variable number/LD
Variable number/D [Arrangement number]/LD
[Arrangement number]/Constant/TM Variable number
Select one of them shown in the table below.
No
Tag
Explanation
2
TSTART
Specifies to start the time
measurement.
3
TSTOP
Specifies to finish the time
measurement.
4
TRESET
Specifies to reset the time
measurement.
5
D Variable number / Specifies the time measurement
LD Variable number / by the integer type variable.
D [Arrangement
number]/
LD [Arrangement
number]/
[Constant]
Number:
-2147483648
to 2147483647
6
TM variable
number
Number: 0 to 59
Specifies the time measurement
by timer variable.
Note
Example
The motion setting of SETTM is shown below.
(1) SETTM TM000 TSTART
Starts measuring and sets the measuring time on TM000.
(2) SETTM TM000 TSTOP
Finishes measuring and sets the measuring time on TM000.
(3) SETTM TM000 TRESET
Sets 0 for the measuring time of TM000.
(4) SETTM TM000 1000
Sets 1000 for the measuring time of TM000, and starts measuring
at the same time.
(5) SETTM TM000 TM001
Sets TM001 for measuring time of TM000, and starts measuring at
the same time.
6-217
6
Convenient Functions
6.18 Time Measuring Function
6.18.4
Setting for Time Measurement
For time measurement, set a measuring method for each timer variable.
Perform the setting in the SETTM SETUP window.
Display the SETTM SETUP window as follows:
1. Set the management mode or higher to the security mode.
2. Select “SETUP” under the main menu. Then select “SETTM SETUP”.
A
B
C
D
E
F
G
A. Displays a timer variable number whose time measuring
method is to be set.
To change the timer variable number, press the [PAGE] key or the PAGE
button at the bottom of the window.
B. Sets whether to display the result in the job window.
Select “OFF”, “ON(LINE1)”, “ON(LINE2)” or “ON(LINE3)”. When
“ON(LINE1)”, “ON(LINE2)” or “ON(LINE3)” is selected, the time
measuring result is displayed on the specified line in the auxiliary area of
the job window. The same setting cannot be performed for two or more
timer variables. For example, while “ON(LINE1)” is set for the timer
variable 0, it is changed to “OFF” if “ON(LINE1)” is specified for the timer
variable 1.
C. Sets a measuring target.
Select “ELAPSED TIME”, “SIGNAL ON TIME” or “SIGNAL OFF TIME”.
When “ELAPSED TIME” is selected, the time measuring target is the
elapsed time in the specified section. When “SIGNAL ON TIME” or
“SIGNAL OFF TIME” is selected, the time measuring target is ON or OFF
time of the specified signal in the specified section.
D. Sets a signal number whose time is to be measured
when the measuring target is “SIGNAL ON TIME” or
“SIGNAL OFF TIME”.
E. Selects the time measuring type from “LOCAL” and
“GROBAL”.
If “LOCAL” is selected, only the time when the job is executed is
measured. If “GLOBAL” is selected, the time when the job is stopped is
also measured.
6-218
6
Convenient Functions
6.18 Time Measuring Function
F. Sets an additional output destination where the
measuring time is to be output.
Select “NONE”, “UNIVERSAL OUTPUT (2GROUP)”, “UNIVERSAL
OUTPUT (4GROUP)”, “REGISTER (1)” or “REGISTER (2)”. When
“UNIVERSAL OUTPUT (2GROUP)”, “UNIVERSAL OUTPUT (4GROUP)”,
“REGISTER (1)” or “REGISTER (2)” is selected, the measuring time is set
to the specified output destination.
G. Sets a signal number to be output additionally when the
additional output target is “UNIVERSAL OUTPUT 2 GROUP”
or “UNIVERSAL OUTPUT 4 GROUP”.
* (example) -32768 to 32767 is output for “UNIVERSAL OUTPUT 2
GROUP”.
Sets a register number to be output additionally when the
additional output target is “REGISTER 1” or “REGISTER 2”.
* (example) As for “REGISTER 1”, 0 to 32767 is output when the
measuring time is a positive value.
65535 to 32768 is output when the measuring time is a
negative value.
* When the measuring time is out of the output range, the minimum value
or the maximum value of the output range is output.
6.18.5 Displaying the Time Measuring Result in the Job Window
The time measuring result can be checked in the job window.
Display the time measuring result in the job window as follows:
1. Set the management mode or higher to the security mode.
2. Select “SETUP” under the main menu. Then select “SETTM SETUP”.
3. Set “ON(LINE1)”, “ON(LINE2)” or “ON(LINE3)” to DISPLAY ON JOB
CONTENT in the SETTM SETUP window.
4. Select {JOB} under the main menu. Then select {JOB CONTENT}.
5. Select {DISPLAY} and {TIME MEASUREMENT} in the pull down menu.
6-219
6
Convenient Functions
6.18 Time Measuring Function
A
B
C
A. Displays the timer variable number.
B. Displays the timer variable name.
C. Displays the time measuring result.
* Up to three time measuring results can be displayed.
6-220
7
7.1
7
External Memory Devices
Memory Devices
External Memory Devices
7.1
Memory Devices
The following memory devices can be used in the DX200 to save and load
data such as jobs and parameters.
Device
Function
Media (destination of
saved/ loaded data)
Optional function
requirement
CF: Pendant Standard
Compact Flash Card
(CF card)
No requirement.
Programming pendant is
equipped with a slot.
USB:
Pendant
Standard
USB Memory Stick
No requirement.
Programming pendant is
equipped with a slot.
FC1(DX)
Optional1)
Personal computer
(FC1 emulator)
Personal computer with
“FC1 emulator”
PC
Optional1)
Personal computer
(MOTOCOM32 host)
Via RS-232C: “Data
transmission function” and
“MOTOCOM32”
Via Ethernet: “Ethernet
function” plus above two
requirements
FTP
Optional1)
FTP server such as
personal computer
“Data transmission
function”, “MOTOCOM32”,
and “FTP function”
USB1:
Controller
Standard
USB Memory Stick
No requirement.
CPU circuit board
(JANCD-YCP21) is
equipped with a slot.
USB2:
Controller
Standard
USB Memory Stick
No requirement.
CPU circuit board
(JANCD-YCP21) is
equipped with a slot.
1 For the operation, refer to instruction manuals for each optional function.
7-1
7
7.1
7.1.1
External Memory Devices
Memory Devices
Compact Flash (CF Cards)
The programming pendant is equipped with CF card slot. Use the FAT16
or FAT32 formatted Compact Flash.
7.1.1.1
Recommended Compact Flash Cards
Refer to “9.1.2 Device” in “DX200 INSTRUCTIONS (RE-CTO-A220)” for
the recommended products used for external memory of DX200. Model
numbers are subject to be updated due to termination of product and new
addition. Contact Yaskawa representative when necessary.
7.1.1.2
Notes on handling Compact Flash
• Do not drop or bend exerting any shock or strong force to the Compact Flash.
• Keep away from water, oil, organic solvent, dust, and dirt.
• Do not use or keep the Compact Flash in places where strong static
electricity or electronic noise may occur.
• Do not insert or remove the Compact Flash or turn OFF the power
when accessing the Compact Flash (writing-in or reading-out the
Compact Flash data).
• To protect the data, back up the data regularly on other media. Damages or loss of data due to operation errors or accidents can be minimized.
*Compact Flash has a limited life span.
The life span differs depending on products or status of use. However,
normal use of Compact Flash as an external memory device for the
DX200 does not adversely affect the Compact Flash. For details, refer to
instruction manuals for each medium.
7-2
7
7.1
7.1.1.3
External Memory Devices
Memory Devices
Inserting a Compact Flash
When inserting a Compact Flash, take note of insertion direction.
With the notch and clip of the Compact Flash downward, insert the
Compact Flash slowly into the slot of the programming pendant of which
display faces up.
Forcible insertion may result in damage to the Compact Flash or CF card
slot.
After inserting the card, be sure to close the cover of the slot before
starting operation.
Fig. 7-1: Using a Compact Flash Card
START
REMOTE
PLAY
HOLD
TEACH
JOB
EDIT
DISPLAY
JOB CONTENT
J:TEST01
CONTROL GROUP:R1
0000 NOP
0001 SET B000 1
0002 SET B001 0
0003 MOVJ VJ=80.00
0004 MOVJ VJ=80.00
0005 DOUT OT#(10) ON
0006 TIMER T=3.00
0007 MOVJ VJ=80.00
0008 MOVJ VJ=100.00
0009 MOVJ VJ=100.00
0010 MOVJ VJ=100.00
0011 MOVJ VJ=100.00
UTILITY
S:0000
TOOL:
Insertion slot for
the Compact Flash
Insertion direction
top surface
MOVJ VJ=0.78
Main Menu
Turn on servo power
Short Cut
TOO
TOOL
OOL SEL
SE
LAYOU
YOUT
LAYOUT
GO BACK
DIRECT
DIREC
OPEN
COORD
PAGE
AGE
Multi
ENTRY
ENTRY
MAIN
MENU
X-
X+
Y-
Y+
Z-
Z+
SL-
U-
SERVO
SE
VO
ON
READY
READ
SIMPLE
MENU
SE VO ON
SERVO
S+
INTER
LOCK
INFORM
LIST
EX.AXIS
WELD
ON/OFF
AUX
MOTION
TYPE
X+
Y+
Z-
Z+
8-
8+
R-
R+
B+
FAST
MANUAL SPEED
T-
SLOW
SHIFT
X-
B-
U+
ROBOT
SELECT
Y-
HIGH
SPEED
L+
ARE
AREA
CANCE
CANCEL
ASSIST
T+
7
8
9
TEST
START
SHIFT
4
5
6
BWD
FWD
1
2
3
DELETE
INSERT
0
.
-
MODIFY
ENTER
7-3
Notch
Click
7
7.1
7.1.2
External Memory Devices
Memory Devices
USB Memory Stick
The programming pendant or the CPU circuit board (JANCD-YCP21) is
equipped with a USB connector. Use the FAT16 or FAT32 formatted USB
memory stick.
7.1.2.1
Recommended USB Memory Stick
Refer to “9.1.2 Device” in “DX200 INSTRUCTIONS (RE-CTO-A220)” for
the recommended products used for external memory of DX200. Model
numbers are subject to be updated due to termination of product and new
addition. Contact Yaskawa representative when necessary.
7.1.2.2
Notes on handling USB Memory Stick
• Do not drop or bend exerting any shock or strong force to the Compact Flash.
• Keep away from water, oil, organic solvent, dust, and dirt.
• Do not use or keep the Compact Flash in places where strong static
electricity or electronic noise may occur.
• Do not insert or remove the Compact Flash or turn OFF the power
when accessing the Compact Flash (writing-in or reading-out the
Compact Flash data).
• To protect the data, back up the data regularly on other media. Damages or loss of data due to operation errors or accidents can be minimized.
*USB memory stick has a limited life span.
The life span differs depending on products or status of use. However,
normal use of USB memory stick as an external memory device for the
DX200 does not adversely affect the USB memory stick. For details, refer
to instruction manuals for each medium.
7-4
7
7.1
7.1.2.3
External Memory Devices
Memory Devices
Rules for USB Drive and USB Memory Stick
Followings are the rules of the USB drive on the CPU circuit board
(JANCD-YCP21) and the USB memory stick to be installed.
1. Prohibition of insertion/removal of the USB memory stick during
control power ON
The device recognition process is executed when the USB memory
stick is inserted. Do not insert or remove the USB memory stick while
the control power supply is ON. Failure to observe this rule may affect
the operation of the manipulator (cycle time).
2. Prohibition of disconnection of the control power and insertion/
removal of USB memory stick during file access
Do not disconnect the control power or insert/remove the USB
memory stick during file access.
Failure to observe this rule may breakdown the FAT.
3. Operating temperature range of USB memory stick
Use a USB memory stick that is guaranteed to work in the range of
temperature of the DX200.
4. USB memory stick’s falling off by controller vibration
Prevent the USB memory stick from falling off by the vibration of the
controller.
(Countermeasure example)
 Fix the USB memory stick with jigs not to fall off, etc.
5. USB port on the front surface of the CPU circuit board (JANCDYCP21)
The USB port on the front surface of the CPU circuit board (JANCDYCP21) accepts only the USB memory stick.
Do not connect a USB hub or other USB devices.
6. Capacity of USB memory stick
The capacity of the memory stick must be 4Gbyte or less.
7-5
7
7.1
7.1.2.4
External Memory Devices
Memory Devices
Inserting a USB Memory Stick in the Programming Pendant
When inserting a USB memory stick, take note of insertion direction.
With the USB memory stick face-up and the connector upwards, insert the
stick slowly into the slot of the programming pendant of which display
face-down.
Forcible insertion may result in damage to the USB memory stick or USB
connector.
After inserting the stick, be sure to close the cover of the connector before
starting operation.
Fig. 7-2: Using a USB Memory Stick
USB Connector
Insertion position
Top surface
USB memory stick
When a USB memory stick is used, the waterproofing of
programming pendant cannot be maintained.
NOTE
If the USB memory stick is always set in the programming
pendant, the stick may fall out of the pendant.
If it is impossible to maintain the waterproofing of programming pendant or to prevent the USB memory stick from falling out of the programming pendant, use a Compact Flash
card instead.
7-6
7
7.1
7.1.2.5
External Memory Devices
Memory Devices
Inserting a USB Memory Stick in the CPU Circuit Board (JANCD-YCP21)
Be careful about the inserting direction of the USB connector: The USB
memory should be inserted slowly with the upper surface right. Forcible
insertion may result in damage to the USB memory stick or USB
connector.
The position to insert the USB memory.
The upper surface
USB memory
* There are two USB connectors.
The left side is for USB1 and the right side is for USB2.
7-7
7
7.2
7.2
7.2.1
External Memory Devices
Handling Data
Handling Data
Data Classification
For the DX200, data that can be saved online are classified into six
categories.
1. JOB
2. FILE/GENERAL DATA
3. PARAMETER*1
4. I/O DATA
5. SYSTEM DATA
6. SYSTEM BACKUP (CMOS.BIN)
Data saved on the external memory device can be loaded again into the
DX200.
Each data in the six categories varies depending on applications or
options.
When the device is set to “PC” or “FTP”, data cannot be handled other
than “1. JOB” and “2. FILE/GENERAL DATA”.
Also, the “1. JOB” whose name consists of more than nine letters cannot
be handled at “FC1(DX)”.
*1: “PARAMETER BATCH” includes all “3. PARAMETER”.
PARAMETER, SYSTEM DATA, I/O DATA, and SYSTEM
BACKUP (CMOS.BIN), which includes the data of the former three data, have inherent information of each controller.
NOTE
If those data are loaded by other controllers, unintended
data overwriting, unexpected operation, or abnormal system startup may occur.
Do not load those backup data into other controllers.
If two controllers are loaded with the same job, paths of the
two manipulators are different due to the home positions or
mechanical error of the component parts.
Be sure to check the operation instruction before operation.
7-8
7
7.2
External Memory Devices
Handling Data
Table 7-1: Data List (Sheet 1 of 3)
* OPN: Operation Mode, EDIT: Edit Mode, MAN: Management Mode
: Can be done, X: Cannot be done
Data Classification
2 FILE/
GENERAL
DATA
Save
Load
OPN EDIT MAN OPN EDIT MAN
CMOS.BIN



X
X
1)
Single job
JOBNAME.JBI



X


Related job
(Job+Condition)
JOBNAME.JBR



X


6. SYSTEM BACKUP (CMOS.BIN)
1. JOB
File Name
(Saved Data)
Tool data
TOOL.CND



X


Weaving data
WEAV.CND



X


User coordinate data
UFRAME.CND



X


Variable data
VAR.DAT



X


Arc start condition data
ARCSRT.CND



X


Arc end condition data
ARCEND.CND



X


Welding condition
auxiliary data
ARCSUP.DAT



X


Welder characteristic
data
WELDER.DAT



X


Welder characteristic
definition data
WELDUDEF.DAT



X


Shock detection level
data
SHOCKLVL.CND



X


Job registration data
JET.DAT



X


Interference area file
CUBEINTF.CND



X


Motor Gun Pressure
Data
SGPRS.CND



X


Motor Gun Dry Pressure
Data
SGPRSCL.CND



X


Spot Gun Condition Data SGSPEC.DAT



X


Spot Welder I/F Data
SGWELDIF.DAT



X


Gun Open Position Data
STROKE.DAT



X


Spot I/O Allocation Data
SGIO.DAT



X


Spot Welding Condition
Data
SPOTWELD.DAT



X


Clearance Setting Data
SGCLARNC.DAT



X


Motor Gun Auto Tuning
Data
SGUNAUTO.DAT



X


Gun Detail Setting Data
SGDTL.DAT



X


Spot Management Data
SGSPTMNG.DAT



X


Manual Press Condition
Data
SGMNLPRS.CND



X


Tip Dress Condition Data SGTIPDRS.CND



X


Airgun condition data
AIRGUN.DAT



X


User menu data
USERMENU.DAT



X


Timer variable data
TMVAR.DAT



X


Paint condition
PNTCND.CND



X


Paint calibration set
PNTCLB.DAT



X


Paint time chart
PNTTC.DAT



X


Paint data set
PNTDATA.DAT



X


7-9
7
7.2
External Memory Devices
Handling Data
Table 7-1: Data List (Sheet 2 of 3)
* OPN: Operation Mode, EDIT: Edit Mode, MAN: Management Mode
: Can be done, X: Cannot be done
Data Classification
6
3. PARA-METER
File Name
(Saved Data)
Save
Load
OPN EDIT MAN OPN EDIT MAN
ALL.PRM



X
X

3. PARA- Robot matching
METER parameter
RC.PRM



X
X

System definition
parameter
SD.PRM



X
X

Coordinate home
position parameter
RO.PRM



X
X

System matching
parameter
SC.PRM



X
X

ClO parameter
CIO.PRM



X
X

Function definition
parameter
FD.PRM



X
X

4. I/O DATA
Application parameter
AP.PRM



X
X

Transmission (general)
parameter
RS.PRM



X
X

Sensor parameter
SE.PRM



X
X

Servo parameter
SV.PRM



X
X

Servomotor parameter
SVM.PRM



X
X

Operation control
parameter
AMC.PRM



X
X

Servo power block
parameter
SVP.PRM



X
X

Motion function
parameter
MF.PRM



X
X

SERVOPACK parameter
SVS.PRM



X
X

Converter parameter
SVC.PRM



X
X

Robot control expand
parameter
RE.PRM



X
X

Safety function
parameter
FMS.PRM



X
X

CIO program
CIOPRG.LST



X
X

I/O name data
IONAME.DAT



X
X

Pseudo input signals
PSEUDOIN.DAT



X
X

External I/O name data
EXIONAME.DAT



X
X

Register name data
IOMNAME.DAT



X
X

YSF logic file
YSFLOGIC.DAT



X
X

7-10
7
7.2
External Memory Devices
Handling Data
Table 7-1: Data List (Sheet 3 of 3)
* OPN: Operation Mode, EDIT: Edit Mode, MAN: Management Mode
: Can be done, X: Cannot be done
Data Classification
6
5. SYSTEM
DATA
File Name
(Saved Data)
Save
Load
OPN EDIT MAN OPN EDIT MAN
Second home position
HOME2.DAT



X
X

User word
UWORD.DAT



X
X

SV monitor signal
SVMON.DAT



X
X

Variable name
VARNAME.DAT



X
X

Alarm history data
ALMHIST.DAT



X
X
X
Home position calibrating ABSO.DAT
data



X
X

System information
SYSTEM.SYS



X
X
X
Controller information
PANELBOX.LOG



X
X
X
Work home position data OPEORG.DAT



X
X

I/O message history data IOMSGHST.DAT



X
X
X
Function key allocation
data
KEYALLOC.DAT



X
X

Arc monitor data
ARCMON.DAT



X
X
X
Wear detection base
position data
SGWEARBP.DAT



X
X

External IO ALLOC data
EIOALLOC.DAT



X
X

Max/ Min torque data
TRQDAT.DAT



X
X

Logdata
LOGDATA.DAT



X
X
X
PM (reducer) file
PMTRQDB.DAT



X
X

PM (reducer) condition
PMCOND.CND



X
X

Encoder maintenance
ENCHEAT.DAT



X
X
X
Inspection record file
PMLOG.DAT



X
X
X
Robot stop FACTR file
RBSTPFCT.DAT



X
X
X
SETTM setup file
SETTM.DAT



X
X

Timer variable name
TMNAME.DAT



X
X

Paint system
PNTSYS.DAT



X
X

Paint special
PNTSPCL.DAT



X
X

Paint time chart set
PNTTCSET.DAT



X
X

1. If the CF card of the main CPU board was replaced, a load cannot be performed.
For details, refer to chapter 1.4.1 “Types of Security Modes” .
7-11
7
7.2
7.2.2
External Memory Devices
Handling Data
File Existence
The following data categories show whether the same file name as a file
that is going to be saved is in the external memory device or not.
• JOB
No mark appears when the selected folder has the file of the same
name.
The asterisk (*) appears when the folder does not have the same
name file.
The maximum number of files displayed in one folder is 1024 files.
• FILE/GENERAL DATA, PARAMETER, SYSTEM DATA, I/O DATA
Black circle (
) appears when the selected folder has the file of
the same name.
White circle (
) appears when the folder does not have the same
name file.
SUPPLE
-MENT
Whether the job after editing is saved or not can be judged
by checking “TO SAVE TO FD” in the JOB HEADER window.
Fig. 7-3: Example of JOB
Fig. 7-4: Example of FILE/GENERAL DATA
7-12
7
7.2
7.2.2.1
External Memory Devices
Handling Data
Saving by Overwriting
“6.SYSTEM BACKUP (CMOS.BIN)” can be overwritten.
As for “1. JOB”, “2. FILE/GENERAL DATA”, “3. PARAMETER”, “4. I/O
DATA” and “5. SYSTEM DATA”, those data cannot be overwritten. Delete
the target file in the device before the saving operation.
If “CF: Programming pendant”, “USB: Programming pendant”, “USB1:
Controller” or “USB2: Controller” is used as the device, the file does not
need to be deleted because another folder can be created to save the
data.
7-13
7
7.3
7.3
External Memory Devices
Operation Flow
Operation Flow
The following description is the operation flow for external memory
devices.
• SELECT DEVICE
Select {EXTERNAL MOMERY DEVICE} → {DEVICE}, and the destination device for saving.
The device selected is valid after turning the power supply ON again.
• SELECT FOLDER
Select {EXTERNAL MOMERY DEVICE} → {DEVICE}, and the destination folder for saving.
The folder selected is invalid after turning the power supply ON
again.
*1: {FOLDER} appears when using the “CF: Programming pendant”,
“USB: Programming pendant”, “USB1: Controller” or “USB2: Controller” as a device.
*2 The settings of {CREATE NEW FOLDER}, {DELETE FOLDER},
and {ROOT FOLDER} can be set.
• SELECT SUB MENU
Select an operation to be performed from {LOAD}, {SAVE}, {VERIFY}, and {DELETE}.
• SELECT DATA CATEGORY
Select the target data category.
• SELECT DATA
Select the target data.
“6.SYSTEM BACKUP (CMOS.BIN)” does not require this operation.
*4 Individual selection, batch selection, marker (*) selection, and
canceling selection can be performed.
• EXECUTE
Select [ENTER] or {EXECUTE}.
Main Menu
{FD/PC CARD}
Sub Menu
{LOAD}
{SAVE}
{VERIFY}
*1
{FORMAT}
{DEVICE}
*2
{FOLDER}
Select Floppy Type
Select Size
Select
Device
*3
Operate Folder
{DELETE}
Select Data Category
{EXECUTE}
Select Data*4
Select [ENTER] or {EXECUTE}
7-14
Select Folder
7
7.3
7.3.0.1
External Memory Devices
Operation Flow
Operating a Folder
Folders can be used in order to classify and sort out the data such as jobs
and condition files when using the “CF: Programming pendant”, “USB:
Programming pendant”, “USB1: Controller” or “USB2: Controller”. The
folders can be created in hierarchical structure positioning a root folder at
the top.

Restrictions
Folder name: Up to 8 one-byte characters + 3 characters for extension
*Long folder names cannot be used such as the name that exceeds the
restricted number of characters mentioned above as created in PC, etc.
Maximum path length: 42 one-byte characters
*”ERROR 3360: INVALID FOLDER” appears when selecting the folder of
which name exceeds the maximum path length.

Selecting a Folder
1. Select {EXTERNAL MOMERY DEVICE} under {Main Menu}.
2. Select {FOLDER}.
– The FOLDER LIST window appears.
3. Move the cursor to a folder and press [SELECT].
– A folder can be selected.
4. To move the hierarchy from a child folder to a parent folder, move the
cursor to [..] and press [SELECT].

Creating a Folder
1. Change the security to management mode. Select {EXTERNAL
MOMERY DEVICE} under {Main Menu}.
2. Select {FOLDER}.
– The FOLDER LIST window appears.
7-15
7
7.3
External Memory Devices
Operation Flow
3. Move the cursor to a folder and press [SELECT].
– Select the higher-level folder where a new folder to be created
should be contained.
– When creating a folder in top-level, this step is unnecessary.
4. Select {DATA} → {CREATE NEW FOLDER} under the pull-down
menu. Input folder name using the keyboard on the screen and press
[ENTER].
– A folder is created.

Deleting a Folder
1. Change the security to management mode. Select {EXTERNAL
MOMERY DEVICE} under {Main Menu}.
2. Select {FOLDER}.
– The FOLDER LIST window appears.
3. Move the cursor to a folder and press [SELECT].
– Select the higher-level folder where a folder to be deleted is
contained.
– When deleting a folder in top-level, this step is unnecessary.
4. Delete the files and subfolders beforehand inside the folder that is to
be deleted.
– A folder cannot be deleted if the folder contains files or subfolders
inside.
Move the cursor to the folder to be deleted.
5. Select {DATA} → {DELETE FOLDER} under the pull-down menu.
7-16
7
7.3

External Memory Devices
Operation Flow
Initial Folder Setting
The folder that is contained in a deep hierarchy can be selected in a
shortened operation.
When selecting {LOAD}, {SAVE}, {VERIFY}, or {DELETE} from the sub
menu of {EXTERNAL MOMERY DEVICE}, the folder that has been set as
an initial folder becomes a current folder.
1. Change the security to management mode. Select {EXTERNAL
MOMERY DEVICE} under {Main Menu}.
2. Select {FOLDER}.
– The FOLDER LIST window appears.
3. Move the cursor to a folder and press [SELECT].
– Select a folder that is to be set as a root folder.
4. Select {DISPLAY} → {ROOT FOLDER} under the pull-down menu.
– The INITIAL FOLDER SETTING window appears.
– A folder currently selected appears in “CURRENT FOLDER” and the
initial folder appears in “ROOT FOLDER”.
7-17
7
7.3
External Memory Devices
Operation Flow
5. Select {EDIT} → {SETUP FOLDER} under the pull-down menu. Move
the cursor to “AUTO CHANGE” and press [SELECT].
– The initial folder is set in “ROOT FOLDER”.
– “AUTO CHANGE” shows “ON” and the initial folder setting becomes
valid. Subsequently, every time {EXTERNAL MOMERY DEVICE}
→ {FOLDER} is selected, the initial folder that has been set
becomes a current folder.
SUPPLE
-MENT
When the initial folder is missing due to exchange of the
Compact Flash, etc., “ERROR 3360: INVALID FOLDER”
appears when selecting {LOAD}, {SAVE}, {VERIFY},
{DELETE} or {FOLDER} menu from {EXTERNAL MOMERY
DEVICE}, and simultaneously the initial folder becomes
invalid. Set “ON” in “AUTO CHANGE” when the initial folder
setting needs to be valid.
7-18
7
7.3
7.3.0.2
External Memory Devices
Operation Flow
Saving Data
To download data from the memory of the DX200 to the external memory
device, perform the following procedure.
NOTE
Data such as PARAMETER, SYSTEM DATA, I/O DATA,
and the batch data such as PARAMETER BATCH, BATCH
CMOS, ALL CMOS AREA, that include PARAMETER,
SYSTEM DATA, I/O DATA, contain the information specific
to each robot controller.
Those data are prepared as backup data for reloading into
the controller used for saving.
Loading the data from other controller may result in destruction or loss of critical system information.
Take extra care for the saved data.

Saving a Job
1. Select {EXTERNAL MOMERY DEVICE} under {Main Menu}.
2. Select {SAVE}.
– The following window appears.
3. Select {JOB}.
– The JOB LIST window appears.
7-19
7
7.3
External Memory Devices
Operation Flow
4. Select a job to be saved.
– The selected job is marked with “”.
5. Press [ENTER].
– The confirmation dialog box appears.
6. Select “YES”.
– The selected job is saved.
7-20
7
7.3

External Memory Devices
Operation Flow
Saving a Condition File or General Data
1. Select {EXTERNAL MOMERY DEVICE} under {Main Menu}.
2. Select {SAVE}.
– The following window appears.
3. Move the cursor to {FILE/GENERAL DATA} and select.
– The selection window appears.
– The content of the display varies in accordance with applications
and options.
7-21
7
7.3
External Memory Devices
Operation Flow
4. Select condition files or general data to be saved.
– The selected files are marked with “”.
5. Press [ENTER].
– The confirmation dialog box appears.
6. Select “YES”.
– The selected files are saved.
7-22
7
7.3

External Memory Devices
Operation Flow
Saving a Parameter
1. Select {EXTERNAL MOMERY DEVICE} under {Main Menu}.
2. Select {SAVE}.
– The following window appears.
3. Move the cursor to {PARAMETER} and select.
– The selection window for parameters appears.
4. Select parameters to be saved.
– The selected parameters are marked with “”.
7-23
7
7.3
External Memory Devices
Operation Flow
5. Press [ENTER].
– The confirmation dialog box appears.
6. Select “YES”.
– The selected parameters are saved.
7-24
7
7.3

External Memory Devices
Operation Flow
Saving I/O Data
1. Select {EXTERNAL MOMERY DEVICE} under {Main Menu}.
2. Select {SAVE}.
– The following window appears.
3. Move the cursor to {I/O DATA} and select.
– The selection window for I/O data appears.
4. Select I/O data to be saved.
– The selected I/O data are marked with “”.
5. Press [ENTER].
– The confirmation dialog box appears.
6. Select “YES”.
– The selected I/O data are saved.
7-25
7
7.3

External Memory Devices
Operation Flow
Saving System Data
1. Select {EXTERNAL MOMERY DEVICE} under {Main Menu}.
2. Select {SAVE}.
– The following window appears.
3. Move the cursor to {SYSTEM DATA} and select.
– The selection window for system data appears.
7-26
7
7.3
External Memory Devices
Operation Flow
4. Select system data to be saved.
– The selected system data are marked with “”.
5. Press [ENTER].
– The confirmation dialog box appears.
6. Select “YES”.
– The selected system data are saved.
SUPPLE
-MENT
As for “JOB”, “FILE/GENERAL DATA”, “PARAMETER”,
“SYSTEM DATA”, and “I/O DATA”, the data cannot be overwritten. In this case, delete the file of the same name in the
folder beforehand or create a new folder so that the data can
be stored inside.
7-27
7
7.3

External Memory Devices
Operation Flow
SYSTEM BACKUP (CMOS.BIN) Saving
1. Select {EXTERNAL MOMERY DEVICE} under {Main Menu}.
2. Select {SAVE}.
– The following window appears.
3. Select {SYSTEM BACKUP(CMOS.BIN).
– The confirmation dialog box appears.
4. Select “YES”.
– Saving operation of SYSTEM BACKUP(CMOS.BIN) starts in case
CMOS.BIN does not exist where this data is saved.
Or proceed to the following step (step 5) when CMOS.BIN is already
equipped.
7-28
7
7.3
External Memory Devices
Operation Flow
5. A confirmation dialog box to ask over-writing the data apears.
6. Select “YES”.
– Saving of SYSTEM BACKUP (CMOS.BIN) starts.
Saving of SYSTEM BACKUP (CMOS.BIN) cannot be performed while servo is turned ON, data is transmitted
together with data modification, automatic backup, or when
the media free space is less than 35MB.
NOTE
For about 2 seconds right after SYSTEM BACKUP
(CMOS.BIN) saving is started, the hourglass icon appears
at the center of the window and all the operations become
invalid. Operations become valid when the hourglass disappeared.
Do not turn OFF the power supply because SYSTEM
BACKUP (CMOS.BIN) is being saved in the saving device
while the hourglass is appeared in the status area.
7-29
7
7.3
7.3.0.3
External Memory Devices
Operation Flow
Loading Data
To upload data from the external memory device to the memory of the
DX200, follow the procedure in the following.
PARAMETER, SYSTEM DATA, I/O DATA, and SYSTEM
BACKUP (CMOS.BIN), which includes the data of the former three data, have inherent information of each controller.
NOTE
If those data are loaded by other controllers, unintended
data overwriting, unexpected operation, or abnormal system startup may occur.
Do not load those backup data into other controllers.
If two controllers are loaded with the same job, paths of the
two manipulators are different due to the home positions or
mechanical error of the component parts.
Be sure to check the operation instruction before operation.
Take extra care for the saved data.
When the ladder program used in the DX200 is tried to be
loaded, the confirmation dialog "DX200 CIOPRG DOWNLOAD?" is displayed. Select "YES" to load the ladder program of the DX200. If [CANCEL] is pressed or "NO" is
selected while this dialog is displayed, the ladder program
will not be loaded.
NOTE
When the ladder program used in the DX200 is loaded to
the DX200, make sure to confirm that the APPLI of the program in the DX200 system and the DX200 system to which
the program is loaded are the same. Do not load the ladder
program which has a different APPLI. The "different APPLI"
also means the case that the number of APPLIs are different (ex. "Arc" and "Arc + Arc").
If the ladder program used in DX200 arc is loaded to
DX200, some new functions added in DX200 cannot be
used (only for arc welding purpose). In order to use the
new functions added in DX200, reflect the content edited in
DX200 to the DX200 ladder program without loading the
ladder program of DX200.
7-30
7
7.3

External Memory Devices
Operation Flow
Loading a Job
1. Select {EXTERNAL MOMERY DEVICE} under {Main Menu}.
2. Select {LOAD}.
– The following window appears.
3. Select {JOB}.
– The job selection window appears.
7-31
7
7.3
External Memory Devices
Operation Flow
4. Select a job to be loaded.
– The selected jobs are marked with “”.
5. Press [ENTER].
– The confirmation dialog box appears.
6. Select “YES”.
– The selected jobs are loaded.
7-32
7
7.3

External Memory Devices
Operation Flow
Loading a Condition File/General Data
1. Select {EXTERNAL MOMERY DEVICE} under {Main Menu}.
2. Select {LOAD}.
– The following window appears.
3. Move the cursor to {FILE/GENERAL DATA} and select.
– The selection window for condition file or general data appears.
4. Select a condition file or general data to be loaded.
– The selected files are marked with “”.
7-33
7
7.3
External Memory Devices
Operation Flow
5. Press [ENTER].
– The confirmation dialog box appears.
6. Select “YES”.
– The selected files are loaded.

Loading a Parameter
1. Select {EXTERNAL MOMERY DEVICE} under {Main Menu}.
2. Select {LOAD}.
– The following window appears.
3. Move the cursor to {PARAMETER} and select.
– The selection window for parameters appears.
7-34
7
7.3
External Memory Devices
Operation Flow
4. Select parameters to be loaded.
– The selected parameters are marked with “”.
5. Press [ENTER].
– The confirmation dialog box appears.
6. Select “YES”.
– The selected parameters are loaded.
7-35
7
7.3

External Memory Devices
Operation Flow
Loading I/O Data
1. Select {EXTERNAL MOMERY DEVICE} under {Main Menu}.
2. Select {LOAD}.
– The following window appears.
3. Move the cursor to {I/O DATA} and select.
– The selection window for I/O data appears.
4. Select I/O data to be loaded.
– The selected I/O data are marked with “”.
5. Press [ENTER].
– The confirmation dialog box appears.
6. Select “YES”.
– The selected I/O data are loaded.
7-36
7
7.3

External Memory Devices
Operation Flow
Loading System Data
1. Select {EXTERNAL MOMERY DEVICE} under {Main Menu}.
2. Select {LOAD}.
– The following window appears.
3. Move the cursor to {SYSTEM DATA} and select.
– The selection window for system data appears.
4. Select system data to be loaded.
– The selected system data are marked with “”.
7-37
7
7.3
External Memory Devices
Operation Flow
5. Press [ENTER].
– The confirmation dialog box appears.
6. Select “YES”.
– The selected system data are loaded.
7-38
7
7.3
7.3.0.4
External Memory Devices
Operation Flow
Verifying Data
Follow the procedure below to verify data in the memory of the DX200
with data saved in the external memory device.
NOTE

“SYSTEM BACKUP (CMOS.BIN)” cannot be verified.
Verifying a Job
1. Select {EXTERNAL MOMERY DEVICE} under {Main Menu}.
2. Select {VERIFY}.
– The following window appears.
3. Select {JOB}.
– The job selection window appears.
7-39
7
7.3
External Memory Devices
Operation Flow
4. Select a job to be verified.
– The selected jobs are marked with “”.
5. Press [ENTER].
– The confirmation dialog box appears.
6. Select “YES”.
– The selected jobs are verified.
7-40
7
7.3

External Memory Devices
Operation Flow
Verifying a File
1. Select {EXTERNAL MOMERY DEVICE} under {Main Menu}.
2. Select {VERIFY}.
– The following window appears.
3. Select the group of the file to be verified.
4. Select a file to be verified.
– The selected files are marked with “”.
5. Press [ENTER].
– The confirmation dialog box appears.
6. Select “YES”.
– The selected files are verified.
7-41
7
7.3
7.3.0.5
External Memory Devices
Operation Flow
Deleting Data
Follow the procedure below to delete a file or files on an external memory
device.

Deleting a Job
1. Select {EXTERNAL MOMERY DEVICE} under {Main Menu}.
2. Select {DELETE}.
– The following window appears.
3. Select {JOB}.
– The job selection window appears.
4. Select a job to be deleted.
– The selected jobs are marked with “”.
5. Press [ENTER].
– The confirmation dialog box appears.
6. Select “YES”.
– The selected jobs are deleted.
7-42
7
7.3

External Memory Devices
Operation Flow
Deleting a File
(Condition file/General data, Parameter, System data and I/O data)
1. Select {EXTERNAL MOMERY DEVICE} under {Main Menu}.
2. Select {DELETE}.
– The following window appears.
3. Select the group of the file to be deleted.
4. Select a file to be deleted.
– The selected files are marked with “”.
5. Press [ENTER].
– The confirmation dialog box appears.
6. Select “YES”.
– The selected files are deleted.
7-43
7
7.3

External Memory Devices
Operation Flow
Deleting SYSTEM BACKUP (CMOS.BIN)
1. Select {EXTERNAL MOMERY DEVICE} under {Main Menu}.
2. Select {DELETE}.
– The following window appears.
3. Select {SYSTEM BACKUP (CMOS.BIN)}.
– A confirmation dialog box appears when CMOS.BIN exists in the
saving device. And it won’t appear when CMOS.BIN does not exist.
4. Select “YES”.
– Deleting of SYSTEM BACKUP (CMOS.BIN) starts.
NOTE
Deleting of SYSTEM BACKUP (CMOS.BIN is not executed
while a data is transmitted together with data modification.
7-44
7
7.3
7.3.0.6
External Memory Devices
Operation Flow
Job Selection Mode
The method of selecting a job and various data files when loading, saving,
verifying, and deleting are described in the following:
• Individual Selection
Jobs and data files are selected individually one at a time.
• Batch Selection
Jobs and data files are selected all at one time.
• Marker (*) Selection
Loading: selects the files in the external memory device.
Saving: selects the files in the memory of the DX200.
Verifying: selects both the files in the external memory device and in
the memory of the DX200.

Using Individual Selection
1. In either the external memory JOB LIST window or the file selection
window, move the cursor to a job or a file to be selected.
2. Press [SELECT].
Move the cursor to a file needed and press [SELECT] again.
*To cancel the selected items, select {EDIT} and then {CANCEL
SELECT}.
– The selected jobs are marked with “”.
7-45
7
7.3

External Memory Devices
Operation Flow
Using Batch Selection
1. In either the external memory JOB LIST window or the file selection
window, select {EDIT} under the menu.
– The pull-down menu appears.
2. Select {SELECT ALL}.
*To cancel the selected items, select {EDIT} and then {CANCEL
SELECT}.
– All jobs are selected.
7-46
7
7.3

External Memory Devices
Operation Flow
Using Marker (*) Selection
1. In either the external memory JOB LIST window or the file selection
window, select {EDIT} under the menu.
– The pull-down menu appears.
2. Select {SELECT MARKER (*)}.
*To cancel the selected items, select {EDIT} and then {CANCEL
SELECT}.
7-47
8
8.1
8
Parameter
Parameter Configuration
Parameter
8.1
Parameter Configuration
The parameters of DX200 can be classified into the following seven:
Motion Speed Setting Parameter
Determines the manipulator motion speed for jog operation at teaching,
test operation, or playback operation.
Mode Operation Setting Parameter
Makes the setting for various operations in the teach mode or remote
mode.
Parameter according to Interference Area
Limits the P-point maximum envelope of the manipulator or sets the
interference area for axis interference or cubic interference.
Parameter according to Status I/O
Sets the parity check or I/O setting for user input/output signals.
Parameter according to Coordinated or Synchronized Operation
Makes the settings for coordinated or synchronized operations between
manipulators or between manipulators and stations.
Parameter for Other Functions or Applications
Makes the settings for other functions or applications.
Hardware Control Parameter
Makes the hardware settings for fan alarm or relay operation, etc.
S1CxG Parameters
SUPPLE
-MENT
The initial setting of S1CxG parameters depends on the
manipulator model.
For a system in which two manipulators are controlled, the
following two types of parameters are used: S1C1G type
and S1C2G type.
8-1
8
8.2
8.2
Parameter
Motion Speed Setting Parameters
Motion Speed Setting Parameters
These parameters set the manipulator motion speed for jog operation at
teaching, test operation, or playback operation.
8.2.0.1
S1CxG000: IN-GUARD SAFE OPERATION MAX. SPEED
Units: 0.01%
The upper speed limit is set for in-guard safe operation. While the inguard safe operation command signal is being input, the TCP speed is
limited to the TCPmax speed.
8.2.0.2
S1CxG001: DRY-RUN SPEED
Units: 0.01%
This is a dry-run operation speed setting value used when checking the
path. Take safety into consideration when setting changes are
unnecessary.
Normal playback operation speed
In-guard safe
operation speed
limit
Operation speed under in-guard
safe operation
Teach-speed
Dry-run speed
Operation speed
when dry-run is
specified.
8.2.0.3
S1CxG002 to S1CxG009: JOINT SPEED FOR REGISTRATION
Units: 0.01%
The value set in these parameters is registered as the joint speed for each
speed level when teaching the position data with the programming
pendant. The percentage corresponding to the set value at each level is
registered as 100% of the value set in the playback speed limit. Values
greater than those set as speed limit values cannot be set.
S1CxG002: Level 1
S1CxG003: Level 2
·
·
·
S1CxG009: Level 8
8-2
8
8.2
8.2.0.4
Parameter
Motion Speed Setting Parameters
S1CxG010 to S1CxG017: LINEAR SPEED FOR REGISTRATION
Units: 0.1mm/s
The value set in these parameters is registered as the linear speed for
each speed level when teaching the position data with the programming
pendant. Values greater than those set as playback speed limit values
cannot be set.
S1CxG010: Level 1
S1CxG011: Level 2
·
·
·
S1CxG017: Level 8
8.2.0.5
S1CxG018 to S1CxG025: POSITION ANGLE SPEED
Units: 0.1°/s
The value set in these parameters is registered as the position angle
speed for each speed level when teaching the position data with the
programming pendant. Values greater than those set as playback speed
limit cannot be set.
S1CxG018: Level 1
S1CxG019: Level 2
·
·
·
S1CxG025: Level 8
8.2.0.6
S1CxG026 to S1CxG029: JOG OPERATION ABSOLUTE VALUE SPEED
Units: 0.1mm/s
These are setting values of jog operation speed set by the programming
pendant. Values greater than those set as jog operation speed limit value
cannot be set.
S1CxG026 Low level
: Jog operation speed when “LOW” manual
speed is specified.
S1CxG027 Medium level
: Jog operation speed when “MEDIUM” manual
speed is specified.
S1CxG028 High level
: Jog operation speed when “HIGH” manual
speed is specified.
S1CxG029 High-speed-level
: Jog operation speed when [HIGH SPEED] is
pressed.
8-3
8
8.2
8.2.0.7
Parameter
Motion Speed Setting Parameters
S1CxG030 to S1CxG032: INCHING MOVE AMOUNT
These parameters specify the amount per move at inching operation by
the programming pendant. The referenced parameter differs according to
the operation mode at inching operation.
S1CxG030
: Joint Operation (Unit: 1 pulse)
S1CxG031
: Cartesian/cylindrical (Unit: 0.001 mm)
S1CxG032
: Motion about TCP (Unit: 0.0001 degree)
SUPPLE
-MENT
NOTE
8.2.0.8
If the value set for S1CxG031 or S1CxG032 is too small, the
inching operation does not proceed.
Note that the units of S1CxG031 and S1CxG032 are
smaller than those for the NX100.
S1CxG033 to S1CxG040: POSITIONING ZONE
This parameter value will be referenced when positioning is specified with
the “MOVE” instruction: MOVJ (joint movement) or MOVL (linear
movement).
<Example> MOVL V=100.0 PL=1
Positioning level
Positioning specification
The value set in this parameter specifies the range to enter in relation to
the teaching point for that step positioning. After entering the specified
positioning zone, the manipulator starts moving to the next step. The
system is also set up so inward turning operation is carried out in the
moving section when moving to the next path; speed changeover is
smooth.
S1CxG033: Positioning level 1
S1CxG034: Positioning level 2
·
·
·
S1CxG040: Positioning level 8
8-4
8
8.2
Parameter
Motion Speed Setting Parameters
Since operation will be turning inward during playback, as shown in the
following diagram, use setting values taking safety aspects into
consideration.
P1
P1
l
P1
l4
l3
l2
l1
l8
P1
NOTE
This process becomes effective when change in direction of
steps is between 25° and 155°.
Position Level
Position levels are divided into nine stages of 0 to 8 with the
“MOV” instruction.
e.g. MOVL V=500 PL=1 (PL: Position Level)
The functions at each level are as follows:
0: Complete positioning to the target point
1 to 8: Inward turning operation
Following are explanations of the respective processing
details and their relations with the parameter.
SUPPLE
-MENT
• Level 0
Determines positioning completion when the amount of
deviation (number of pulses) to the target point of each
axis comes within the position set zone specified by the
parameter.
After the positioning completes, the instruction system
starts instruction to the next target point.
• Level 1 to 8
Recognizes virtual positioning before the target point. The
distance of the virtual target position from the target point is
specified at the positioning level.
Distance data corresponding to each level are set in the
parameter. Determination of the virtual target position is
carried out in the instruction system.
Set zone: The zone of each positioning level set in the
parameter. (μm)
8-5
8
8.2
8.2.0.9
Parameter
Motion Speed Setting Parameters
S1CxG044: LOW-SPEED START
Units: 0.01%
This parameter specifies max. speed at low speed start. Specify the
starting method for “initial operation speed of manipulator” (S2C217).
8.2.0.10 S1CxG045 to S1CxG048: JOG OPERATION LINK SPEED
Units: 0.01%
These parameters prescribe the link speed at jog operation by the
programming pendant. Specify the percentage (%) for the jog operation
speed limit, the joint max. speed.
S1CxG045: Jog operation link speed at level “LOW”
S1CxG046: Jog operation link speed at level “MEDIUM”
S1CxG047: Jog operation link speed at level “HIGH”
S1CxG048: Jog operation link speed at level “HIGH SPEED”
8.2.0.11
S1CxG056: WORK HOME POSITION RETURN SPEED
Units: 0.01%
This parameter specifies the speed for returning to work home position
against the maximum speed.
8.2.0.12 S1CxG057: SEARCH MAX. SPEED
Units: 0.1mm/s
This parameter specifies the max. speed for searching.
8.2.0.13 S2C201: POSTURE CONTROL AT CARTESIAN OPERATION OF JOG
This parameter specifies whether or not posture control is performed at
cartesian operation of “JOG” by the programming pendant. Use posture
control unless a special manipulator model is used.
0
: With posture control
1
: Without posture control
8.2.0.14 S2C202: OPERATION IN USER COORDINATE SYSTEM (WHEN EXTERNAL
REFERENCE POINT CONTROL FUNCTION USED)
This parameter specifies the TCP or reference point of motion about TCP
when the external reference point control function is used and the user
coordinate system is selected by the programming pendant.
Fig. 8-1: 0: When manipulator TCP is selected
Manipulator TCP
8-6
8
8.2
Parameter
Motion Speed Setting Parameters
Fig. 8-2: 1: When external reference point is selected
External
reference
point
8.2.0.15
S2C320: CONTROLLED GROUP JOB TEACHING POSITION CHANGE
This parameter is used to change only the job teaching position of
controlled group axis.
0
: Not changed
1
: Changed
8.2.0.16
S2C422: OPERATION AFTER RESET FROM PATH DEVIATION
8.2.0.17
S2C423: OPERATION AFTER JOB
These parameters specify the method of restarting the manipulator that
has deviated from the normal path such as an emergency stop or jog
operation.
0
: Move to the indicated step (initial setting).
1
: After moving back to the deviated position, move to the indicated step.
2
: Move back to the deviated position and stop.
Table 8-1: S2C422
Parameter
Setting
Value
Movement When Restarting
Move to next step.
Emergency stop
0
Movement
when restarting
Move to next step.
After moving back to the deviated position, move to the indicated
step.
Emergency stop
1
Move back to the deviated
position and stop.
When restarting, move to
the indicated step.
Emergency stop (Servo OFF)
2
Move back the the deviated
position and then move to
the indicated step.
8-7
8
8.2
Parameter
Motion Speed Setting Parameters
Table 8-2: S2C423
Parameter
Setting
Value
Movement When Restarting
Move to the next step.
0
Movement
when restarting
JOG
Move to next step.
After moving back to the deviated position, move to the indicated
step.
Emergency stop (Servo OFF)
1
Move back to the deviated
position and then move to
the indicated step.
JOG
Emergency stop (Servo OFF)
2
JOG
NOTE
Move back to the deviated
position and stop. When
restarting, move to the
indicated step.
• To the path deviated position, the manipulator moves in a
straight line at low speed operation (SICxG044).
It is linear movement. After resetting from deviation, the
speed becomes the same as taught speed.
• The initial setting (prior to shipping) is 0: The manipulator
moves in a straight line from the present position to the
indicated step.
8.2.0.18 S2C424: DEVIATED POSITION
This parameter specifies whether deviated position is to be robot current
(reference) position or feedback position.
0
: Return to the feedback position.
1
: Return to the current value (reference) position.
8-8
8
8.2
Parameter
Motion Speed Setting Parameters
When emergency stop is applied during high-speed motion, the deviated
position differs from the robot current value (reference) position and
feedback position as shown in the following.
Current value
(reference) position
Feedback position
Emergency stop
8.2.0.19
S2C425: CIRCULAR INTERPOLATION TOOL POSITION CONTROL
This parameter selects tool position control methods at circular
interpolation operation.
0
: Fixed angle position
Interpolation is performed depending on the position change viewed from
the base coordinate.
As the figure below (left) shows, when tool position viewed from outside is
not significantly changed and that position is mainly taught at teaching, this
setting is required.
1
: Rotating position by circular arc path
Interpolation is performed depending on the position change
corresponding to circular arc path.
As the figure below (right) shows, when tool position corresponding to
circular arc path (tool position viewed from the center of the circular arc) is
not significantly changed, and that position is mainly taught at teaching,
this setting is required.
0: Fixed angle position
1: Rotating position by circular arc path
P1
P1
P0
8.2.0.20
P2
P0
P2
S2C653: EMERGENCY STOP CURSOR ADVANCE CONTROL FUNCTION
This parameter specifies whether to use the cursor advance control
function or not.
0: Not use
1: Use
8-9
8
8.2
Parameter
Motion Speed Setting Parameters
8.2.0.21 S2C654: EMERGENCY STOP CURSOR ADVANCE CONTROL FUNCTION CONT
PROCESS COMPLETION POSITION
Units: %
When the manipulator stops during moving inner corner by CONT
process, this parameter specifies which position of the inner corner should
be considered as the end of step.
Step 4
100%
When 50% is set, moves to Step 3
if the manipulator stops in A section,
and to Step 4 if the manipulator stops
in B section.
B
50%
A
Step 3
0%
8.2.0.22 S2C655: EMERGENCY STOP ADVANCE CONTROL FUNCTION WORK START
INSTRUCTION STEP MOTION COMPLETION DELAY TIME
Units: ms
In order to recognize securely the completion of motion to the step of work
start instruction (such as ARCON instruction), this parameter specifies the
delay time for motion completion of the work start instruction step only.
8.2.0.23 S2C698: BASE AXIS OPERATION KEY ALLOCATION SETTING
Table 8-3: Parameter Setting and Jog Operation Key Allocation
Coordinates/Parameter
S2C698= “0”
S2C698= “1”
Joint
Axis number order
Specified
Cylindrical
Axis number order
Specified
Cartesian
Specified
Specified
Tool
Specified
Specified
User
Specified
Specified
Axis number order: X: First axis, Y: Second axis, Z: Third axis
Specified: X: X-direction (RECT-X), Y: Y-direction (RECT-Y), Z: Z-direction
(RECT-Z)
8-10
8
8.2
8.2.0.24
Parameter
Motion Speed Setting Parameters
S3C1098 to S3C1102: POSITION CORRECTING FUNCTION DURING PLAYBACK
These parameters specify the necessary data for position correcting
function (PAM) during playback operation.
S3C1098
Specifies the limit of position correcting range (Units: μm)
S3C1099
Specifies the limit of speed correcting range (Units: 0.01%)
S3C1100
Specifies the correcting coordinates
0: Base
1: Robot
2: Tool
3: User 1
to
26:User 24
S3C1102
Specifies the limit of posture angle adjustment range (Units: 0.01°)
8-11
8
8.3
8.3
Parameter
Mode Operation Setting Parameters
Mode Operation Setting Parameters
These parameters set various operations in the teach mode or remote
mode.
Some parameters can be set through {SETUP} → {TEACHING COND} or
{OPERATE COND}.
8.3.0.1
S2C195: SECURITY MODE WHEN CONTROL POWER SUPPLY IS TURNED ON
The operation level when the control power supply is turned ON is set.
8.3.0.2
0
: Operation Mode
1
: Editing Mode
2
: Management Mode
S2C196: SELECTION OF CARTESIAN/CYLINDRICAL
This parameter specifies whether the cartesian mode or cylindrical mode
is affected when cartesian/cylindrical mode is selected by operation
(coordinate) mode selection at axis operation of programming pendant.
This specification can be done on the TEACHING CONDITION window.
8.3.0.3
0
: Cylindrical mode
1
: Cartesian mode
S2C197: COORDINATE SWITCHING PROHIBITED
This parameter prohibits switching coordinates during JOG operation by
the programming pendant.
8.3.0.4
0
: Switching permitted for tool coordinates and user coordinates
1
: Switching prohibited for tool coordinates
2
: Switching prohibited for user coordinates
3
: Switching prohibited for tool coordinates and user coordinates
S2C198: EXECUTION UNITS AT “FORWARD” OPERATION
This parameter specifies the execution units at step mode of “FORWARD”
operation by the programming pendant.
Parameter Setting
Value
Operation Units
Stops at every instruction
0
MOVL
DOUT
TIMER
DOUT
MOVL
Stops at move instruction
1
MOVL
DOUT
TIMER
DOUT
MOVL
8-12
8
8.3
8.3.0.5
Parameter
Mode Operation Setting Parameters
S2C199: INSTRUCTION (EXCEPT FOR MOVE) EXECUTION AT “FORWARD” OPERATION
This parameter specifies the method of instruction (except for move)
execution at “FORWARD” operation by the programming pendant.
8.3.0.6
0
: Executed by pressing [FWD] + [INTERLOCK]
1
: Executed by pressing [FWD] only
2
: Instruction not executed
S2C203: CHANGING STEP ONLY
This parameter specifies whether to permit only step changes in an
editing-prohibited job. When permitted, only position data can be changed
but additional data such as speed cannot be changed. This specification
can be done on the TEACHING CONDITION window.
8.3.0.7
0
: Permitted
1
: Prohibited
S2C204: MANUAL SPEED STORING FOR EACH COORDINATE
This parameter specifies whether to assign different manual speeds for
the joint coordinates and other coordinates. If “NOT STORED” is
selected, manual speed is not affected by changing the coordinates. If
“STORED” is selected, manual speeds can be selected separately for the
joint coordinates and other coordinates.
8.3.0.8
0
: Not stored
1
: Stored
S2C206: ADDITIONAL STEP POSITION
This parameter designates either “before next step” or “after the cursor
position (between instructions)” as additional step position. This
specification can be done on the TEACHING CONDITION window.
Fig. 8-3: <Example>
Line
Instruction
10
MOVL V=100
11
TIMER T=1.00
12
DOUT OT# (1) ON
13
MOVL V=50
Cursor position
Fig. 8-4: S2C206-0 (Before the Next Step)
Line
Instruction
10
MOVL V=100
11
TIMER T=1.00
12
DOUT OT#(1) ON
13
MOVL V=100
14
MOVL V=50
Added step
8-13
8
8.3
Parameter
Mode Operation Setting Parameters
Fig. 8-5: S2C206-1 (Between Instructions)
Line
Instruction
10
MOVL V=100
11
TIMER T=1.00
12
MOVL V=100
13
DOUT OT# (1) ON
14
MOVL V=50
Added step
8.3.0.9
S2C207: MASTER JOB CHANGING OPERATION
This parameter specifies whether to permit or prohibit master job changing
operation. If “PROHIBIT” is specified, the master job cannot be changed
(or registered) easily. The specification can be done on the OPERATING
CONDITION window.
0
: Permitted
1
: Prohibited
8.3.0.10 S2C208: CHECK AND MACHINE-LOCK KEY OPERATION IN PLAY MODE
This parameter specifies whether to permit or prohibit in play mode to
change the operation that changes the operation condition. Even if an
error occurs because of the operation with the keys, the manipulator does
not stop. The specification can be done on the OPERATING CONDITION
window.
8.3.0.11
0
: Permitted
1
: Prohibited
S2C209: RESERVED WORK JOB CHANGING OPERATION
This parameter specifies whether to permit reserved work job changing
operation.
The designation can be done on the OPERATING CONDITION window.
0
: Permitted
1
: Prohibited
8.3.0.12 S2C210: MASTER OR SUBMASTER CALL OPERATION IN PLAY MODE
This parameter specifies whether the master or submaster call operation
in play mode is permitted or not. When the independent control function is
valid, the master job for sub-task is specified at the same time. The
specification can be done on the OPERATING CONDITION window.
0
: Permitted
1
: Prohibited
8-14
8
8.3
8.3.0.13
Parameter
Mode Operation Setting Parameters
S2C211: LANGUAGE LEVEL
This parameter specifies the level of the robot language (INFORM III).
The levels simplify the instruction registering operation. With the DX200,
all robot instructions can be executed regardless of specification of
instruction sets. The specification can be done on the TEACHING
CONDITION window.
0: Contracted Level
Only frequently used robot instructions are selected to reduce the number
of instructions to be registered. Robot instructions displayed on the
instruction dialog box are also reduced so that specification is simplified.
1: Standard Level
2: Expanded Level
All the robot instructions are available in standard and expanded levels.
The two levels are distinguished by the number of additional information
items (tags) that can be used with robot instructions. At the expanded
level, the flowing functions are available.
• Local Variables and Array Variables
• Use of Variables for Tags (Example: MOVJ VJ=I000)
The above functions are not available at the standard level, however,
which reduces the number of data required to register instructions,
thereby simplifying the operation.
8.3.0.14
S2C214: INSTRUCTION INPUT LEARNING FUNCTION
This parameter specifies whether to set a line of instructions that has been
input on the input buffer line when pressing the first soft key for each
instruction. If “PROVIDED” is selected, the instructions are set.
8.3.0.15
0
: Without learning function
1
: With learning function
S2C215: ADDRESS SETTING WHEN CONTROL POWER IS TURNED ON
This parameter specifies the processing of the job name, step No., and
line No. that are set when the control power supply is turned ON.
8.3.0.16
0
: Reproduces the address when power supply is turned ON.
1
: Lead address (Line“0”) of the master job.
S2C216: JOB LIST DISPLAY METHOD AT JOB SELECTION
These parameters specify the displaying method on the JOB LIST window
at job selection.
0
: Order of Names
1
: Order of Date
8-15
8
8.3
Parameter
Mode Operation Setting Parameters
8.3.0.17 S2C217: INITIAL OPERATION OF MANIPULATOR
This parameter specifies the operation speed level of the first section
when starting. Specify the operation speed with the low-speed start
(S1CxG044). When starting at low-speed, the manipulator stops after
reaching the indicated step regardless of the cycle setting. Once the
manipulator is paused during the low-speed operation, it moves at
teaching speed when restarted.
0
: Specified on the SPECIAL PLAY window. Operates at low speed only
when low speed start is set. Operates at taught speed when not instructed.
1
: Starts at low speed after editing regardless of soft key instructions.
8.3.0.18 S2C218: PLAYBACK EXECUTION AT CYCLE MODE “1- STEP”
Parameter Setting
Value
NOTE
Operation Units
Stops at every instruction
0
MOVL
DOUT
TIMER
DOUT
MOVL
Stops at move instruction
1
MOVL
DOUT
TIMER
DOUT
MOVL
When operating “FORWARD” by the programming pendant,
the units for execution are set in another parameter
(S2C198).
8.3.0.19 S2C219: EXTERNAL START
This parameter specifies whether a start instruction from external input is
accepted or not. The specification can be done on the OPERATING
CONDITION window.
0
: Permitted
1
: Prohibited
8.3.0.20 S2C220: PROGRAMMING PENDANT START
This parameter specifies whether a start instruction from the programming
pendant is accepted or not.
The specification can be done on the OPERATE ENABLE SETTING
window.
0
: Permitted
1
: Prohibited
8-16
8
8.3
8.3.0.21
Parameter
Mode Operation Setting Parameters
S2C221: SPEED DATA INPUT FORM
This parameter specifies the units for speed data input and display.
mm/s : in units of 0.1 mm/s
cm/min : in units of 1cm/min
inch/min : in units of 1 inch/min
mm/min : in units of 1 mm/min
The specification can be done on the OPERATE ENABLE SETTING
window.
8.3.0.22
0
: mm/sec
1
: cm/min
2
: inch/min
3
: mm/min
S2C222: RESERVED START
This parameter specifies whether a reserved start instruction from the
programming pendant is accepted or not.
The specification can be done on the FUNCTION ENABLE SETTING
window.
8.3.0.23
0
: Permitted
1
: Prohibited
S2C224: JOB SELECTION AT REMOTE FUNCTION (PLAY MODE)
This parameter specifies whether a job selection in play mode at remote
function is prohibited or not.
The specification can be done on the FUNCTION ENABLE SETTING
window.
8.3.0.24
0
: Permitted
1
: Prohibited
S2C225: EXTERNAL MODE SWITCH
This parameter specifies whether mode switching from the outside is
accepted or not.
The specification can be done on the OPERATE ENABLE SETTING
window.
8.3.0.25
0
: Permitted
1
: Prohibited
S2C227: EXTERNAL CYCLE SWITCHING
This parameter specifies whether cycle switching from the outside is
accepted or not.
The specification can be done on the OPERATE ENABLE SETTING
window.
0
: Permitted
1
: Prohibited
8-17
8
8.3
Parameter
Mode Operation Setting Parameters
8.3.0.26 S2C228: PROGRAMMING PENDANT CYCLE SWITCHING
This parameter specifies whether cycle switching from the programming
pendant is accepted or not.
The specification can be done on the OPERATE ENABLE SETTING
window.
0
: Permitted
1
: Prohibited
8.3.0.27 S2C229: SERVO ON FROM EXTERNAL PP PROHIBITION
This parameter specifies whether a servo ON instruction is accepted or
not. More than one instruction can be specified. For example, to permit
the servo ON instruction from an external input only, set “2”. In this case,
servo ON instruction from the programming pendant is not accepted.
The specification can be done on the OPERATE ENABLE SETTING
window.
d7
d0
External input prohibited : 1 (VALID)
Programming pendant
: 2 (VALID)
DSW
: 4 (VALID)
8.3.0.28 S2C230: PROGRAMMING PENDANT OPERATION WHEN “IO” IS SELECTED FOR
REMOTE MODE
This parameter specifies whether each operation of the following is valid
when “IO” is selected for remote function selection. IO and command are
available for remote function selection: “IO” is set prior to shipping.
“Command” is valid when transmission function (optional) is specified.
d7
d0
Programming pendant ([SERVO ON READY] key)
: 1 (VALID)
valid/invalid
: 2 (VALID)
Programming pendant (Enable switch)
Mode switching valid/invalid
: 4 (VALID)
Master call valid/invalid
: 8 (VALID)
Cycle switching valid/invalid
Start valid/invalid
8-18
: 16 (VALID)
: 32 (VALID)
8
8.3
8.3.0.29
Parameter
Mode Operation Setting Parameters
S2C234: STEP REGISTRATION AT TOOL NO. CHANGE
The registration of the step when the tool number is changed allows the
setting to be made as prohibited.
If this parameter is set to “1” (prohibited), the following operations are
prohibited.
0
: Permitted
1
: Prohibited
• Modification of a step
When the tool number of the teaching step differs from the currentlyselected tool number, the step cannot be modified.
• Deletion of a step
Even if the teaching step position coincides with the current position,
the step cannot be deleted when the tool number of the teaching
step differs from the currently-selected tool number.
• Addition of a step
When the tool number of the teaching step indicated by the cursor
differs from the currently-selected tool number, the step cannot be
added.
8.3.0.30
S2C293: REMOTE FIRST CYCLE MODE
This parameter sets the cycle that changes from the local mode to the
remote mode.
The specification can be done on the OPERATE CONDITION SETTING
window.
8.3.0.31
0
: Step
1
: 1 cycle
2
: Continuous
3
: Not specified
S2C294: LOCAL FIRST CYCLE MODE
This parameter sets the cycle that changes from the remote mode to the
local mode.
The specification can be done on the OPERATE CONDITION SETTING
window.
0
: Step
1
: 1 cycle
2
: Continuous
3
: Not specified
8-19
8
8.3
Parameter
Mode Operation Setting Parameters
8.3.0.32 S2C312: POWER ON FIRST CYCLE MODE
This parameter sets the first cycle mode for when the power is turned ON.
The specification can be done on the OPERATE CONDITION SETTING
window.
0
: Step
1
: 1 cycle
2
: Continuous
3
: Not specified
8.3.0.33 S2C313: TEACH MODE FIRST CYCLE MODE
This parameter sets the cycle that changes from the play mode to the
teach mode.
The specification can be done on the OPERATE CONDITION SETTING
window.
0
: Step
1
: 1 cycle
2
: Continuous
3
: Not specified
8.3.0.34 S2C314: PLAY MODE FIRST CYCLE MODE
This parameter sets the cycle that changes from the teach mode to the
play mode.
The specification can be done on the OPERATE CONDITION SETTING
window.
0
: Step
1
: 1 cycle
2
: Continuous
3
: Not specified
8.3.0.35 S2C316: START CONDITION AFTER ALARM-4107 (“OUT OF RANGE (ABSO DATA)”)
This parameter specifies the activating method after the alarm 4107
(“OUT OF RANGE (ABSO DATA)”) occurs.
The specification can be done on the PLAYBACK CONDITION SETTING
window.
0
: Position check operation required
1
: Low-speed start up
8-20
8
8.3
8.3.0.36
Parameter
Mode Operation Setting Parameters
S2C395: SIGNAL NAME ALIAS FUNCTION
On the JOB CONTENT window, the name registered to the user input/
output signal number can be displayed as alias instead of the signal
number itself.
Table 8-4: S2C395
Parameter Setting Value
Valid/Invalid
0
Function invalid
1
Function valid
1. With this function valid, the confirmation dialog box “Register by name
(alias)?” is displayed when a signal (IN#(), OT#(), IG#(), OG#(),
IGH#(), OGH#()) is selected on the DETAIL EDIT window.
2. Select “YES” and the signal select window appears. Then select the
target signal of number and press [ENTER], and the registered name
is displayed instead of the signal number. However, if the signal
number’s name is not yet registered, it is displayed by number as
usual.
<Example> Registration of the name of user output OUT#0001 as
“OUTPUT 1”
In the case of DOUT instruction:
S2C395=0 : DOUT OT#(1) ON
S2C395=1 : DOUT OT#(OUTPUT 1) ON
Select {IN/OUT} → {UNIVERSAL INPUT/OUTPUT} to edit
signal names on the window. Up to 16 characters can be
entered as a signal name. However, when this function is
valid, if the content below is entered, the error message
shows and the name cannot be registered.
• The name already registered
• Letters beginning with a number
• Letters including the signs below:
( , ) , [ , ] , = , < , > , space, comma
SUPPLE
-MENT
• Letters beginning with “alphabets representing variables” +
“number”
<Example> B0..., I0..., BP1..., LEX2...
Alphabets representing variables: B, I, D, R,
S, P, BP, EX, PX, LB, LI LD, LR, LS, LP, LBP,
LEX, LPX
When the name begins with “ ‘ ”, it is regarded as a comment
and the same comment can be registered for two or more
signals. In this case, although this function is valid, the number is displayed on the JOB CONTENT window instead of
the name.
<Example> Registration of the name of user output
OUT#0002 as “ ‘OUTPUT 2”
S2C395=0 : DOUT OT#(2) ON
S2C395=1 : DOUT OT#(2) ON
8-21
8
8.3
Parameter
Mode Operation Setting Parameters
8.3.0.37 S2C396: VARIABLE NAME ALIAS FUNCTION
On the JOB CONTENT window, the name registered to the variable
(including local variables) can be displayed as alias instead of the variable
number.
Table 8-5: S2C396
Parameter Setting Value
Valid/Invalid
0
Function invalid
1
Function valid
1. With this function valid, the confirmation dialog box “Register by name
(alias) ?” is displayed when you select the variable on the DETAIL
EDIT window.
2. Select “YES” and the variable select window appears. Then select the
target variable of number and press [ENTER], and the registered
name is displayed instead of the variable number. However, if the
variable number’s name is not yet registered, it is displayed by number
as usual.
<Example> Registration of the byte type variable B000 as “WORK KIND”
In the case of SET instruction
S2C396=0 : SET B000 128
S2C396=1 : SET WORK KIND 128
Select {VARIABLE} from the menu to select each variable
and edit the variable name. Up to 16 characters can be
entered as a variable name. However, when this function is
valid, if the content below is entered, the error message
shows and the name cannot be registered.
• The name already registered
• Letters beginning with a number
• Letters including the signs below:
( , ) , [ , ] , = , < , > , space, comma
SUPPLE
-MENT
• Letters beginning with “alphabets representing variables” +
“number”
<Example> B0..., I0..., BP1..., LEX2...
Alphabets representing variables: B, I, D, R,
S, P, BP, EX, PX, LB, LI LD, LR, LS, LP, LBP,
LEX, LPX
When the name begins with “ ‘ ”, it is regarded as a comment
and the same comment can be registered for two or more
variables. In this case, although this function is valid, the
number is displayed on the JOB CONTENT window instead
of the name.
<Example> Registration of the byte type variable B001 as
“WORKNUM”
S2C396=0 : SET B001 10
S2C396=1 : SET B001 10
8-22
8
8.3
8.3.0.38
Parameter
Mode Operation Setting Parameters
S2C397: I/O VARIABLE CUSTOMIZE FUNCTION
This function enables registration of any particular input/output signal/
variable. Reference and editing of signals/variables are possible on the
same window.
Table 8-6: S2C397
Parameter Setting Value
Valid/Invalid
0
Function Invalid
1
Function Valid
With this function valid, the sub-menu {I/O-VARIABLE CUSTOMIZE}
opens under {Main Menu} {ARC WELDING}, {SPOT WELDING},
{GENERAL}, {HANDLING} (differs by application). Select {I/O-VARIABLE
CUSTOMIZE}, and the I/O-VARIABLE CUSTOMIZE window appears as
follows.
Fig. 8-6: I/O VARIABLE CUSTOMIZE Window
On the I/O-VARIABLE CUSTOMIZE window, any of the input/output
signals/variables can be selected and registered (up to 32 items).
Registrable signals/variables are as follows:
Table 8-7: Registrable Items on the I/O-VARIABLE CUSTOMIZE Window
Input/Output
Signals
USER INPUT SIGNAL
USER OUTPUT SIGNAL
PSEUDO INPUT SIGNAL
Variables
BYTE TYPE VARIABLE (B VARIABLE)
INTEGER TYPE VARIABLE (I VARIABLE)
DOUBLE-PRECISION INTEGER TYPE VARIABLE (D
VARIABLE)
The contents and names of the registered signals/variables can be
checked and edited on this window.
In addition, the data list of registered signals/variables can be loaded,
saved, verified or deleted with an external memory unit.
Only when this function is valid, “I/O-VARIABLE CUSTOMIZE (file name:
USRIOVAR.DAT)” is displayed and can be selected. To display the “I/OVARIABLE CUSTOMIZE (file name: USRIOVAR.DAT)”, select
{EX.MEMORY}  {LOAD} {SAVE} {VERIFY} {DELETE}  {SYSTEM
DATA}.
8-23
8
8.3
Parameter
Mode Operation Setting Parameters
8.3.0.39 S2C410: WORD REGISTRATION FUNCTION / WORD EDITING FUNCTION
SPECIFICATION
Specifies the valid or invalid to edit the words while inputting the
characters.
0
: Invalid
1
: Valid
Note: It is able to edit the words when the security mode is the edit mode
or the management mode.
8.3.0.40 S2C413: JOB UNDELETE FUNCTION
This function doesn’t completely delete a job from its memory when
deleting the job, but saves the data so that the job can be restored as
needed.
This parameter can be set on {TEACHING CONDITION} window.
If a job is deleted while this function is valid, the job disappears from the
JOB LIST window. In this case, {TRASH JOB LIST} is newly displayed to
{JOB} on {Main Menu} and the deleted job is listed on it.
NOTE
The job will not be listed on the trash job list and will not be
restored if it is deleted when this function is invalid.
8-24
8
8.3
Parameter
Mode Operation Setting Parameters
On the trash job list, the deleted jobs are displayed.
On this window, the following operations are available with the same
operations as job list window.
• Batch selection / canceling selection of the jobs
( {EDIT}  {SELECT ALL}  {CANCEL SELECT})
• Job search ({EDIT}  {JOB SEARCH COND} )
• Rearrange of the jobs in the order of date / order of name
( {DISPLAY}  {DATE} {NAME})
• Job detailed information display ( {DISPLAY} {DETAIL} )
• Displaying by job groups ( {DISPLAY}  {FOLDER} )

Restoring the Job
Choose a job to be restored and select {UNDELETE JOB} from {JOB} on
the pull down menu.
A dialog box to confirm restoring the selected job.
Select “YES” to restore the job. The restored job is deleted from the trash
job list and newly listed to the job list.
“NO” to cancel restoring the job.
8-25
8
8.3

Parameter
Mode Operation Setting Parameters
Deleting the Job Completely
Delete a job from the memory. The job will not be restored after this
operation.
Choose a job to be completely deleted, then select {DELETE JOB} from
{JOB} on the pull down menu.
A dialog box to confirm deleting the selected job.
Select
[YES] to delete the job completely. The deleted job is deleted from the
trash job list.
[NO} to cancel deleting the job.
NOTE
The job data remains until it is completely deleted and the
capacity of the memory becomes less as long as this function is valid. Delete unnecessary data to keep enough job
capacity.
8.3.0.41 S2C415 to S2C419: TIME RESET
These parameters specify whether resetting operation of the specified
times is permitted or not.
S2C415
: CONTROL POWER ON TIME
S2C416
: SERVO POWER ON TIME
S2C417
: PLAYBACK TIME
S2C418
: WORK TIME
S2C419
: WEAVING TIME
0
: Prohibit Resetting
1
: Permit Resetting
“PERMIT” is set as the initial value for the work time and motion time.
8-26
8
8.3
8.3.0.42
Parameter
Mode Operation Setting Parameters
S2C431: TOOL NO. SWITCHING
This parameter specifies whether tool number switching is permitted or
not.
8.3.0.43
0
: Prohibited (Only number “0” can be used.)
1
: Permitted (64 type of tools from number “0” to “63” can be used.)
S2C433: POSITION TEACHING BUZZER
This parameter specifies whether the buzzer sound at position teaching is
used or not.
8.3.0.44
0
: With buzzer
1
: Without buzzer
S2C434: JOB LINKING DESIGNATION (When Twin Synchronous Function Used)
This parameter specifies whether the manipulator at the synchronizing
side is to be linked when the manipulator and the station at the
synchronized side are performing FWD/BWD or test run, by using the twin
synchronous function.
0
: Not operating
1
: Linking
Fig. 8-7: 0 : Does not operate the synchronizing side while teaching the
synchronized side.
Synchronizing side
Fig. 8-8: 1 : Links the synchronizing side while teaching the synchronized
side.
Synchronizing side
8-27
8
8.3
Parameter
Mode Operation Setting Parameters
8.3.0.45 S2C437: PLAYBACK OPERATION CONTINUATION FUNCTION
This function is used to decide where to resume the playback on the start
operation after suspending the playback and moving the cursor or
selecting other jobs.
0: Starts operation where the cursor is located in the job displayed at
the moment.
1: The playback continuation window appears. Select “YES” and the
playback resumes where the cursor has been located when the
playback suspended. If “NO” is selected, the playback resumes
where the cursor is located in the job displayed at the moment.
Table 8-8: S2C437
Parameter Setting
Value
0
Where the Playback Resumes
Resumes where the cursor is located in the job displayed
at the moment.
Resumes where the cursor has been located when the
playback suspended OR where the cursor is located in the
job displayed at the moment.
<Example>
Suspended at step 0003 during the playback of job A

Displays job B
1

Starts operation

On the playback operation continuation window
• When “YES” selected, the playback resumes from
step 0003 of job A
• When “NO” selected, the playback resumes from the
current position in job B
Note: When this function is valid (S2C437=1), a light blue cursor is
displayed at the instruction section of step where the playback has been
stopped. When “YES” is selected, the playback resumes where this
cursor is located.
MOVJ VJ=0.78
NOTE
If a job has been edited or FWD/BWD/TEST RUN operation(s) have been executed, the playback cannot resume
where it has suspended. Also this function is invalid if the
reserved start function is set valid (S2C222=0).
8-28
8
8.3
8.3.0.46
Parameter
Mode Operation Setting Parameters
S2C544: I/O NAME DISPLAY FUNCTION FOR JOB
When a user input/output signal, whose name is already set, is used as a
job, this function displays the signal name in the form of a comment.
NOTE
When the specification of the signal is group specification
(IG#, IGH#, OG#, OGH#), the name will not be displayed.
Also, the name will not be displayed when the job is saved
at external memory devices.
This parameter can be set on {FUNCTION ENABLE}.window.
8.3.0.47
0
: Invalid
1
: Valid
S2C684:ALL AXES ANGLE DISPLAY FUNCTION
This function enables to change the display of manipulator position from
pulse-formed to angle-formed on the specific window.
This function is valid in the following windows.
• Current value (however, it is invalid if the present displayed coordinate systems are “base”, “robot” or “user”.)
• Command position
• Work home position
• Second work home position
d7
d0
Function Valid/Invalid
Cordinated sytem Pulse/Angle
Data system when angle is specified
Absolute/Ground
:1:(Valid)
:2(Angle)
:4(Ground)
This function can be valid/invalid on {FUNCTION ENABLE} window.
Select {DISPLAY} on the pull down menu while this function is valid, then
{PUSLE}, {ABSOLUTE ANGLE} and {GROUND ANGLE} appear. Select
one so that the presently displayed data can be changed to the selected
data type.
8-29
8
8.3
Parameter
Mode Operation Setting Parameters
PULSE
Indicates the pulse data of each axis.
ABSOLUTE ANGLE
Indicates the independent angle at every axes on the basis that the
absolute value is 0[deg] when the pulse is 0.
GROUND ANGLE
Indicates the L- and U-axes angle according to the manipulator installation
direction. The value of unoperated axes may vary depending on the
manipulator’s posture.
NOTE
As for the servo track, angle is not indicated but distance
(unit [mm]).
8.3.0.48 S2C713: CONTROL POINT OPERATION SETTING ON THE SERVO TRACK
This parameter specifies a motion system by which the manipulator’s
control point is fixed while the servo track is in operation.
However, it is valid only when the selected control group is specified as a
servo track and the servo track is operated by jog keys in the cartesian
coordinates.
0
: Normal operation
1
: Control point operation setting on the servo track
8-30
8
8.3
8.3.0.49
Parameter
Mode Operation Setting Parameters
S2C1203: TOUCH OPERATION FUNCTION IN GENERAL-PURPOSE DISPLAY AREA
This parameter specifies whether window scrolling, page switching, and
cursor movement by touch operation in the general-purpose display area
are enabled or disabled.
The specification is done through the bit specification.
d7
8.3.0.50
d0
Window scrolling Valid/Invalid:
1: (Invalid)
Page switching Valid/Invalid:
2: (Invalid)
Cursor movement Valid/Invalid:
4: (Invalid)
S2C1204: CURSOR MOVEMENT FUNCTION BY TOUCH OPERATION ON JOB WINDOW
This parameter specifies the cursor movement operation by touch
operation on the job window.
The specification can be done on the {FUNCTION ENABLE SETTING}
window.
0: Press [INTERLOCK] + touch operation
1: Touch operation + dialog confirmation
2: Cursor movement by touch operation is not available
Note: S2C1203: When d2 (the cursor movement by the touch
operation in the general-purpose display are) is disabled, the cursor
cannot be moved.
8-31
8
8.3
Parameter
Mode Operation Setting Parameters
8.3.0.51 S2C372: ENABLE PATH REVERSE FUNCTION SETTING
This parameter enables and disables the path reverse function.
0: Invalid
1: Valid
Copy the range in which to perform path reverse and store it in a buffer in
advance.
1. On the JOB CONTENT window, move the cursor to the line
immediately before the path reverse position.
2. Select {EDIT} on the menu.
– A pull-down menu appears.
3. Select {PATH REVERSE}.
– On the next cursor line, the buffer contents are inserted in reverse
order, the to-and-from speeds are matched, that line number is
displayed in reverse, and a confirmation dialog box appears at the
same time.
– Select "YES" and the path reverse is executed and the line number
is no longer displayed in reverse.
– Select "NO" to cancel.
* For details on path reverse, refer to chapter 3.7 “Editing Jobs” .
8-32
8
8.4
8.4
Parameter
Parameters According to Interference Area
Parameters According to Interference Area
These parameters limit the P-point maximum envelope of the manipulator
or set the interference area for axis interference or cubic interference.
8.4.0.1
S1CxG400 to S1CxG415: PULSE SOFT LIMIT
Soft limit is set independently for each axis by pulse value setting. Set
current value (pulse value) of the axis at the soft limit set up position.
Operation area
Soft limit
Limit switch
Mechanical
operation limit
8.4.0.2
S2C001: CUBE SOFT LIMIT CHECK
This parameter specifies whether to check the cube soft limit. More than
one soft limit can be specified.
0 : No check
1 : With check
d7
d0
Cube 1 soft limit: Robot 1
Cube 2 soft limit: Robot 2
Cube 3 soft limit: Robot 3
Cube 4 soft limit: Robot 4
Cube 5 soft limit: Robot 5
Cube 6 soft limit: Robot 6
Cube 7 soft limit: Robot 7
Cube 8 soft limit: Robot 8
If “WITH CHECK” is selected, set up the following parameters.
Units: μm
8-33
8
8.4
Parameter
Parameters According to Interference Area
Cube Soft Limit (Base Coordinates of Robot TCP)
S3C000: Robot 1: + side: X
S3C001: Robot 1: + side: Y
S3C002: Robot 1: + side: Z
S3C003: Robot 1: - side: X
S3C004: Robot 1: - side: Y
S3C005: Robot 1: - side: Z
S3C007: Robot 2: + side: X
S3C008: Robot 2: + side: Y
S3C009: Robot 2: + side: Z
S3C010: Robot 2: - side: X
S3C011: Robot 2: - side: Y
S3C012: Robot 2: - side: Z
•
•
•
S3C042: Robot 8: + side: X
S3C043: Robot 8: + side: Y
S3C044: Robot 8: + side: Z
S3C045: Robot 8: - side: X
S3C046: Robot 8: - side: Y
S3C047: Robot 8: - side: Z
Soft Limit
Soft limit is a software-type function to limit the range of
movement of the manipulator.
If the TCP reaches the soft limit during operation, the manipulator automatically stops and no longer moves in that same
direction. An alarm occurs if this soft limit is exceeded
during playback. This soft limit is classified into two types.
• Cube Soft Limit
Soft limit is set with the absolute value on the base coordinates.
z
SUPPLE
-MENT
x
Y
• Pulse Soft Limit (Independent Axis Soft Limit)
Refer to chapter 8.4.0.1 “S1CxG400 to S1CxG415:
PULSE SOFT LIMIT” at page 8-33.
8-34
8
8.4
8.4.0.3
Parameter
Parameters According to Interference Area
S2C002: S-AXIS INTERFERENCE CHECK
This parameter specifies whether to check for interference with each
manipulator. If “WITH CHECK” is selected, set up the following
parameters.
Units: Pulse
S3C048: S-axis Interference Area Robot 1 (+)
S3C049: S-axis Interference Area Robot 1 (-)
S3C050: S-axis Interference Area Robot 2 (+)
S3C051: S-axis Interference Area Robot 2 (-)
·
·
·
S3C063: S-axis Interference Area Robot 8 (-)
8-35
8
8.4
8.4.0.4
Parameter
Parameters According to Interference Area
S2C003 to S2C066: CUBE/AXIS INTERFERENCE CHECK
1. Designation of checking
These parameters specify the cube/axis interference to be used by bit.
0
: Cube Interference/Axis Interference Not
Used
1
: Robot 1
2
: Robot 2
......
8
: Robot 8
9
: Base Axis 1
10
: Base Axis 2
......
16
: Base Axis 8
17
: Station Axis 1
18
: Station Axis 2
......
40
: Station Axis 24
2. Checking method
Designates whether checking is performed by command or feedback.
Designation of checking (data setting)
0: Not used
1: Robot 1,
, 40: Station axis 24
Checking method (bit setting)
0: Command, 1: Feedback
Checking method
The checking method differs according to ON/OFF status of
servo power supply.
SUPPLE
-MENT
Checking Method Designation Servo Power Supply ON Servo Power Supply OFF
Command
Command
Feedback
Feedback
Feedback
Feedback
During the servo float function operation, checking is performed by feedback regardless of the checking method designation.
8-36
8
8.4
Parameter
Parameters According to Interference Area
Interference Area
It is possible to output whether the TCP during operation is
inside or outside as a status signal, and to set the area to
control the position by parameters S2C003 to S2C194.
When the manipulator attempts to enter this area, the corresponding input signal (e.g. an “entrance prohibit signal”) is
detected. The manipulator stops immediately if there is an
input signal and goes into waiting status until this signal is
cleared. This signal is processed in the I/O section. Three
methods of interference area settings are prepared for
manipulators and stations. For a system with one manipulator, use robot 1.
• S-axis Interference Area
Position is controlled by the pulse value of the S-axis.
(-) side
(+) side
In left area
• Cubic Interference Area
Up to 64 cubic areas can be set. The edges of the cubes
are set parallel to the robot coordinates or the user coordinates.
Cube Setting Method
Z
Base coordinates S2C003-S2C066
(robot coordinates,
user coordinates)
S2C067-S2C194
Use cube
intrf. check?
No
Yes
Decide the using
method
S3C064-S3C1087
X
Y
Up to 64 cubic areas can be set,
each cube is set parallel to
the set coordinates.
Set the area
Complete
• Axis Interference Area
Up to 64 areas can be set. Each operation area maximum
and minimum value are set for the robot, base axis, and
station axis plus and minus side.
0
Max value
Min value
positive side (+)
negative side (-)
ON
OF F
SUPPLE
-MENT
In right area
8-37
8
8.4
8.4.0.5
Parameter
Parameters According to Interference Area
S2C067 to S2C194: CUBE USING METHOD
These parameters specify the coordinates for defining the cube. If the
user coordinates are selected, also specify the user coordinate system
numbers. Set cubic area referring to the cubic interference areas shown
below.
Coordinate specification
0
: Pulse (axis interference)
1
: Base coordinates
2
: Robot coordinates
3
: User coordinates
Coordinate No.: Specify the user coordinate number when selecting “3:
User Coordinates”.
Units: 1μm
Precaution When Setting the Interference Area
It will be necessary to consider the following when setting
the cubic interference and S-axis interference areas. The
manipulator is processed to decelerate to stop from the point
where it enters in the area. Therefore, set the areas in consideration of the amount of the manipulator movement in the
deceleration section shown in the figure below.
Interference area
Deceleration
SUPPLE
-MENT
Stop
Speed
Movement
Speed reduction section
The move amount in the speed reduction section is dependent on the moving speed of the manipulator at that time:
V = 1500mm/s  approx. 300mm
(Max.)
V = 1000mm/s  approx. 160mm
V = 30mm/s  approx. 3 to 4 mm
V = 20mm/s  approx. 2mm
8-38
8
8.4
Parameter
Parameters According to Interference Area
Interference Prevention in Interference Area
Processing to prevent interference is executed in the I/O
processing section. The relation between the DX200 I/O
signal and manipulator operation is shown below.
Start
Is the TCP within
the cube?
Yes
No
Is the "CUBE
ENTRANCE PROHIBIT"
signal ON?
Yes
No
Outputs "WAIT" signal.
"WAIT" reset
Manipulator stops.
"OPERATING IN CUBE"
signal output
Has it left the check
cube?
No
Yes
In wait status with the entrance prohibit signal, the manipulator just barely enters the area for speed reduction processing and then stops.
SUPPLE
-MENT
Fig. 8-9: Connection Example Where Two Manipulators are
Operated in the Same Area
DX100
Operating inside
CUBE1
Output in cube during
operation.
Operating inside
CUBE2
Output during waiting by
entrance prohibit signal.
Interference waiting
Inside CUBE1
entrance prohibit
These signals are checked
when entering the cube.
Inside CUBE2
entrance prohibit
Manipulator A
Manipulator B
Operating inside
CUBE1
Inside CUBE1
entrance prohibit
Operating inside
CUBE2
Inside CUBE2
entrance prohibit
Inside CUBE1
entrance prohibit
Operating inside
CUBE1
Inside CUBE2
entrance prohibit
Operating inside
CUBE2
Interference waiting
Interference waiting
Alarm signal
8-39
8
8.4
8.4.0.6
Parameter
Parameters According to Interference Area
S3C000 to S3C047: CUBE SOFT LIMIT
These parameters specify auxiliary functions of S2C001 parameter. For
details, see chapter 8.4.0.2 “S2C001: CUBE SOFT LIMIT CHECK” at
page 8-33.
8.4.0.7
S3C048 to S3C063: S-AXIS INTERFERENCE AREA
These parameters specify auxiliary functions of S2C002 parameter. For
details, see chapter 8.4.0.3 “S2C002: S-AXIS INTERFERENCE
CHECK” at page 8-35.
8.4.0.8
S3C064 to S3C1087: CUBIC INTERFERENCE AREA
These parameters specify auxiliary functions of S2C003 to S2C066
parameters. For details, see chapter 8.4.0.4 “S2C003 to S2C066:
CUBE/AXIS INTERFERENCE CHECK” at page 8-36.
8.4.0.9
S3C1089 to S3C1096: ROBOT INTERFERENCE AREA
These parameters specify auxiliary functions of S2C236 to S2C263
parameters. For details, see chapter 8.4.0.6 “S3C000 to S3C047:
CUBE SOFT LIMIT” at page 8-40.
8.4.0.10 S3C1097: A SIDE LENGTH OF WORK-HOME-POSITION CUBE
Units: 1μm
This parameter specifies a side length of the cube for the work home
position.
8-40
8
8.5
8.5
Parameter
Parameters According to Status I/O
Parameters According to Status I/O
These parameters set the parity check or I/O setting for user input/output
signals.
8.5.0.1
S2C235: USER OUTPUT RELAY WHEN CONTROL POWER IS ON
This parameter specifies the state of the user output relays when the
control power is turned ON. Since the power OFF state, including
peripheral devices, cannot be completely reproduced, take note when
restarting.
8.5.0.2
0
: Reset to the power OFF state
1
: Initialized (all user relays OFF)
S4C000 to S4C015, S4C1100 to S4C1115: PARITY OF USER INPUT GROUPS
These parameters specify whether to execute parity checks with
parameters when instructions covering the input group (1G#) are
executed. The instructions covering the input groups are as shown below.
• IF Sentence (JUMP, CALL, RET, PAUSE)
• Pattern Jump, Pattern Job Call
• DIN
• WAIT
A parity check is performed against the input group where a bit-ON (1)
was done by this parameter.
S4C000
S4C000 to S4C015
: IG#(1) to IG#(256)
S4C1100 to S4C1115
: IG#(257) to IG#(512)
d15
d0
IG#01
IG#02
IG#03
IG#04
IG#05
IG#06
IG#07
IG#08
IG#09
IG#10
IG#11
IG#12
IG#13
IG#14
IG#15
IG#16
S4C002
d15
S4C001
d15
d0
IG#17
IG#18
IG#19
IG#20
IG#21
IG#22
IG#23
IG#24
IG#25
IG#26
IG#27
IG#28
IG#29
IG#30
IG#31
IG#32
d0
IG#33
IG#34
IG#35
IG#36
IG#37
IG#38
IG#39
IG#40
IG#41
IG#42
IG#43
IG#44
IG#45
IG#46
IG#47
IG#48
Parity bits are set as the highest level bits of each input group and are
written in even parity. If an error is detected during parity check, an alarm
occurs and the manipulator stops. Remains unchanged if no parity check
is specified.
8-41
8
8.5
8.5.0.3
Parameter
Parameters According to Status I/O
S4C016 to S4C031, S4C1116 to S4C1131: PARITY OF USER OUTPUT GROUPS
These parameters specify whether the output group instruction is executed with parity check (even parity).
A parity check is performed against the output group where a bit-ON (1)
was done by this parameter.
S4C016
d15
S4C016 to S4C031
: OG#(1) to OG#(256)
S4C1116 to S4C1131
: OG#(257) to OG#(512)
d0
OG#01
OG#02
OG#03
OG#04
OG#05
OG#06
OG#07
OG#08
OG#09
OG#10
OG#11
OG#12
OG#13
OG#14
OG#15
OG#16
S4C018
d15
S4C017
d15
d0
OG#17
OG#18
OG#19
OG#20
OG#21
OG#22
OG#23
OG#24
OG#25
OG#26
OG#27
OG#28
OG#29
OG#30
OG#31
OG#32
d0
OG#33
OG#34
OG#35
OG#36
OG#37
OG#38
OG#39
OG#40
OG#41
OG#42
OG#43
OG#44
OG#45
OG#46
OG#47
OG#48
Parity bits are set as the highest level bits of each output group. For
example, if OG#01 is specified with parity and DOUT OG# (1) 2 is
executed, the result will be 00000010 if 2 is binary converted. Since there
will be only one bit (odd) ON at this time, the parity bit (highest level bit)
will be set to ON and 10000010 (130) will be output to OG# (1).
As in the case of a variable such as DOUT OG# (1) B003 parity bits are
added to the contents of the variable data. However, if the contents of the
variable exceed 127, as in the case of DOUT OG# (1) 128, an alarm will
occur. Remains unchanged if no parity check is specified.
8-42
8
8.5
8.5.0.4
Parameter
Parameters According to Status I/O
S4C032 to S4C047, S4C1132 to S4C1147: DATA OF USER INPUT GROUPS
These parameters specify whether to handle the input group data as
binary data or as BCD data when an instruction for the input group (1G#)
is executed. The instructions covering the input groups are as shown
below.
• IF Sentence (JUMP, CALL, RET, PAUSE)
• Pattern Jump, Pattern Job Call
• DIN
• WAIT
The input group where a bit-ON (1) was done by this parameter is treated
as BCD data.
S4C032
d15
S4C032 to S4C047
: IG#(1) to IG#(256)
S4C1100 to S4C1115
: IG#(257) to IG#(512)
d0
IG#01
IG#02
IG#03
IG#04
IG#05
IG#06
IG#07
IG#08
IG#09
IG#10
IG#11
IG#12
IG#13
IG#14
IG#15
IG#16
S4C034
d15
S4C033
d15
d0
IG#17
IG#18
IG#19
IG#20
IG#21
IG#22
IG#23
IG#24
IG#25
IG#26
IG#27
IG#28
IG#29
IG#30
IG#31
IG#32
d0
IG#33
IG#34
IG#35
IG#36
IG#37
IG#38
IG#39
IG#40
IG#41
IG#42
IG#43
IG#44
IG#45
IG#46
IG#47
IG#48
8-43
8
8.5
8.5.0.5
Parameter
Parameters According to Status I/O
S4C048 to S4C063, S4C1148 to S4C1163: DATA OF USER OUTPUT GROUPS
These parameters specify whether the output group instruction is
executed with binary data or BCD data.
The output group where a bit-ON (1) was done by this parameter is
treated as BCD data.
S4C048
S4C048 to S4C063
: OG#(1) to OG#(256)
S4C1148 to S4C1163
: OG#(257) to OG#(512)
d15
d0
OG#01
OG#02
OG#03
OG#04
OG#05
OG#06
OG#07
OG#08
OG#09
OG#10
OG#11
OG#12
OG#13
OG#14
OG#15
OG#16
S4C050
d15
S4C049
d15
d0
OG#17
OG#18
OG#19
OG#20
OG#21
OG#22
OG#23
OG#24
OG#25
OG#26
OG#27
OG#28
OG#29
OG#30
OG#31
OG#32
d0
OG#33
OG#34
OG#35
OG#36
OG#37
OG#38
OG#39
OG#40
OG#41
OG#42
OG#43
OG#44
OG#45
OG#46
OG#47
OG#48
Differences Between Binary Data and BCD Data
For the input group and output group, the result will depend
on whether the binary or BCD formula is used.
<Example> When the input function is [01010101]
DATA
EDIT
USER INPUT
GROUP
SUPPLE
-MENT
IN#0001
IN#0002
IN#0003
IN#0004
IN#0005
IN#0006
IN#0007
IN#0008
DISPLAY
IG#01
State
0:10 00:161
0
1
0
1
0
1
0
#10010
#10011
#10012
#10013
#10014
#10015
#10016
#10017
Binary
20 = 1
21 = 2
22 = 4
23 = 8
24 = 16
25 = 32
26 = 64
27 = 128
BCD
Case
1
0
4
0
16
0
64
0
85
Case
20 = 1
21 = 2
22 = 4
23 = 8
20 = 1
Total
is in
ones.
21 = 2
22 = 4
23 = 8
Total
is in
tens.
Binary data value
1
0
4
0
1
0
4
0
5
5
55
BCD data value
!
However, in the case of BCD data, because the upper bound
value is 99, it is not possible to use any value which exceeds
nine in the one or ten digit place.
8-44
8
8.5
8.5.0.6
Parameter
Parameters According to Status I/O
S4C064 to S4C079, S4C1164 to S4C1179: USER OUTPUT GROUP TO BE INITIALIZED AT
SWITCHING MODE
Set the user output group with bit to be initialized at switching mode.
Use these parameters when using universal output signals as work
instructions for peripheral devices.
The signal of the output group where the bit-on (1) is done by this
parameter will be turned OFF at mode switching.
S4C064
d15
S4C064 to S4C079
: OG#(1) to OG#(256)
S4C1164 to S4C1179
: OG#(257) to OG#(512)
d0
OG#01
OG#02
OG#03
OG#04
OG#05
OG#06
OG#07
OG#08
OG#09
OG#10
OG#11
OG#12
OG#13
OG#14
OG#15
OG#16
S4C066
d15
S4C066
d15
OG#17
OG#18
OG#19
OG#20
OG#21
OG#22
OG#23
OG#24
OG#25
OG#26
OG#27
OG#28
OG#29
OG#30
OG#31
OG#32
d0
OG#33
OG#34
OG#35
OG#36
OG#37
OG#38
OG#39
OG#40
OG#41
OG#42
OG#43
OG#44
OG#45
OG#46
OG#47
OG#48
8.5.0.7
d0
S4C240: USER OUTPUT NO. WHEN MANIPULATOR DROP ALLOWABLE RANGE ERROR
OCCURS
This parameter specifies the user output number to output the manipulator
drop allowable range error alarm occurrence externally.
When this function is not used, set “0”.
8-45
8
8.6
8.6
Parameter
Parameters According to Coordinated or Synchronized Operation
Parameters According to Coordinated or Synchronized
Operation
These parameters make the settings for coordinated or synchronized
operations between manipulators or between manipulators and stations.
8.6.0.1
S2C212: +MOV or +SMOV INSTRUCTION SPEED INPUT
This parameter specifies whether the speed inputting for move
instructions of the master robot in a coordinated job is permitted or not.
<Example> 0: Not Provided
SMOVL
V=100
← Master side
Speed specification not
provided
+MOVL
<Example> 1: Provided
8.6.0.2
SMOV L
V=100
+MOV L
V=100
← Master side
Speed specification
provided
S2C213: +MOV INSTRUCTION INTERPOLATION INPUT
This parameter specifies which interpolation is permitted for move
instructions for the master robot in a coordinated job. More than one
instruction can be specified.
d7
d0
+ MOVJ : 1(VALID)
+ MOVL: 2(VALID)
+ MOVC : 4(VALID)
+ MOVS: 8(VALID)
8.6.0.3
S2C231: OPERATION METHOD AT FWD/BWD OPERATION OR TEST RUN BY
INDEPENDENT CONTROL
This parameter specifies the operation method at FWD/BWD operation or
test run by independent control.
0
: The job of the task that is currently displayed operates.
1
: Jobs of all the tasks operate.
8-46
8
8.6
Parameter
Parameters According to Coordinated or Synchronized Operation
1 When master task is currently displayed:
Master
task
: Not operating
Sub task 1
: Operating
Sub task 2
2 When sub task 1 is currently displayed:
Master
task
Sub task 1
Sub task 2
Master
task
Sub task 1
Sub task 2
3 When sub task 2 is currently displayed:
Master
task
Sub task 1
Sub task 2
0: One of the task jobs that are currently
displayed operates.
8.6.0.4
1: All task jobs operate.
S2C232: JOB AT CALLING MASTER OF SUBTASK BY INDEPENDENT CONTROL
This parameter specifies the job which is called up when the master of the
subtask is called up by independent control.
0
: Master job
1
: Root job
Master Job: Job registered in the master control window
Root Job: Job activated by PSTART instruction
8.6.0.5
S2C264: STATION AXIS CURRENT VALUE DISPLAY FUNCTION
This parameter specifies whether the function to display the current value
of the station axis in the following units is valid/invalid.
0
: Invalid
1
: Valid
Rotary axis : Angle (deg)
Servo track : Distance (mm)
Regarding whether to specify the rotary axis or the servo track, refer to
chapter 8.6.0.6 “S2C265 to S2C288: STATION AXIS DISPLAYED UNIT”
at page 8-47.
8.6.0.6
S2C265 to S2C288: STATION AXIS DISPLAYED UNIT
This parameter specifies the station axis displayed unit (bit specification).
0
: Display angle (deg)
1
: Display in distance (mm)
8-47
8
8.6

Parameter
Parameters According to Coordinated or Synchronized Operation
Setting Method
Set a numerical value (decimal) where the bit of the axis to be displayed in
the units of distance becomes 1.
d7
d6
d4
d3
d2
d1
d0
(32) (16)
(8)
(4)
(2)
(1)
d5
Decimal
Station 1st axis
Station 2nd axis
Station 3rd axis
Station 4th axis
Station 5th axis
Station 6th axis
<Example> When 1st and 3rd axes of station 1 are displayed in the
units of distance:
d7
d6
d5
d4
d3
d2
d1
d0
0
0
0
1
(4)
0
1
(1)
4
+
1
Set 1 to axis displayed in
distance.
=
5
Therefore, set parameter S2C265 of station 1 to 5.
8.6.0.7
S2C420: POSTURE CONTROL OF SYNCHRONIZED MANIPULATOR (When Twin
Synchronous Function Used)
This parameter specifies the posture control method for synchronized
manipulator performing compensation during playback by using the twin
synchronous function.
0
: Change posture according to station movement
1
: Fixed in relation to the ground
0 : Change posture according to staion movement
1 : Fixed in relation to the ground
8.6.0.8
S2C421: POSTURE CONTROL OF MANIPULATOR IN MULTI-JOB (When Twin
Synchronous Function Used)
This parameter specifies the posture control method for manipulator
executing compensation at the linking side when job linking is performed
during FWD/BWD operation by the twin synchronous function.
0
: Change posture according to station movement
1
: Fixed in relation to the ground
8-48
8
8.6
8.6.0.9
Parameter
Parameters According to Coordinated or Synchronized Operation
S2C687: OPERATION OF JOB WITHOUT CONTROL GROUP SPECIFICATION
When the servo power supply is individually turned OFF where jobs in
multiple number of tasks are operated using the independent control
function, the job execution of the control group whose servo power supply
is turned OFF is interrupted. The jobs of other control groups continue
their execution.
For the jobs without control group specification such as master job, the
conditions for execution can be set by the parameter.
8.6.0.10
0
: Execution possible only when servo power supply to all the axes have
been turned ON.
1
: Execution possible when servo power supply to any axis is turned ON.
S2C688: EXECUTION OF “BWD” OPERATION
This parameter prohibits step-back operation of a job without a step.
d7
d0
"BWD" operation for a job without a group axis. 0: Enabled 1: Disabled
"BWD" operation for concurrent job. 0: Enabled 1: Disabled
8.6.0.11
S3C1101: MAXIMUM DEVIATION ANGLE OF CURRENT STATION POSITION (When Twin
Synchronous Function Used)
Used when the twin synchronous function is used. This parameter
specifies the maximum deviation between the teaching position and the
current station position.
0
: No deviation check
Other than 0 : Deviation angle (units : 0.1°)
Sub-task1
Sub-task2
R1
R2
Manipulator at
synchronizing side
Conpensation
Position set when
teaching synchronizing side
Deviation made
at playback
Station S1
Station
In the above figure on the left, the follower R2 executes the job of subtask
2 in synchronization with the motion of the station axis which is moved by
the R1 job. In this procedure, the job of subtask 2 controls only the R2
robot axis.
If the teaching position of the station in the subtask 2 differs from the
station current position (controlled by the subtask 1 job), the difference is
automatically offset so that R2 keeps the taught position in relation to the
station.
Difference between the taught and the station current positions is always
monitored. If the difference exceeds a set value of the parameter, the
message “PULSE LIMIT (TWIN COORDINATED)” appears.
8-49
8
8.7
8.7
Parameter
Parameters for Other Functions or Applications
Parameters for Other Functions or Applications
These parameters make the settings for other functions or applications.
8.7.0.1
S1CxG049 to S1CxG051: SMALL CIRCLE CUTTING
These parameters prescribe cutting operation at small circle cutting.
S1CxG049
(Minimum diameter)
: Set the minimum diameter of a figure in the units of μm
that can be processed by small-circle cutting machine.
: Set the maximum diameter of a figure in the units of μm
S1CxG050
(Maximum diameter)
that can be processed by small-circle cutting machine.
S1CxG051
(Maximum speed)
8.7.0.2
: Set the maximum cutting speed at operation by CUT
instruction in the units of 0.1mm/s.
S1CxG052 to S1CxG053: SMALL CIRCLE CUTTING DIRECTION LIMIT VALUE
These parameters set the cutting direction limits at small circle cutting.
8.7.0.3
S1CxG052
(+ direction)
: Set the limit value in the positive direction of cutting
angle DIR set by CUT instruction, in the units of 0.01°.
S1CxG053
(- direction)
: Set the limit value in the negative direction of cutting
angle DIR set by CUT instruction, in the units of 0.01°.
S1CxG054 to S1CxG055: SMALL CIRCLE CUTTING OVERLAP VALUE
These parameters set the overlapped value at small circle cutting.
8.7.0.4
S1CxG054
(Operation radius)
: Set the operation radius at inner rotation in the units of 1
μm after overlapping by CUT instruction.
S1CxG055
(Rotation angle)
: Set the rotation angle at inner rotation in the units of 0.1°
after overlapping by CUT instruction.
S1CxG063, S1CxG064: PATTERN CUTTING DIMENSION
These parameters set the minimum diameter (S1CxG063) and the
maximum diameter (S1CxG064) for the pattern cutting in units of μm.
8.7.0.5
S1CxG065: MIRROR SHIFT SIGN INVERSION
This parameter sets which axis to be shifted (mirror-shift: invert the sign).
1st axis (0: Not invert, 1: Invert)
7th axis
8.7.0.6
S2C430: RELATIVE JOB OPERATION METHOD
This parameter specifies how to operate a relative job. A method to
convert a relative job into a standard job (pulse), and a conversion method
to calculate the aimed position (pulse position) when a relative job is
operated can be specified.
0
: Previous step with priority (B-axis moving distance minimized.)
1
: Form with priority
2
: Previous step with priority (R-axis moving distance minimized.)
8-50
8
8.7
8.7.0.7
Parameter
Parameters for Other Functions or Applications
S2C1135 : PROHIBIT WELDING SECTION SPEED OVERRIDE
This parameter prohibits the speed override within the welding section.
While the manipulator is in the welding section, it moves at the same
speed as in the situation where the speed override is not specified.
0
: Invalid
1
: Valid
Speed override is prohibited
8.7.0.8
S2C1137 : DISPLAY WELDING CONDITION FILE COMMENT ON THE JOB WINDOW
FUNCTION
This parameter specifies a comment to the welding start condition file or
the welding end condition file, and then displays the comment on the job
window when teaching the file by ARCON, ARCOF or ARCSET
instruction.
8.7.0.9
0
: Invalid
1
: Valid
S3C1111 to S3C1190: ANALOG OUTPUT FILTER CONSTANT
(When analog output corresponding to speed function is used)
By setting a constant to filter, a filter processing can be performed for the
output analog signal.
8.7.0.10
S3C1191: CUT WIDTH CORRECTION VALU
(When form cutting function is used)
This parameter specifies the path correction value for pattern cutting
operation. A value 1/2 of the cut width is set in units of μm.
8-51
8
8.8
8.8
Parameter
Hardware Control Parameters
Hardware Control Parameters
These parameters make the hardware settings for fan alarm or relay
operation, etc.
8.8.0.1
S2C646: ANTICIPATOR FUNCTION
This parameter specifies anticipation output.
0
: Invalid
1
: Valid
The anticipator function is a function to quicken or slow the ON/OFF timing
of four universal output signals and two user output groups. Using this
function, signal output can be carried out before or after the step is
reached. As a result, timing deviation due to delayed motion of peripheral
devices and robot motion can be adjusted.
Setting the time to a negative value (-) advances the signal output.
This setting is effective when adjusting timing deviation due to delayed
motion of peripheral devices.
Setting the time to a positive value (+) delays the signal output.
This setting is effective when adjusting timing deviation due to delayed
robot motion.
<Advanced Signal Output>
Signal output is carried out before the step is reached.
Step
Instructions
:
n-1
n
:
MOVL
MOVL NWAIT
ANTOUT AT#(1) ON
MOVL
n+1
Step
User output
n-1
n
n+1
ON
OFF
Setting time for advanced output
<Delayed Signal Output>
Signal output is carried out after the step is reached.
Step
:
n-1
n
n+1
Instructions
Step
:
MOVL
MOVL NWAIT
ANTOUT AT#(2) ON
ON
MOVL
User output
OFF
n-1
n
n+1
Setting time for delayed output
8-52
8
8.8
8.8.0.2
Parameter
Hardware Control Parameters
S4C327 to S4C390: SETTING OF OPERATING RELAY NO.
Up to 64 output signals can be turned ON/OFF with the programming
pendant. The object relay No. is set in these parameters. Although it is
possible to set optional values for output No. 1 to 1024 in the parameters,
the following must be taken into consideration.
• Avoid setting duplicate numbers.
• The signal turned ON or OFF with the programming pendant is operated again or remains unchanged until the instruction is executed.
8.8.0.3
S4C391 to S4C454: OPERATING METHOD OF RELAYS
These parameters specify the operating method of output signals by the
programming pendant. The operating method can be specified for each
output signal.
Parameter Setting
Value
0
Operation of Output Signal
+ON
ON
-OFF
OFF
+ON
1
8.8.0.4
ON/OFF with the key
ON while the key
is pressed
OFF if the key is
not pressed
ON
OFF
S2C786 to S2C788: COOLING FAN ALARM DETECTION
This parameter specifies a detection display for cooling fan 1 to 3 with
alarm sensor, connected to power ON unit.
8.8.0.5
0
: No detection
1
: Detected with message display
2
: Detected with message and alarm display
S2C1170 to S2C1171: COOLING FAN ALARM DETECTION
This parameter specifies a detection display for cooling fan 4 to 5 with
alarm sensor, connected to power ON unit.
0
: No detection
1
: Detected with message display
2
: Detected with message and alarm display
8-53
8
8.8
Parameter
Hardware Control Parameters
8.8.0.6
S2C789 to S2C792: COOLING FAN ALARM 1 OPERATION
8.8.0.7
S2C793 to S2C796: COOLING FAN ALARM 2 OPERATION
8.8.0.8
S2C797 to S2C800: COOLING FAN ALARM 3 OPERATION
These parameters specify the operation of cooling fan 1 to 3 with alarm
sensor, connected to power ON unit.
Each bit specifies the power ON unit to which the detecting sensor is
connected.
d7
d0
S2C789,S2C793,S2C797
SERVOPACK#1
SERVOPACK#2
d7
d0
S2C790,S2C794,S2C798
SERVOPACK#3
SERVOPACK#4
d7
d0
S2C791,S2C795,S2C799
SERVOPACK#5
SERVOPACK#6
d7
d0
S2C792,S2C796,S2C800
SERVOPACK#7
SERVOPACK#8
8.8.0.9
S2C1174: COOLING FAN ALARM 4 OPERATION
8.8.0.10 S2C1175: COOLING FAN ALARM 5 OPERATION
These parameters specify the operation of cooling fan 4 to 5 with alarm
sensor, connected to power ON unit.
8.8.0.11
S2C801 to S2C804: FAN ALARM 1 WELDER STATUS
8.8.0.12 S2C805 to S2C808: FAN ALARM 2 WELDER STATUS
8-54
8
8.8
8.8.0.13
Parameter
Hardware Control Parameters
S2C809 to S2C812: FAN ALARM 3 WELDER STATUS
These parameters specify the power status that detects a fan alarm.
0
: Detect during control power ON
1
: Detect during servo power ON
d7
d0
S2C801,S2C805,S2C809
SERVOPACK#1
SERVOPACK#2
d7
d0
S2C802,S2C806,S2C810
SERVOPACK#3
SERVOPACK#4
d7
d0
S2C803,S2C807,S2C811
SERVOPACK#5
SERVOPACK#6
d7
d0
S2C804,S2C808,S2C812
SERVOPACK#7
SERVOPACK#8
8.8.0.14
S2C1178: FAN ALARM 4 WELDER STATUS
8.8.0.15
S2C1179: FAN ALARM 5 WELDER STATUS
This parameter specifies the power status that detects a fan alarm.
0
: Detect during control power ON
1
: Detect during servo power ON
8-55
8
8.9
8.9
Parameter
TRANSMISSION PARAMETERS
TRANSMISSION PARAMETERS
These parameters are used when the optional FC1, FC2, or data
transmission function is used.
For details, refer to the optional manual “DX200 DATA TRANSMISSION
FUNCTION”.
8.10
Application Parameters
8.10.1 Arc Welding
8.10.1.1 AxP000: APPLICATION
This parameter specifies the application. Set “0” for arc welding.
8.10.1.2 AxP003: WELDING ASSIGNMENT OF WELDING START CONDITION FILE
This parameter specifies the beginning condition number in the welding
start condition file to be assigned to Welder 2. Condition files of a lower
number are automatically assigned to Welder 1. For a system with one
Welder, set “49” (maximum value).
Condition file
Power
Source 1
Power
Source 2
8.10.1.3 AxP004: WELDING ASSIGNMENT OF WELDING END CONDITION FILES
This parameter specifies the beginning condition number in the welding
END condition file to be assigned to Welder 2. Condition files of a lower
number are automatically assigned to Welder 1. For a system with one
Welder, set “13” (maximum value).
Power
Source 1
Power
Source 2
8.10.1.4 AxP005: WELDING SPEED PRIORITY
This parameter specifies whether the welding speed is specified by the
“ARCON” instruction, by the welding start condition file, or by the
additional times of the “MOV” instruction.
8.10.1.5 AxP009: WORK CONTINUING
This parameter specifies whether to output an “ARCON” instruction to
restart after the manipulator stopped while the “ARCON” instruction is
being output.
8-56
8
Parameter
8.10 Application Parameters
8.10.1.6
AxP010: WELDING INSTRUCTION OUTPUT
This parameter specifies the beginning number (0 to 12) of the analog
output channel to the Welder. “0” indicates that no Welder exists.
8.10.1.7
AxP011, AxP012: MANUAL WIRE OPERATION SPEED
These parameters specify the manual wire operation speed as a
percentage of the maximum instruction value. Instruction polarity is
determined by the current instruction in the Welder characteristic file. The
setting range is from 0 to 100.
8.10.1.8
AxP013, AxP014: WELDING CONTROL TIME
These parameters specify the welding control time in units of minutes.
The setting range is from 0 to 999.
8.10.1.9
AxP015 to AxP017: NUMBER OF WELDING CONTROL
These parameters specify the number of welding controls. The setting
range is from 0 to 99.
8.10.1.10
AxP026 to AxP029: TOOL ON/OFF USER OUTPUT NO. (Jigless system)
These parameters specify the user output number for the tool open/close
operation by specific keys.
8.10.2
8.10.2.1
Handling Application
AxP002, AxP004: f1 KEY FUNCTION
These parameters set the output signal to assign for f1 key.
0: Not specified
1 to 4: Specific outputs for HAND-1 to HAND4-1
5: User output (No. is specified by AxP004).
8.10.2.2
AxP003, AxP005: f2 KEY FUNCTION
These parameters set the output signal to assign for f2 key.
0: Not specified
1 to 4: Specific outputs for HAND-2 to HAND4-2
5: User output (No. is specified by AxP005)
8-57
8
Parameter
8.10 Application Parameters
8.10.3 Spot Welding
8.10.3.1 AxP003: MAXIMUM NUMBER OF CONNECTED WELDERS
This parameter specify the maximum number of welders which are to be
used. The value is automatically set at start-up. No modification is
needed.
8.10.3.2 AxP004: GUN FULL OPEN STROKE ON/OFF SIGNAL
This parameter specifies which stroke switching signal is output ON or
OFF to make the gun fully-opened for each gun.
Bit specification (1 for 01) for 8 guns. The initial setting is “0”.
0 0 0 0 0 0 0 0
| | | | | | | |
8 7 6 5 4 3 2 1
Gun number
8.10.3.3 AxP005: STROKE CHANGE ANSWER TIME LIMIT
When using the X2 gear mechanical stopper gun and switching gun
stroke, this parameter sets the time from the stroke-switching-sequence
start until the pressure instruction end.
The initial setting is “0”, with which the switching signal is output for the
“stopper-type stroke switching time” set in the file, and then the gun
pressure instruction is turned OFF.
8.10.3.4 AxP006: PARITY SPECIFICATION FOR WELDING CONDITIONS
When adding the parity signal to the welding condition signal with the
Welder connected to each welding gun, this parameter specifies odd or
even parity.
Bit specification for 4 Welders. (0 : odd number, 1 : even number) The
initial setting is “0”.
0 0 0 0 0 0 0 0
| | | |
4 3 2 1
Welder number
8-58
8
Parameter
8.10 Application Parameters
8.10.3.5
AxP007: ANTICIPATE TIME
When executing the GUNCL or SPOT instruction with NWAIT specified in
the previous move instruction but the time is not specified by ATT in the
GUNCL or SPOT instruction, this parameter specifies the anticipate
condition (time). The initial setting is “0”, with which the each instruction is
executed as soon as the taught position of the previous move instruction
is reached, as normal operation.
8.10.3.6
AxP015: WELDING ERROR RESET OUTPUT TIME
This parameter sets the output time of the welding error reset signal to the
Welder when the alarm reset signal is input.
If the setting is "0", the welding error reset signal is not output to the
Welder even if the alarm reset signal is input.
8.10.3.7
AxP016, AxP017: tip WEAR AMOUNT ALARM VALUE
These parameters set the tip wear amount alarm values (AxP016:
movable side, AxP017: fixed side) at the wear detection.
8.10.4
8.10.4.1
General-purpose Application
AxP009: WORK CONTINUE PROHIBIT
This parameter specifies whether to output TOOLON instruction or not at
restarting when the work is stopped for some reasons during the output of
TOOLON instruction.
8.10.5
8.10.5.1
Painting Application
AxP080: Specify the Robot With the Paint Gun 1
To specify the robot with the paint gun 1 connected, the robot 1 to the
robot 8 must be set as 0 to 7. The initial value is 0 (robot 1).
8.10.5.2
AxP081: Specify the Robot With the Paint Gun 2
To specify the robot with the paint gun 2 connected, the robot 1 to the
robot 8 must be set as 0 to 7. The initial value is 0 (robot 1).
8.10.5.3
AxP082: Specify the Robot With the Paint Gun 3
To specify the robot with the paint gun 3 connected, the robot 1 to the
robot 8 must be set as 0 to 7. The initial value is 0 (robot 1).
8.10.5.4
AxP083: Specify the Robot With the Paint Gun 4
To specify the robot with the paint gun 4 connected, the robot 1 to the
robot 8 must be set as 0 to 7. The initial value is 0 (robot 1).
8-59
9
9.1
9
Painting Application
Function Keys
Painting Application
9.1
Function Keys
The function keys for painting application are assigned to the [Numeric
Key]s as described below.
Registers a timer instruction “TIMER” in a job.
Registers a reference point “REFP” in a job or modifies an
already-registered reference point.
By pressing [REFP] + [FWD], the manipulator moves to the
registered reference point.
<Teach mode>
By pressing this key, the INHB PAINT signal (#51534) is
turned OFF and the painting becomes enabled.
By pressing this key again, the INHB PAINT signal (#51534) is
turned ON and the painting becomes inhibited.
<Play mode>
By pressing this key when the painting is performed by the
SPYON instruction, the painting becomes inhibited. By
pressing this key again, the painting becomes enabled.
Displays the PAINT CONDITION window.
Registers the spray start instruction “SPYON” in a job.
Registers the spray end instruction “SPYOF” in a job.
SUPPLEMENT
In a system configuration where more than one spray is
connected, the operation of all sprays is controlled by the
“PAINT ON/OFF” key.
9-1
9
9.2
9.2
Painting Application
Painting System Settings (PAINT SYSTEM CONFIG.)
Painting System Settings (PAINT SYSTEM CONFIG.)
Set the painting system.
The painting system setting window is displayed by selecting “PAINT” in
the main menu  “PAINT SYSTEM CONFIG.” in management mode or
higher. The settings can be edited only in teach mode.
2
1
3
4
* Target gun number (GUN1 to 4) can be switched by the [PAGE] key or
the PAGE button at the bottom of the window.
 NAME
Sets the name of each painting condition item.
Up to 14 alphanumeric and symbol characters can be used.
“/” cannot be used at the beginning.
In related windows, the set name is displayed as a name of painting
condition item.
 UNIT
Sets the unit name of each painting condition item.
Up to 16 alphanumeric and symbol characters can be used.
“/” cannot be used at the beginning.
In related windows, the set unit name is displayed as a unit of painting
condition item.
 OUTPUT
Sets each item’s output (logical output) type of painting conditions.
• UNUSE
: No destination for output
• I/O OUTPUT
: Output to the user output signal
• I/O OUTPUT(Gr) : Output to the user output signal (group output)
• REGISTER
: Output to the register
9-2
9
9.2
Painting Application
Painting System Settings (PAINT SYSTEM CONFIG.)
 CALIBRATION OUTPUT
Sets each item’s calibration output (logical output) type of painting conditions.
The followings can be selected from the selection dialog.
• UNUSE
: No destination for output
• I/O OUTPUT
: Output to the user output signal
• I/O OUTPUT(Gr) : Output to the user output signal (group output)
• REGISTER
: Output to the register
• VOLTAGE(0-14V): Output voltage from an YEW circuit board
(optional)
The “NAME” and “UNIT” of each painting condition item
specified in the PAINT SYSTEM CONFIG. window are displayed as “NAME” and “UNIT” of painting condition items in
the following windows. Keep that in mind when changing
them.
NOTE
•
PAINT SPECIAL window
•
PAINT CONDITION window
•
CALIBRATION CONFIG. window
•
TIME CHART CONFIG. window
•
PAINT OUTPUT TEST window
•
IO PAINT CONDITION OUTPUT CONFIG. window
(optional)
9-3
9
9.3
9.3
Painting Application
Painting Device Characteristics (PAINT SPECIAL)
Painting Device Characteristics (PAINT SPECIAL)
Sets the characteristics of the device for painting.
The painting device characteristics window is displayed by selecting
“PAINT” in the main menu  “PAINT SPECIAL” in management mode or
higher. The settings can be edited only in teach mode.
1
2
3
4
5
6
6
6
6
6
* Target gun number (GUN1 to 4) can be switched by the [PAGE] key or
the PAGE button at the bottom of the window.
 SPY ON ADVANCE TIME
Sets an advance time or a delay time of the spray (work start instruction)
signal to turn ON for the SPYON instruction execution timing.
If a value larger than 0 is input, it is regarded as an advance time, and if
a value smaller than 0 is input, it is regarded as a delay time.
 SPY OFF ADVANCE TIME
Sets an advance time or a delay time of the spray (work start instruction)
signal to turn OFF for the SPYOF instruction execution timing.
If a value larger than 0 is input, it is regarded as an advance time, and if
a value smaller than 0 is input, it is regarded as a delay time.
 ATOM ON ADVANCE TIME
Sets an advance time or a delay time of the atomization ON signal to
turn ON for the timing to turn ON the spray (work start instruction) signal.
If a value larger than 0 is input, it is regarded as an advance time, and if
a value smaller than 0 is input, it is regarded as a delay time.
 ATOM OFF DELAY TIME
Sets an advance time or a delay time of the atomization ON signal to
turn OFF for the timing to turn OFF the spray (work start instruction) signal.
If a value larger than 0 is input, it is regarded as an advance time, and if
a value smaller than 0 is input, it is regarded as a delay time.
9-4
9
9.3
Painting Application
Painting Device Characteristics (PAINT SPECIAL)
NOTE
If NWAIT is not added to the move instruction registered
before SPYON or SPYOF instruction, the spray (work start
instruction) signal and the atomization ON signal may not
be output at the desired timing. Be sure to add NWAIT to
the move instruction before the SPYON/SPYOF instruction.
 PAINT CONDITION NO
Sets the destination to output the paint condition number of when the
PAINTSET PCF#(paint condition number) is operated.
Input range: OG#0 to 512, 0 to 8 bit
If OG#0 or 0 bit is specified, no signal is output. If other than OG#0 is
specified, the paint condition number is output with the specified bit
number to the specified user output group. If the paint condition number
cannot be described with the specified bit number, all the specified bit
number of the specified user output group turns ON.
The signal is output when executing the PAINTSET PCF#(paint condition number) and when executing the PAINTEND.
 OUTPUT/CALIBRATION OUTPUT Destination
Sets the output and the calibration output destination of each painting
condition item.
The setting of the output and the calibration output destination is as
shown below.
Output
Input range
selection of the
painting system
setting
Description
Unused
-
-
I/O OUTPUT
OT#0 to 4096 The specified user output signal number is
0 to 16 bit
regarded as the top (0 bit), and the painting
condition output value is output with the
specified bit number.
If the output value of the painting condition
cannot be described with the specified bit
number, all the specified bit number of the
specified user output group turns ON.
If OT#0 or 0 bit is specified, nothing is output.
I/O OUTPUT(Gr) OG#0 to 512
0 to 16 bit
The specified user output group signal number
is regarded as the top (0 bit), and the painting
condition output value is output with the
specified bit number.
If the output value of the painting condition
cannot be described with the specified bit
number, all the specified bit number of the
specified user output group turns ON.
If OG#0 or 0 bit is specified, nothing is output.
REGISTER
The output value of the painting condition is
output to the specified register number.
M000 to 599
9-5
9
9.3
Painting Application
Painting Device Characteristics (PAINT SPECIAL)
Calibration
output selection
of the paint
system setting
Input range
Description
Unused
-
-
I/O OUTPUT
OT#0 to 4096 The specified user output signal number is
0 to 16 bit
regarded as the top (0 bit), and the painting
condition output value is output with the
specified bit number.
If the output value of the painting condition
cannot be described with the specified bit
number, all the specified bit number of
the specified user output group turns
ON.
If OT#0 or 0 bit is specified, nothing is
output.
I/O OUTPUT(Gr)
OG#0 to 512
0 to 16 bit
The specified user output group signal
number is regarded as the top (0 bit), and
the painting condition output value is output
with the specified bit number.
If the output value of the painting condition
cannot be described with the specified bit
number, all the specified bit number of
the specified user output group turns
ON.
If OG#0 or 0 bit is specified, nothing is
output.
REGISTER
M000 to 599
VOLTAGE(0-14V) CH0 to 40
9-6
The output value of the painting condition is
output to the specified register number.
The output value of the painting condition is
output to CH.
If CH0 is specified, nothing is output.
9
9.4
9.4
Painting Application
Painting Conditions (PAINT CONDITION)
Painting Conditions (PAINT CONDITION)
Sets painting conditions which are used for PAINTSET instruction.
The painting condition window is displayed by selecting “PAINT” in the
main menu  “PAINT CONDITION” in operation mode or higher. The
settings can be edited in edit mode or higher.
When the edit lock is not set, the settings can be edited even during
playback operation.
1
2
3
3
3
3
3
* Condition number (1 to 255) can be switched by the [PAGE] key or the
PAGE button at the bottom of the window.
* Target gun number (GUN1 to 4) can be switched by pressing the “GUN
CHANGE” button at the bottom of the window.
 COMMENT
Sets the comment of the painting condition. Up to 32 alphanumeric and
symbol characters can be input.
At the beginning of the comment, “/” cannot be used.
 PAINT SPEED
Sets the speed of manipulator motion of when operating painting.
Input range: 0.1 to 1500.0 mm/sec
 OUTPUT VALUE OF EACH ITEM
Sets the output value of condition items 1 to 5.
Input range: 0 to 65535
9-7
9
9.5
9.5
Painting Application
Calibration Settings (CALIBRATION CONFIG.)
Calibration Settings (CALIBRATION CONFIG.)
Sets the calibration for the output value of painting condition items to
calculate the calibration output value, which is output to the external
devices.
The calibration setting window is displayed by selecting “PAINT” in the
main menu  “CALIBRATION CONFIG.” in operation mode or higher, and
the settings can be edited in edit mode or higher.
When the edit lock is not set, the settings can be edited even during
playback operation.
1
2
2
2
2
2
2
2
2
2
3
* Item number (1 to 5) can be switched by the [PAGE] key or the PAGE
button at the bottom of the window.
* Target gun number (GUN1 to 4) can be switched by pressing the “GUN
CHANGE” button at the bottom of the window.
 CALIBRATION SETTING data 1
The value of both OUTPUT and CALIBRATION OUTPUT are fixed to 0.
The values cannot be changed.
 CALIBRATION SETTING data 2 to 10
Sets the calibration output value for the output value. The input range of
both OUTPUT and CALIBRATION OUTPUT is 0 to 65535. However, as
for an item that the calibration output is set to “VOLTAGE (0-14V)” in the
PAINT SYSTEM CONFIG. window, its input range of the calibration output is 0.00 to 14.00 (unit: 0.01V).
 CORRECT RATE (Input range: 0 to 200 (%))
Corrects the calibration output value. If 100(%) is set, the calculated
calibration value is output. If other than 100(%) is set, the value calculated with the following formula is output:
[ Calculated calibration value  specified correction rate(%) ]
9-8
9
9.5
Painting Application
Calibration Settings (CALIBRATION CONFIG.)
When editing  and  above, “*EDITING” is displayed in the sub title,
and “COMPLETE” button is displayed at the bottom of the window. When
“*EDITING” is displayed, the setting is not completed yet and it is not
reflected as the calibration setting.
The calibration setting is completed by pressing [ENTER] or
“COMPLETE” button after inputting the data of  and . However, if an
output value of a data (its calibration output is not 0) is same as output
value of other data (its calibration output is not 0), an error occurs and the
setting is not completed.
When the setting is completed correctly, the set data is sorted by the
following roles.
• The data whose calibration output is 0 is regarded as invalid, so it is
placed at the end (data10~).
• The data whose calibration output is other than 0 is sorted in ascending order of output value (data1~).
Calibration output calculation is as follows.
(Example) When the calibration setting is as follows.
Data 1
OUTPUT
CALIBRATION OUTPUT
0
0
Data 2
50
60
Data 3
100
150
Data 4
200
320
Data 5
0
0
:
:
:
Line up the setting values of each output and the calibration output.
9-9
9
9.5
Painting Application
Calibration Settings (CALIBRATION CONFIG.)
The calibration output value for the output value between each setting
value is calculated by the liner interpolation.
Calibration output
320
150
60
0
50
100
200
Output
In this case, if the output is 150, the calibration output is 235.
9-10
9
9.6
9.6
Painting Application
Time Chart Settings (TIME CHART CONFIG.)
Time Chart Settings (TIME CHART CONFIG.)
The function of time chart operation is as follows.
The time chart operation enables to output the specified ON/OFF state to
the user output signals in two specified groups (consecutive user output
signals: 16 points) for the specified time up to 40 times in succession.
When the time chart operation starts, the specified output value of the
painting condition items is output. When the operation ends, all of the user
output signals in the two specified groups are turned OFF and 0 is output
to all of the painting condition items.
This function can be used for the gun cleaning, the valve opening/closing
patterns for paint filling, etc.
In this setting, the signal number for time chart operations is set.
The time chart setting window is displayed by selecting “PAINT” in the
main menu  “TIME CHART CONFIG.” in management mode or higher.
The settings can be edited only in teach mode.
1
2
3
4
* Target gun number (GUN1 to 4) can be switched by the [PAGE] key or
the PAGE button at the bottom of the window.
 START SIGNAL
Sets the user input signal number for using as a start signal to start the
time chart operation.
 RUNNING SIGNAL
Sets the user output signal number for using as a signal which output
the operation running status.
 COMPLETION SIGNAL
Sets the user output signal number for using as a signal which output
the operation completion status.
 ITEM OUTPUT GROUP
Sets the user output signal group number to control in the time chart
operation.
In the time chart operation, set user output signal group and the next
group are used. (Two groups are used.)
 to  can be set for each gun up to TABLE 8.
9-11
9
9.7
9.7
Painting Application
Time Chart (TIME CHART)
Time Chart (TIME CHART)
Sets motion patterns for performing the time chart operation.
The time chart window is displayed by selecting “PAINT” in the main menu
 “TIME CHART” in operation mode or higher. The settings can be
edited only in edit mode or higher.
If the edit lock is not set nor the time chart is not operated, settings can be
edited even during playback operation.
1
2
2
2
2
2
3
4
5
* The time chart patterns display (01 to 10, 11 to 20, 21 to 30, or 31 to 40)
can be switched by the [PAGE] key or the PAGE button at the bottom of
the window.
* Table number (1 to 8) can be switched by pressing TABLE button in the
bottom of the window.
* Gun number (GUN1 to 4) can be switched by pressing “DISPLAY” in the
pull-down menu  “GUN 1”, “GUN 2”, “GUN 3”, or “GUN 4” button.
9-12
9
9.7
Painting Application
Time Chart (TIME CHART)
 COMMENT
Sets comment for each table. Up to 32 alphanumeric and symbol characters can be used. “/” cannot be used at the beginning.
 EACH ITEM OUTPUT VALUE
Sets the output value of painting condition items to be output when time
chart operation is started.
 SIGNAL COMMENT
Sets comment for each 16 user output signal to be controlled by the
time chart operation. Up to 16 alphanumeric and symbol characters can
be used. “/” cannot be used at the beginning.
 SIGNAL STATUS SETTING
Sets the signal status to be output for each pattern.
 PATTERN OUTPUT TIME
Sets the signal output time of each pattern. If 0 is set, the pattern is
excluded from the time chart operation.
The time chart operation is as shown below.
1. Time chart operation is started by turning ON the start signal, set on
the TIME CHART CONFIG. window.
2. The running signal, set on the TIME CHART CONFIG. window, is
turned ON.
3. The output value of the painting condition items, set on the TIME
CHART window, is output.
4. The signal pattern of line 01, set on the TIME CHART window, is
output for the specified time to the item output group, set on the TIME
CHART CONFIG. window.
5. The signal pattern of line 02, set on the TIME CHART window, is
output for the specified time to the item output group, set on the TIME
CHART CONFIG. window.
6. The signal patterns of line 03 to 40, set on the TIME CHART window,
are output for the specified time to the item output group, set on the
TIME CHART CONFIG. window.
7. All the 16 signal of item output group, set on the TIME CHART
CONFIG. window, are turned OFF.
8. The running signal, set on the TIME CHART CONFIG. window, is
turned OFF, and the completion signal is turned ON.
9. All the output values in the PAINT CONDITION window become 0.
NOTE
When the start signal is turned OFF while time chart operation is running, all the 16 signals of the item output group
are turned OFF, and all the output values in the PAINT
CONDITION window become 0. At this time, the running
signal is also turned OFF.
If the time chart operation is completed and the completion
signal is ON, the completion signal is turned OFF by turning
OFF the start signal.
9-13
9
9.8
9.8
Painting Application
Painting Data Settings (PAINT DATA CONFIG.)
Painting Data Settings (PAINT DATA CONFIG.)
Sets the painting data which can be used in general with jobs.
The painting data setting window is displayed by selecting “PAINT” in the
main menu  “PAINT DATA CONFIG.” in operation mode or higher, and
the settings can be edited in edit mode or higher.
When the edit lock is not set, the settings can be edited even during
playback operation.
1
2
3
 PAINTING DATA NUMBER
The number of painting data. Press [SELECT] to search numbers.
 PAINTING DATA VALUE
The value of the painting data.
Input range: 0 to 65535
 COMMENT
Sets the comment of the painting data. Up to 32 alphanumeric and
symbol characters can be used. “/” cannot be used at the beginning.
Followings are the access method of the painting data from.
When reading the painting data:
GETFILE D000 PDF#(1) 100
(Value of painting data No.100 is stored in
D000.)
GETFILE D010 PDF#(1) 1
(Value of painting data No.1 is stored in
D010.)
When writing the painting data:
SETFILE PDF#(1) 100 D000
(Contents of D000 is set as the painting
data No.100.)
SETFILE PDF#(1) 10 D050
(Contents of D050 is set as the painting
data No.10.)
9-14
9
9.9
9.9
Painting Application
Painting Output Test (PAINT OUTPUT TEST)
Painting Output Test (PAINT OUTPUT TEST)
The following is the window to execute the output test for the output signal
used for the painting function.
The painting output test window is displayed by selecting “PAINT” in the
main menu  “PAINT OUTPUT TEST” in management mode or higher.
The settings can be edited only in teach mode.
1
2
2
2
2
3
4
4
4
4
4
 TEST
Set to “VALID” when performing the output test. When it is valid, the
specific output signal for paint output test (#51536) is turned ON.
 SPY ON/ATOM ON
Turn ON/OFF the spray ON and the atomization ON signal of the target
gun. The following is the details.
Name
Signal
SPY ON(GUN1)
#51530
ATOM ON(GUN1)
#51531
SPY ON(GUN2)
#51540
ATOM ON(GUN2)
#51541
SPY ON(GUN3)
#51550
ATOM ON(GUN3)
#51551
SPY ON(GUN4)
#51560
ATOM ON(GUN4)
#51561
 PAINT COND OUTPUT GUN NO
Select the gun number to output the set painting condition as a test.
 PAINT CONDITION OUTPUT
If set to “ON”, a voluntary set value is output.
9-15
9
9.9
Painting Application
Painting Output Test (PAINT OUTPUT TEST)
The output values in the PAINT CONDITION window
become 0 when the following operations are performed.
NOTE
•
The paint condition output is turned OFF.
•
The gun number is changed.
•
TEST is turned to be invalid when the paint condition
output is ON.
9-16
9
Painting Application
9.10 IO Painting Condition Output (IO PAINT CONDITION OUTPUT
CONFIG.)
9.10
IO Painting Condition Output
(IO PAINT CONDITION OUTPUT CONFIG.)
This function is for executing the calibration output of the output value set
by the signal to the voluntary signal.
This function becomes available by setting the parameter S2C1029 to 1.
The IO painting condition output window is displayed by selecting “PAINT”
in the main menu  “IO PAINT CONDITION OUTPUT CONFIG.” in
management mode or higher. The settings can be edited only in teach
mode.
1
2
3
 COMMAND VALUE
Sets the input method of output value.
Can be selected by the user input signal or the register.
 OUTPUT INSTRUCTION
Specifies the signal to execute the calibration output.
Specifies the user input signal.
 CALIBRATION OUTPUT
Specifies the output destination of the calibration output.
Can be selected by the user output signal group or the register.
This function can be used by the following methods.
• Set an output value to the signal or to the register, specified to the
command value.
• Turn ON an output instruction.
• Execute calibration output to the specified calibration output destination.
When the output instruction is ON, the command value is always output
with calibration.
9-17
9
Painting Application
9.11 Mode Change Auto Reset of Spray ON/Atomization ON Signal
9.11
Mode Change Auto Reset of Spray ON/Atomization ON Signal
The spray ON signal and the atomization ON signal can be turned OFF
automatically when changing mode (from play mode to teach mode, or
from teach mode to play mode).
To use this function, set the following parameter.
S4C1040 (Specifies to turn OFF the spray and the atomization specific
output signals when changing mode.)
The bits of the parameter value and the target signals are allocated
as follows.
d0: Work start instruction gun 1 (#51530)
d1: Atomization ON gun 1 (#51531)
d2: Work start instruction gun 2 (#51540)
d3: Atomization ON gun 2 (#51541)
d4: Work start instruction gun 3 (#51550)
d5: Atomization ON gun 3 (#51551)
d6: Work start instruction gun 4 (#51560)
d7: Atomization ON gun 4 (#51561)
When changing mode while a bit is ON, the signal is turned OFF.
9-18
9
Painting Application
9.12 Registering Work Instructions
9.12
Registering Work Instructions
9.12.1 SPYON
The SPYON instruction is used to start painting.
The instruction turns ON the specific output signals (work start instruction
and atomization ON) corresponding to the specified gun number.
Function key to register the spray start instruction
“SPYON”
SUPPLEMENT

Select {DEVICE} in the instruction group list when
registering SPYON instruction from [INFORM LIST].
Registering the SPYON Instruction
1. Select {JOB} under the main menu.
9-19
9
Painting Application
9.12 Registering Work Instructions
2. Select {JOB}.
– The JOB CONTENT window appears.
3. Move the cursor to the address area.
9-20
9
Painting Application
9.12 Registering Work Instructions
4. Press [INFORM LIST].
– The instruction list dialog box appears.
5. Select {DEVICE}.
9-21
9
Painting Application
9.12 Registering Work Instructions
6. Select {SPYON}.
– “SPYON” instruction appears in the input buffer line.
9-22
9
Painting Application
9.12 Registering Work Instructions
7. Press [SELECT] and set each item in the DETAIL EDIT window.
– The DETAIL EDIT window appears.
– Move the cursor to the item to be set and press [SELECT].
9-23
9
Painting Application
9.12 Registering Work Instructions
– Use the [Numeric key]s to input the setting and press [ENTER].
– The setting appears in the buffer line.
8. Press [ENTER].
– When [ENTER] is pressed, the setting is registered in the job.
– To cancel the setting, press [CANCEL]. The window returns to the
JOB CONTENT window.
9-24
9
Painting Application
9.12 Registering Work Instructions

Registering the SPYON Instruction by One-touch Operation
1. Press [8 / SPRAY ON].
– “SPYON” appears in the input buffer line.
2. Press [ENTER] to register SPYON.
– SPYON is registered to the job.
Syntax for the SPYON instruction
SPYON
END
2
1
GUNNO=
Gun No.
ANT=
Execution timing
ANTDIS=
Execution timing
3
 Gun No. (Setting range: 1 to 4)
The work start signal of the specific output signals corresponding to the
specified gun number is controlled.
If this setting is omitted, 1 is applied for the gun number.
 Execution timing (time) (Setting range: -327.67 to 327.67)
An anticipation time (advance time, delay time) is set in units of seconds. If this setting is omitted, 0 is applied to the anticipation time.
 Execution timing (distance) (Setting range: -327.67 to 327.67)
An anticipation distance (advance distance, delay distance) is set in
units of mm.
For details of anticipation, refer to chapter 9.13 "Anticipation Output
Function".
9-25
9
Painting Application
9.12 Registering Work Instructions
9.12.2
SPYOF
The the SPYOF instruction is used to stop painting.
This instruction turns OFF the specific output signals (work start
instruction and atomization ON) corresponding to the specified gun
number.
Function key to register the spray end instruction
“SPYOF”
SUPPLEMENT

Select {DEVICE} in the instruction group list when
registering SPYOF instruction from [INFORM LIST].
Registering the SPYOF Instruction
1. Select {JOB} under the main menu.
9-26
9
Painting Application
9.12 Registering Work Instructions
2. Select {JOB}.
– The JOB CONTENT window appears.
3. Move the cursor to the address area.
9-27
9
Painting Application
9.12 Registering Work Instructions
4. Press [INFORM LIST].
– The instruction list dialog box appears.
5. Select {DEVICE}.
9-28
9
Painting Application
9.12 Registering Work Instructions
6. Select {SPYOF}.
– “SPYOF” instruction appears in the input buffer line.
9-29
9
Painting Application
9.12 Registering Work Instructions
7. Press [SELECT] and set each item in the DETAIL EDIT window.
– The DETAIL EDIT window appears.
– Move the cursor to the item to be set and press [SELECT].
9-30
9
Painting Application
9.12 Registering Work Instructions
– Use the [Numeric key]s to input the setting and press [ENTER].
– The setting appears in the buffer line.
8. Press [ENTER].
– When [ENTER] is pressed, the setting is registered in the job.
– To cancel the setting, press [CANCEL]. The window returns to the
JOB CONTENT window.
9-31
9
Painting Application
9.12 Registering Work Instructions

Registering the SPYOF Instruction in a One-touch Operation
1. Press [9 / SPRAY OFF].
– “SPYOF” appears in the input buffer line.
2. Press [ENTER] to register SPYOF.
– SPYOF is registered to the job.
Syntax for the SPYOF instruction
SPYOF
END
2
1
GUNNO=
Gun No.
ANT=
Execution timing
ANTDIS=
Execution timing
3
 Gun No.
The work start signal of the specific output signals corresponding to the
specified gun number is controlled.
If this setting is omitted, 1 is applied for the gun number.
 Execution timing (time) (Setting range: 1 to 4)
The anticipation time (advance time, delay time) is set in units of seconds. If this setting is omitted, 0 is applied to the anticipation time.
 Execution timing (distance) (Setting range: -327.67 to 327.67)
The anticipation distance (advance distance, delay distance) is set in
units of mm.
For details of anticipation, refer to chapter 9.13 "Anticipation Output
Function".
9-32
9
Painting Application
9.12 Registering Work Instructions
9.12.3 PAINTSET
The PAINTSET instruction is used to set the painting conditions for the
paint control panel.

Registering the PAINTSET Instruction
1. Select {JOB} under the main menu.
2. Select {JOB}.
– The JOB CONTENT window appears.
9-33
9
Painting Application
9.12 Registering Work Instructions
3. Move the cursor to the address area.
4. Press [INFORM LIST].
– The instruction list dialog box appears.
9-34
9
Painting Application
9.12 Registering Work Instructions
5. Select {DEVICE}.
6. Select {PAINTSET}.
9-35
9
Painting Application
9.12 Registering Work Instructions
– “PAINTSET” instruction appears in the input buffer line.
7. Press [SELECT] and set each item in the DETAIL EDIT window.
– The DETAIL EDIT window appears.
9-36
9
Painting Application
9.12 Registering Work Instructions
– Move the cursor to the item to be set and press [SELECT].
– Use the [Numeric key]s to input the setting and press [ENTER].
– The setting appears in the buffer line.
9-37
9
Painting Application
9.12 Registering Work Instructions
8. Press [ENTER].
– When [ENTER] is pressed, the setting is registered in the job.
– To cancel the setting, press [CANCEL]. The window returns to the
JOB CONTENT window.
Syntax for the PAINTSET instruction
PAINTSET
Ԙ
GUNNO=
A
(
Output value
Ԛ
B
PNTPRM2=
Output value
C
Ԛ
Output value
Ԛ
PNTPRM4=
Output value
END
ԛ
PNTPRM5=
Output value
)
Painting condition file
Ԛ
PNTPRM3=
C
PCF#
Gun No.
Ԛ
PNTPRM1=
B
A
ԙ
V=
Operation speed
 Gun No. (Setting range: 1 to 4)
Set a gun number which outputs the painting condition
If this setting is omitted, 1 is applied for the gun number.
 Painting condition file No. (Setting range: 1 to 255)
The painting condition of each item set in the painting condition file is
output to the paint control panel.
 Output value (Setting range: 0 to 65535)
The output value set to each item is set to the paint control panel.
 Operation speed (Setting range: 0.1 to 1500.0 [mm/sec])
The operation speed of the manipulator of when painting is set.
If operation speed of the move instruction in the PAINTSET section is
not set, it is overridden by this setting.
9-38
9
Painting Application
9.12 Registering Work Instructions
NOTE
If the paint condition number and all the output values are
omitted, the output condition doesn’t vary.
If use the paint condition number and the output values, the
output which is set in the painting condition file is overwritten by this setting.
9-39
9
Painting Application
9.12 Registering Work Instructions
9.12.4
PAINTEND
The PAINTEND instruction is used to turn OFF the paint condition output
for the paint control panel.

Registering the PAINTEND Instruction
1. Select {JOB} under the main menu.
2. Select {JOB}.
– The JOB CONTENT window appears.
9-40
9
Painting Application
9.12 Registering Work Instructions
3. Move the cursor to the address area.
4. Press [INFORM LIST].
– The instruction list dialog box appears.
9-41
9
Painting Application
9.12 Registering Work Instructions
5. Select {DEVICE}.
6. Select {PAINTEND}.
9-42
9
Painting Application
9.12 Registering Work Instructions
– “PAINTEND” instruction appears in the input buffer line.
7. Press [SELECT] and set each item in the DETAIL EDIT window.
– The DETAIL EDIT window appears.
9-43
9
Painting Application
9.12 Registering Work Instructions
– Move the cursor to the item to be set and press [SELECT].
– Use the [Numeric key]s to input the setting and press [ENTER].
– The setting appears in the buffer line.
9-44
9
Painting Application
9.12 Registering Work Instructions
8. Press [ENTER].
– When [ENTER] is pressed, the setting is registered in the job.
– To cancel the setting, press [CANCEL]. The window returns to the
JOB CONTENT window.
Syntax for the PAINTEND instruction
PAINTEND
END
1
GUNNO=
Gun No.
 Gun No. (Setting range: 1 to 4)
Set a gun number which turns OFF the painting condition.
If this setting is omitted, 1 is applied for the gun number.
9-45
9
Painting Application
9.12 Registering Work Instructions
9.12.5
CALL
The CALL instruction is used to call a specified job.
This section describes an example where a job registration table
(available when the parameter S2C443 is 1) is specified.

What Is the Job Registration Table?
In a job registration table, jobs that are read out by instructions such as the
CALL instruction can be registered.
Three files are available for the registration table. Each job registration
can hold 1024 jobs.
A job can be registered or edited in the job registration table even during
play mode. The updated table becomes valid the next time when the job
registration table is referred by instructions such as the CALL instruction.
1
4
3
2
 TABLE NUMBER (Setting range: 1 to 3)
The job registration table number.
 NO.
The job registration number.
 JOB NAME
Sets the job name.
The selection dialog is shown by pressing [SELECT].
Select “SETTING JOB” to open the job list window in which the job can
be entered. The registration can be released by selecting “CANCEL
JOB”.
 CTRL GROUP
The control group of the selected job is displayed.
9-46
9
Painting Application
9.12 Registering Work Instructions

How to Register the Job Registration Table
1. Select {JOB} under the main menu.
2. Select {JOB REGISTRATION}.
– The JOB REGISTRATION window appears.
9-47
9
Painting Application
9.12 Registering Work Instructions
– The JOB REGISTRATION window appears.
3. Move the cursor to “JOB NAME” and then press [SELECT].
– The selection dialog is shown.
4. Select “SETTING JOB”.
– The JOB NAME window is shown.
9-48
9
Painting Application
9.12 Registering Work Instructions
– Move the cursor to the job to be set and press [SELECT].
– The setting appears in the window.
9-49
9
Painting Application
9.12 Registering Work Instructions

How to Cancel the Job Registration Table
1. Select {JOB} under the main menu.
2. Select {JOB REGISTRATION}.
– The JOB REGISTRATION window appears.
9-50
9
Painting Application
9.12 Registering Work Instructions
– The JOB REGISTRATION window appears.
3. Move the cursor to “JOB NAME” and then press [SELECT].
– The selection dialog is shown.
4. Select “CANCEL JOB”.
– The registered job is canceled.
9-51
9
Painting Application
9.12 Registering Work Instructions

Registering the CALL Instruction (JET)
1. Select {JOB} under the main menu.
2. Select {JOB}.
– The JOB CONTENT window appears.
9-52
9
Painting Application
9.12 Registering Work Instructions
3. Move the cursor to the address area.
4. Press [INFORM LIST].
– The instruction list dialog box appears.
9-53
9
Painting Application
9.12 Registering Work Instructions
5. Select {CONTROL}.
6. Select {CALL}.
9-54
9
Painting Application
9.12 Registering Work Instructions
– “CALL” instruction appears in the input buffer line.
7. Press [SELECT] and set each item in the DETAIL EDIT window.
– The DETAIL EDIT window appears.
9-55
9
Painting Application
9.12 Registering Work Instructions
– Move the cursor to the item to be set and press [SELECT].
(For the CALL destination, select {JET}.)
– Use the [Numeric key]s to input the setting and press [ENTER].
– The setting appears in the buffer line.
9-56
9
Painting Application
9.12 Registering Work Instructions
8. Press [ENTER].
– When [ENTER] is pressed, the setting is registered in the job.
– To cancel the setting, press [CANCEL]. The window returns to the
JOB CONTENT window.
Syntax for the CALL instruction
Ԙ
CALL
A
ԙ
Job registration table No.
(
JET#
)
Job registration No.
ENTRY=
A
END
 Job registration table No.
Sets the job registration table number.
Setting range: 1 to 3
 Job registration No.
Sets the registration number of the job that is registered in a specified
job registration table.
Setting range: 1 to 1024
Example of CALL Job
Line
Instruction
Description
0000
NOP
0001
WAIT IN#(1)=ON
Waits for a start signal to be input.
0002
DIN B000 IG#(2)
Enter the job registration number.
0003
CALL JET#(1) ENTRY=B000
Calls the job corresponding to the
registration number that is entered in
B000.
0004
PULSE OT#(1) T=1.00
Output the work end signal in pulses.
0005
END
9-57
9
Painting Application
9.13 Anticipation Output Function
9.13
Anticipation Output Function
The anticipation output function is to control the execution timing of spray
start instruction and spray stop instruction.
With this function, a spray start instruction and a spray stop instruction can
be carried out earlier or later than the arrival timing of the step.
Use “ANT=” or “ANTDIS=” to use the anticipation output function.
“ANT=” and “ANTDIS=” can be added to the following two instructions:
SPYON (spray start)
SPYOF (spray stop)
To carry out the anticipation output, set the time of the execution timing
“ANT=**(second)” or the distance “ANTDIS=**(mm)” to the SPYON or
SPYOF instruction, and then set “NWAIT” to the move instruction of the
step.
If set an execution timing with a negative value, the signal output is
executed earlier.
If set an execution timing with a positive value, the signal output is
executed later.
9.13.1
9.13.1.1
Example
Start Painting
In the following example, painting starts 0.5 seconds before getting to the
step n (while the manipulator is moving toward the step n).
In addition, the SPY ON advance time is set to 0.3 seconds and the ATOM
ON advance time is set to 0.2 seconds in the painting device
characteristics (PAINT SPECIAL) window.
Step
:
n-1
n
Instruction
:
MOVL
MOVL NWAIT
SPYON ANT=-0.5
MOVL
:
n+1
:
Moving time
(1.2 s)
n-1
n
Step
Work start signal
䠄#51530䠅
Atomization ON signal
䠄#51531䠅
ON
SPY ON
advance time
(0.3 s)
OFF
ON
OFF
ATOM ON
advance time
(0.2 s)
9-58
Anticipation
time (ANT=-0.5 s)
n+1
9
Painting Application
9.13 Anticipation Output Function
The following restrictions are for the output timing to turn
ON the work start signal and the atomization ON signal.
 Among the work start signal (#51530) and the atomization ON signal (#51531), if a signal to be turned ON earlier
is set to be turned ON before the previous step, the signal is
turned ON when passing the previous step.
Moving time
(0.9 s)
n-1
n
n+1
Step
ON
Work start signal
䠄#51530䠅
OFF
Atomization ON signal ON
䠄#51531䠅
OFF
SPY ON
advance time
(0.3 s)
Anticipation
time (ANT=-0.5 s)
ATOM ON
advance time
(0.2 s)
 Among the work start signal (#51530) and the atomiza-
NOTE
tion ON signal (#51531), if a signal to be turned ON earlier
is set to be turned ON after the next step, the signal is
turned ON when passing the next step.
n-1
n
Moving time
(0.2 s)
n+1
Step
ON
Work start signal
䠄#51530䠅
OFF
Atomization ON signal ON
䠄#51531䠅
OFF
Anticipation
time
(ANT=-1.2 s)
SPY ON
advance time
(0.3 s)
ATOM ON
advance time
(0.2 s)
 If a moving time from a step to the next step is longer
than an ATOM ON advance time, the setting of the ATOM
ON advance time is kept as it stands, and the time gap
between the work start signal (#51530) and the atomization
ON signal (#51531) to be turned ON is regarded as the
ATOM ON advance time. This is also the same in case of
 and .
9-59
9
Painting Application
9.13 Anticipation Output Function
9.13.1.2
End Painting
In the following example, painting ends 0.5 seconds after getting to the
step n (while the manipulator is moving toward the step n+1).
In addition, the SPY OFF advance time is set to 0.3 seconds and the
ATOM OFF delay time is set to 0.4 seconds in the painting device
characteristics (PAINT SPECIAL) window.
Step
:
n-1
n
Instruction
:
MOVL
MOVL NWAIT
SPYOF ANT=0.5
MOVL
:
n+1
:
Step
n-1
n
Moving time
(1.0 s)
Anticipation
time(ANT=0.5 s)
Work start signal
䠄#51530䠅
Atomization ON signal
䠄#51531䠅
ON
SPY OFF
advance time
(0.3 s)
OFF
ON
ATOM OFF
delay time
(0.4 s)
OFF
9-60
n+1
9
Painting Application
9.13 Anticipation Output Function
The following restrictions are for the output timing to turn
OFF the work start signal and the atomization ON signal.
 Among the work start signal (#51530) and the atomization ON signal (#51531), if a signal to be turned OFF earlier
is set to be turned OFF before the previous step, the signal
is turned OFF when passing the previous step.
Moving time
(0.7 s)
n-1
n
n+1
Step
Anticipation
time (ANT=-0.5 s)
Work start signal
䠄#51530䠅
ON
OFF
SPY OFF
advance time
(0.3 s)
Atomization ON signal ON
䠄#51531䠅
OFF
NOTE
ATOM OFF
delay time
(0.4 s)
 Among the work start signal (#51530) and the atomization ON signal (#51531), if a signal to be turned OFF earlier
is set to be turned OFF after the next step, the signal is
turned OFF when passing the next step.
Moving time
n-1
n(0.2 s)
n+1
Step
Anticipation
time (ANT=-1.0 s)
Work start signal
䠄#51530䠅
ON
SPY OFF
advance time
(0.3 s)
OFF
Atomization ON signal ON
䠄#51531䠅
OFF
ATOM OFF
delay time
(0.4 s)
 If a moving time from a step to the next step is longer
than an ATOM OFF delay time, the setting of the ATOM
OFF delay time is kept as it stands, and the time gap
between the work start signal (#51530) and the atomization
ON signal (#51531) to be turned OFF is regarded as the
ATOM OFF delay time. This is also the same in case of 
and .
If NWAIT is not set to the previous move instruction of the
SPY ON/SPY OFF instructions, the execution timing of
SPYON/SPYOFF instructions is the same as the normal
DOUT instruction, and the anticipation cannot be executed.
NOTE
In addition, as for the SPY ON advance time, the ATOM ON
advance time, the SPY OFF advance time, and the ATOM
OFF delay time, (those are set in the painting device characteristics (PAINT SPECIAL) window,) the anticipation output is invalid in this case.
When executing the anticipation output, be sure to set
NWAIT to the previous move instruction of the SPYON/
SPYOFF instruction.
9-61
9
Painting Application
9.13 Anticipation Output Function

Restrictions
This anticipation output function has following restrictions.
When the anticipation additional item “ANTDIS=” is set to output a signal
in a delayed timing, the signal cannot be output in an advanced timing
whatever the setting in the painting device characteristics is.
In the following example, the work start signal is turned OFF when the
step n+1 starts.
In addition, the SPY OFF advance time is set to 0.6 seconds, and the
ATOM OFF delay time is set to 0.4 seconds in the painting device
characteristics (PAINT SPECIAL) window.
Step
:
n-1
n
Instruction
:
MOVL
MOVL NWAIT
SPYOF ANTDIS=50.0
MOVL
:
n+1
:
In case that signals are set to be output in advance by setting the SPY OFF advance time and
the ATOM OFF delay time.
n-1
n
Moving distance (100.0 mm)
Moving time (1.0 s)
n+1
Step
Work start signal
䋨#51530䋩
Atomization ON signal
䋨#51531䋩
ON
Anticipation distance
(ANTDIS=50.0mm)
OFF
SPY OFF
advance time
(0.6 s)
ON
ATOM
OFF delay
time (0.4 s)
OFF
The work start signal turns OFF when the step n+1 is started, and
the atomization ON signal(#51531) turns OFF after the ATOM OFF delay time has passed.
n-1
n
Moving distance (100.0 mm)
Moving time (1.0 s)
Step
Work start signal
䋨#51530䋩
Atomization ON signal
䋨#51531䋩
ON
OFF
ON
ATOM OFF
delay time
(0.4 s)
OFF
9-62
n+1
9
Painting Application
9.13 Anticipation Output Function
9.13.2 Interruption
9.13.2.1 SPYON
When a job is stopped when only a signal to be output earlier is ON, the
signal which has been ON is turned OFF. When the job is restarted, the
signal which had been turned OFF is turned ON immediately. And
regardless of the passed time before the job is stopped, the signal to be
output later is turned ON according to the set ATOM ON advance time.
In the following example, the atomization ON signal is turned OFF when
HOLD signal is input. When restarted, the atomization ON signal is turned
ON again. And the work start instruction is turned ON after the ATOM ON
advance time has passed.
In addition, the ATOM ON advance time is set to 0.4 seconds in the
painting device characteristics (PAINT SPECIAL) window.
Step
:
n-1
n
n+1
:
HOLD stop
Instruction
:
MOVL
MOVL NWAIT
SPYON ANT=-1.0
MOVL
:
Restart
n-1
n
Step
Work start signal
䋨#51530䋩
Atomization ON signal
䋨#51531䋩
ON
OFF
ON
OFF
ATOM ON
advance
time (0.4 s)
ATOM ON
advance
time (0.4 s)
9-63
n+1
9
Painting Application
9.13 Anticipation Output Function
9.13.2.2
SPYOF
When a job is stopped when both signals are ON, the signal to be output
earlier is turned OFF immediately, and the signal to be output later is
turned OFF according to the set ATOM OFF delay time.
Until the signal to be output later is turned OFF, the job is regarded as
running and the start lamp is not turned OFF.
In the following example, the work start signal is turned OFF when HOLD
signal is input, then the atomization ON signal is turned OFF after the
ATOM OFF delay time has passed.
In addition, the SPY OFF advance time is set to 0.4 seconds, and the
ATOM OFF delay time is set to 0.5 seconds in the painting device
characteristics (PAINT SPECIAL) window.
Step
:
n-1
n
n+1
:
Instruction
:
MOVL
MOVL NWAIT
SPYOF ANT=1.4
MOVL
:
In case that a job is stopped when a signal to be output earlier is still ON.
n-1
n
Step
Work start signal
䋨#51530䋩
Atomization ON signal
䋨#51531䋩
Anticipation
time or distance
(ANT=-1.4 s)
ON
SPY OFF
advance time
(0.4 s)
OFF
ON
ATOM OFF
delay time (0.5 s)
OFF
The work start signal(#51530) turns OFF when the job is holded, and
the atomization ON signal(#51531) turns OFF after the ATOM OFF delay time has passed.
HOLD stop
n-1
n
Step
Work start signal
䋨#51530䋩
Atomization ON signal
䋨#51531䋩
ON
OFF
ON
ATOM OFF
delay time (0.5 s)
OFF
9-64
9
Painting Application
9.13 Anticipation Output Function
When a job is stopped when only the signal to be output earlier is turned
OFF, the signal to be output later is turned OFF according to the set ATOM
OFF delay time. Until the signal to be output later is turned OFF, the job is
regarded as running and the start lamp is not turned OFF.
In the following example, the atomization ON signal is not turned OFF
even if HOLD signal is input, and the atomization ON signal is turned OFF
after the ATOM OFF delay time has passed.
In addition, the ATOM OFF delay time is set to 0.5 seconds in the painting
device characteristics (PAINT SPECIAL) window.
Step
:
n-1
n
Instruction
:
MOVL
MOVL NWAIT
SPYOF ANT=0.5
MOVL
:
n+1
:
HOLD stop
n-1
n
Step
Work start signal
䋨#51530䋩
Atomization ON signal
䋨#51531䋩
ON
OFF
ON
ATOM OFF
delay time
(0.5 s)
OFF
9-65
10
Table of Basic Instructions
10.1 Move Instructions
10 Table of Basic Instructions
• <> indicates numerical or alphabetical data.
• If multiple items are shown in one section, select one of the items.
10.1
MOVJ
Move Instructions
Function
Moves to a taught point with joint interpolation type.
Additional
Item
Position data,
Base axis position data,
Station axis position data
These data do not
appear on the
screen.
VJ=<play speed>
VJ:
0.01 to 100.00%
PL=<position level>
PL:0 to 8
NWAIT
UNTIL statement
MOVL
ACC=(acceleration adjustment ratio)
ACC: 20 to 100%
DEC=(deceleration adjustment ratio)
DEC: 20 to 100%
Example
MOVJ VJ=50.00 PL=2 NWAIT UNTIL IN#(16)=ON
Function
Moves to a taught point with linear interpolation type.
Additional
Item
Position data,
Base axis position data,
Station axis position data
These data do not
appear on the
screen.
V=<play speed>,
VR=<play speed of the posture>,
VE=<play speed of external axis>
V:0.1 to 1500.0
mm/s
1 to 9000.0
cm/min
VR:0.1 to 360.0
deg/s
VE:0.01 to
100.00%
PL=<position level>
PL:0 to 8
CR=(corner radius)
CR: 0.1 to
6553.5mm
NWAIT
UNTIL statement
ACC=(acceleration adjustment ratio)
ACC: 20 to 100%
DEC=(deceleration adjustment ratio)
DEC: 20 to 100%
COORD= (Arc attitude control specification)
COORD: 0 to 1
FPT: Arc end-point setting
Example
MOVL V=138 PL=0 NWAIT UNTIL IN#(16)=ON
10-1
10
Table of Basic Instructions
10.1 Move Instructions
MOVC
Function
Moves to a taught point with circular interpolation type.
Additional
Item
Position data,
Base axis position data,
Station axis position data
These data do not
appear on the
screen.
V=<play speed>,
VR=<play speed of the posture>,
VE=<play speed of external axis>
Same as MOVL.
PL=<position level>
PL:0 to 8
NWAIT
MOVS
ACC=(acceleration adjustment ratio)
ACC: 20 to 100%
DEC=(deceleration adjustment ratio)
DEC: 20 to 100%
Example
MOVC V=138 PL=0 NWAIT
Function
Moves to a taught point with spline interpolation type.
Additional
Item
Position data,
Base axis position data,
Station axis position data
These data do not
appear on the
screen.
V=<play speed>,
VR=<play speed of the posture>,
VE=<play speed of external axis>
Same as MOVL.
PL=<position level>
PL:0 to 8
NWAIT
IMOV
ACC=(acceleration adjustment ratio)
ACC: 20 to 100%
DEC=(deceleration adjustment ratio)
DEC: 20 to 100%
Example
MOVS V=120 PL=0
Function
Moves the specified increment from the current position with linear
interpolation type.
Additional
Item
P<variable number>,
BP<variable number>,
EX<variable number>
V=<play speed>,
VR=<play speed of the posture>,
VE=<play speed of external axis>
Same as MOVL.
PL=<position level>
PL:0 to 8
NWAIT
BF,RF,TF,UF# (<user coordinate number>)
BF:
base coordinates
RF:
robot coordinates
TF:
tool coordinates
UF:
user coordinates
UNTIL statement
REFP
ACC=(acceleration adjustment ratio)
ACC: 20 to 100%
DEC=(deceleration adjustment ratio)
DEC: 20 to 100%
Example
IMOV P000 V=138 PL=1 RF
Function
Defines a reference point (e.g. wall point for weaving).
Additional
Item
<reference point number>
Example
REFP 1 P000
Position data,
Base axis position data,
Station axis position data
10-2
wall point 1 for
weaving: 1
wall point 2 for
weaving: 2
10
Table of Basic Instructions
10.1 Move Instructions
SPEED
Function
Sets play speed.
Additional
Item
VJ=<joint speed>,
V=<TCP speed>,
VR=<play speed of the posture>,
VE=<play speed of external axis>
Example
SPEED VJ=50.00
VJ:Same as
MOVJ.
V,VR,VE:
Same as
MOVL.
CAUTION
When start IMOV instruction again after IMOV instruction was aborted
due to execute the following operations, the manipulator moves the
added values, which is set anew from the aborted position, in the linear
interpolation. The values become greater than the set added value.
Please do not execute the IMOV instruction when changing move
distance by the abort causes a problem.
•
External servo OFF signal 2 (#40066)
•
Turning OFF the servo power due to alarm occurring
•
Enable signal
•
Mode switch
•
Enable switch
10-3
10
Table of Basic Instructions
10.2 I/O Instructions
10.2
DOUT
I/O Instructions
Function
Turns the external output signals ON and OFF.
Additional
Item
OT# (<output number>),
OGH# (<output group number>),
OG# (<output group number>)
Number of addressed output signals:
OT#(xx)=1;OGH#(xx)=4(per group);
OG#(xx)=8(per group)
OGH#(xx) is not subject to parity check; only the binary
specification is allowed.
PULSE
Example
DOUT OT#(12) ON
Function
Outputs a pulse signal as an external output signal.
Additional
Item
OT# (<output number>),
OGH# (<output group number>),
OG# (<output group number>)
T=<time (seconds)>
DIN
Example
PULSE OT# (10) T=0.60
Function
Sets input signals in variables.
Additional
Item
B<variable number>
IN# (<input number>),
IGH# (<input group number>),
IG# (<input group number>),
OT# (<output number>),
OGH# (<output group number>),
OG# (<output group number>),
SIN# (<system input number>),
SOUT# (<system output number>)
Number of addressed input signals:
IN#(xx)=1;IGH#(xx)=4(per group);
IG#(xx)=8(per group)
Number of addressed output signals:
OT#(xx)=1;OGH#(xx)=4(per group);
OG#(xx)=8(per group)
IGH#(xx) and OGH#(xx) are not subject to parity
check; only the binary specification is allowed.
Example
DIN B016 IN#(16)
DIN B002 IG#(2)
10-4
0.01 to
655.35 s
0.30 s unless
otherwise
specified
10
Table of Basic Instructions
10.2 I/O Instructions
WAIT
Function
Waits until the external input signal status matches the specified status.
Additional
Item
IN# (<input number>),
IGH# (<input group number>),
IG# (<input group number>),
OT# (<user output number>),
OGH# (<output group number>),
SIN# (<system input number>),
SOUT# (<system output number>)
B<variable number>
T=<time (seconds)>
AOUT
ARATION
ARATIOF
0.01 to
655.35 s
Example
WAIT IN# (12)=ON T=10.00
WAIT IN# (12)=B002
Function
Outputs the specified voltage to the general-purpose analog output port.
Additional
Item
AO# (<output port number>)
1 to 40
<output voltage(V)>
-14.0 to 14.0 V
Example
AOUT AO# (2) 12.7
Function
Starts the analog output corresponding to the speed.
Additional
Item
AO#(<output port number>)
1 to 40
BV = <basic voltage>
-14.00 to 14.00 V
V = <basic speed>
0.1 to
1500.0 mm/s
1 to 9000 cm/min
OFV = <offset voltage>
-14.00 to 14.00 V
Example
ARATION AO#(1) BV=10.00 V=200.0 OFV=2.00
Function
Ends the analog output corresponding to the speed.
Additional
Item
AO#(<output port number>)
Example
ARATIOF AO#(1)
10-5
1 to 40
10
Table of Basic Instructions
10.3 Control Instructions
10.3
JUMP
Control Instructions
Function
Jumps to the specified label or job.
Additional
Item
* <label character string>,
JOB:<job name>,
LABEL:<label elements>,
IG# (<input group number>),
B<variable number>,
I<variable number>,
D<variable number>,
S<variable number>
UF# (user coordinates number)
IF statement
Example
JUMP JOB:TEST1 IF IN#(14)=OFF
*
Function
Indicates a jump destination.
(label)
Additional
Item
<jump destination>
Example
*123
Function
Calls the specified job.
Additional
Item
JOB:<job name>,
IG# (<input group number>),
B<variable number>,
I<variable number>,
D<variable number>,
S<variable number>
CALL
8 characters or
less
ARGF<argument 1>
ARGF<argument 2>
ARGF<argument 3>
ARGF<argument 4>
ARGF<argument 5>
ARGF<argument 6>
ARGF<argument 7>
ARGF<argument 8>
UF# (user coordinates number)
IF statement
RET
Example
CALL JOB:TEST1 IF IN# (24)=ON
CALL IG#(2)
(The job is called by the patterns of input signal. In this example, Job 0
cannot be called.)
Function
Returns to the call source job.
Additional
Item
B<variable number>,
I<variable number>,
D<variable number>,
R<variable number>,
S<variable number>,
Constant, String
IF statement
END
Example
RET IF IN#(12)=OFF
Function
Declares the end of a job.
Additional
Item
Example
END
10-6
10
Table of Basic Instructions
10.3 Control Instructions
NOP
Function
No operation.
Additional
Item
Example
NOP
Function
Stops for the specified time.
Additional
Item
T=<time (seconds)>
Example
TIMER T=12.50
Function
Evaluates the specified condition and makes a judgment accordingly.
Described after an instruction that specifies a certain action.
Format:<Item1>=,<>,<=,>=,<,><Item2>
Additional
Item
<Item1>
Example
JUMP *12 IF IN#(12)=OFF
Function
Monitors the specified input signal during an action and stops the action
when the specified signal status is observed. Described after an instruction
that specifies a certain action.
Additional
Item
IN# (<input number>)
Example
MOVL V=300 UNTIL IN#(10)=ON
Function
Instructs a pause.
Additional
Item
IF statement
Example
PAUSE IF IN#(12)=OFF
’
Function
Dispalys a comment.
(comment)
Additional
Item
<comment>
Example
’Draws 100mm size square.
Function
Waits for execution of the instruction on the next line.
Used with the NWAIT tag which is an additional item of a move instruction.
TIMER
IF
statement
UNTIL
statement
PAUSE
CWAIT
<Item2>
<status>
32 characters or
less
Additional
Item
ADVINIT
Example
MOVL V=100 NWAIT
DOUT OT#(1) ON
CWAIT
DOUT OT#(1) OFF
MOVL V=100
Function
Initializes the prereading instruction processing.
Used to adjust the access timing for variable data.
Additional
Item
ADVSTOP
Example
ADVINIT
Function
Stops the prereading instruction processing.
Used to adjust the access timing for variable data.
Additional
Item
Example
0.01 to
655.35 s
ADVINIT
10-7
10
Table of Basic Instructions
10.4 Shift Instructions
10.4
SFTON
SFTOF
Shift Instructions
Function
Starts a shift operation.
Additional
Item
P<variable number>,
BP<variable number>,
EX<variable number>,
BF,RF,TF,
UF#(<user coordinate number>)
Example
SFTON P001 UF#(1)
Function
Stops a shift operation.
BF:
base coordinates
RF:
robot coordinates
TF:
tool coordinates
UF:
user coordinates
Additional
Item
MSHIFT
Example
SFTOF
Function
Obtains the shift value in the specified coordinate system from Data 2 and
3, and stores the obtained element values in Data 1.
Format:MSHIFT <Data1><Coordinate><Data2><Data3>
Additional
Item
Data1
PX<variable number>
Coordinate
BF,RF,TF,
UF# (<user coordinate number>),
MTF
Data2
PX<variable number>
Data3
PX<variable number>
Example
MSHIFT PX000 RF PX001 PX002
10-8
BF:
base coordinates
RF:
robot coordinates
TF:
tool coordinates
UF:
user coordinates
MTF:
tool coordinates
for the master
10
Table of Basic Instructions
10.5 Operating Instructions
10.5
ADD
SUB
Operating Instructions
Function
Adds Data1 and Data2, and stores the result in Data1.
Format:ADD<Data1><Data2>
Additional
Item
Data1
B<variable number>,
I<variable number>,
D<variable number>,
R<variable number>,
P<variable number>,
BP<variable number>,
EX<variable number>
Data2
Constant,
B<variable number>,
I<variable number>,
D<variable number>,
R<variable number>,
P<variable number>,
BP<variable number>,
EX<variable number>
Data1 must
always be a
variable.
Example
ADD I012 I013
Function
Subtracts Data2 from Data1, and stores the result in Data1.
Format:SUB<Data1><Data2>
Additional
Item
Data1
B<variable number>,
I<variable number>,
D<variable number>,
R<variable number>,
P<variable number>,
BP<variable number>,
EX<variable number>
Data2
Constant,
B<variable number>,
I<variable number>,
D<variable number>,
R<variable number>,
P<variable number>,
BP<variable number>,
EX<variable number>
Example
SUB I012 I013
10-9
Data1 must
always be a
variable.
10
Table of Basic Instructions
10.5 Operating Instructions
MUL
Function
Multiplies Data1 by Data2, and stores the result in Data1.
Format:MUL<Data1><Data2>
Data1 can be an element in a position variable.
If omitted, all elements are specified.
Pxxx(1): 1st axis data, Pxxx(2): 2nd axis data,
Pxxx(3): 3rd axis data, Pxxx(4): 4th axis data,
Pxxx(5): 5th axis data, Pxxx(6): 6th axis data,
Pxxx(7): 7th axis data, Pxxx(8): 8th axis data
Additional
Item
DIV
Data1
B<variable number>,
I<variable number>,
D<variable number>,
R<variable number>,
P<variable number>
(<element number>),
BP<variable number>
(<element number>),
EX<variable number>
(<element number>)
Data2
Constant,
B<variable number>,
I<variable number>,
D<variable number>,
R<variable number>
Example
MUL I012 I013
MUL P000 (3) 2 (Multiply the Z-axis data by 2.)
Function
Divides Data1 by Data2, and stores the result in Data1.
Format:DIV<Data1><Data2>
Data1 must
always be a
variable.
Data1 can be an element in a position variable.
If omitted, all elements are specified.
Pxxx(1): 1st axis data, Pxxx(2): 2nd axis data,
Pxxx(3): 3rd axis data, Pxxx(4): 4th axis data,
Pxxx(5): 5th axis data, Pxxx(6): 6th axis data,
Pxxx(7): 7th axis data, Pxxx(8): 8th axis data
Additional
Item
INC
Data1
B<variable number>,
I<variable number>,
D<variable number>,
R<variable number>,
P<variable number>
(<element number>),
BP<variable number>
(<element number>),
EX<variable number>
(<element number>)
Data2
Constant,
B<variable number>,
I<variable number>,
D<variable number>,
R<variable number>
Example
DIV I012 I013
DIV P000 (3) 2 (Divide the Z-axis data by 2.)
Function
Increments the value of the specified variable by 1.
Additional
Item
B<variable number>,
I<variable number>,
D<variable number>
Example
INC I043
10-10
Data1 must
always be a
variable.
10
Table of Basic Instructions
10.5 Operating Instructions
DEC
AND
OR
NOT
XOR
SET
Function
Decrements the value of the specified variable by 1.
Additional
Item
B<variable number>,
I<variable number>,
D<variable number>
Example
DEC I043
Function
Obtains the AND of Data1 and Data2, and stores the result in Data1.
Format:AND<Data1><Data2>
Additional
Item
Data1
B<variable number>
Data2
B<variable number>, Constant
Example
AND B012 B020
Function
Obtains the OR of Data1 and Data2, and stores the result in Data1.
Format:OR<Data1><Data2>
Additional
Item
Data1
B<variable number>
Data2
B<variable number>, Constant
Example
OR B012 B020
Function
Obtains the NOT of Data2, and stores the result in Data1.
Format:NOT<Data1><Data2>
Additional
Item
Data1
B<variable number>
Data2
B<variable number>, Constant
Example
NOT B012 B020
Function
Obtains the exclusive OR of Data1 and Data2, and stores the result in
Data1.
Format:XOR<Data1><Data2>
Additional
Item
Data1
B<variable number>
Data2
B<variable number>, Constant
Example
XOR B012 B020
Function
Sets Data2 to Data1.
Format:SET<Data1><Data2>
Additional
Item
Data1
B<variable number>,
I<variable number>,
D<variable number>,
R<variable number>,
P<variable number>,
S<variable number>,
BP<variable number>,
EX<variable number>
Data2
Constant,
B<variable number>,
I<variable number>,
D<variable number>,
R<variable number>,
EXPRESS
Example
SET I012 I020
10-11
Data1 must
always be a
variable.
10
Table of Basic Instructions
10.5 Operating Instructions
SETE
GETE
GETS
Function
Sets data to an element in a position variable.
Pxxx(1): 1st axis data, Pxxx(2): 2nd axis data,
Pxxx(3): 3rd axis data, Pxxx(4): 4th axis data,
Pxxx(5): 5th axis data, Pxxx(6): 6th axis data,
Pxxx(7): 7th axis data, Pxxx(8): 8th axis data
Additional
Item
Data 1
P<variable number>
(<element number>),
BP<variable number>
(<element number>),
EX<variable number>
(<element number>)
Data 2
D<variable number>,
double-precision integer type constant
Example
SETE P012 (3) D005
Function
Extracts an element in a position variable.
Pxxx(1): 1st axis data, Pxxx(2): 2nd axis data,
Pxxx(3): 3rd axis data, Pxxx(4): 4th axis data,
Pxxx(5): 5th axis data, Pxxx(6): 6th axis data,
Pxxx(7): 7th axis data, Pxxx(8): 8th axis data
Additional
Item
D<variable number>
Example
GETE D006 P012 (4)
Function
Sets a system variable to the specified variable.
Additional
Item
B<variable number>,
I<variable number>,
D<variable number>,
R<variable number>,
PX<variable number>,
S<variable number>
P<variable number> (<element number>),
BP<variable number> (<element number>),
EX<variable number> (<element number>)
$B<variable number>,
$I<variable number>,
$D<variable number>,
$R<variable number>,
$PX<variable number>,
$RV
Example
GETS B000 $B000
GETS I001 $I[1]
GETS PX003 $PX001
10-12
System variable
10
Table of Basic Instructions
10.5 Operating Instructions
CNVRT
Function
Converts the position variable (Data2) into a position variable of the
specified coordinate system, and stores the converted variable in Data1.
Format:CNVRT<Data1><Data2> coordinate tool
Additional
Item
Data1
PX<variable number>
Data2
PX<variable number>
BF,RF,TF,UF# (<user coordinate number>),MTF
BF:
base coordinates
RF:
robot coordinates
TF:
tool coordinates
UF:
user coordinates
MTF:tool
coordinates for the
master
TL#(<tool number>)
CLEAR
SIN
COS
Example
CNVRT PX000 PX001 BF
Function
Starting with the variable number in Data1, clears (sets to zero) as many
variables as specified by a number in Data2.
Format:CLEAR<Data1><Data2>
Additional
Item
Data1
B<variable number>,
I<variable number>,
D<variable number>,
R<variable number>,
$B<variable number>,
$I<variable number>,
$D<variable number>,
$R<variable number>,
Data2
<number of variables>, ALL,STACK
Example
CLEAR B000 ALL
CLEAR STACK
Function
Obtains the sine of Data2, and stores the result in Data1.
Format:SIN<Data1><Data2>
Additional
Item
Data1
R<variable number>
Data2
<constant>,
R<variable number>
ALL:Clears
variables of the
variable number in
Data1 and of all
the variable
numbers that
follow.
STACK:Clears all
variables in the job
call stack.
Data1 must
always be a real
type variable.
Example
SIN R000 R001 (Sets the sine of R001 to R000.)
Function
Obtains the cosine of Data2, and stores the result in Data1.
Format:COS<Data1><Data2>
Additional
Item
Data1
R<variable number>
Data2
<constant>,
R<variable number>
Example
COS R000 R001 (Sets the cosine of R001 to R000.)
10-13
Data1 must
always be a real
type variable.
10
Table of Basic Instructions
10.5 Operating Instructions
ATAN
SQRT
MFRAME
MULMAT
INVMAT
SETFILE
Function
Obtains the arc tangent of Data2, and stores the result in Data1.
Format:ATAN<Data1><Data2>
Additional
Item
Data1
R<variable number>
Data2
<constant>,
R<variable number>
Data1 must
always be a real
type variable.
Example
ATAN R000 R001 (Sets the arc tangent of R001 to R000.)
Function
Obtains the square root of Data2, and stores the result in Data1.
Format:SQRT<Data1><Data2>
Additional
Item
Data1
R<variable number>
Data2
<constant>,
R<variable number>
Data1 must
always be a real
type variable.
Example
SQRT R000 R001 (Sets the square root of R001 to R000.)
Function
Creates a user coordinate using the position data for the given three points
as definition points. <Data1> indicates the definition point ORG position
data, <Data2> the definition point XX position data, and <Data3> the
definition point XY position data.
Format: MFRAME <user coordinate> <Data1> <Data2> <Data3>
Additional
Item
UF#(<user coordinate number>)
P<variable number>
Data1
PX <variable number>
Data2
PX <variable number>
Data3
PX <variable number>
User coordinate
number: 1 to 63
Example
MFRAME UF#(1) PX000 PX001 PX002
Function
Obtains the matrix product of Data2 and Data3, and stores the result in
Data1.
Format: MULMAT <Data1> <Data2> <Data3>
Additional
Item
Data1
P <variable number>
Data2
P <variable number>
Data3
P <variable number>
Example
MULMAT P000 P001 P002
Function
Obtains the inverse matrix of Data2, and stores the result in Data1.
Format: INVMAT <Data1> <Data2>
Additional
Item
Data1
P <variable number>
Data2
P <variable number>
Example
INVMAT P000 P001
Function
Changes the contents data of a condition file into the numeric data of Data1.
The contents data of a condition file to be changed is specified by the
element number.
Additional
Item
Contents
data of a
condition file
WEV#(<condition file
number>)(<element number>)
Data1
Constant,
D<variable number>
Example
SETFILE WEV#(1)(1) D000
10-14
10
Table of Basic Instructions
10.5 Operating Instructions
GETFILE
GETPOS
VAL
Function
Stores the contents data of a condition file in Data1. The contents data of a
condition file to be obtained is specified by the element number.
Additional
Item
Data1
D <variable number>
Contents
data of a
condition file
WEV#(<condition file
number>)(<element number>)
Example
GETFILE D000 WEV#(1)(1)
Function
Stores the position data of Data2 (step number) in Data1.
Additional
Item
Data1
PX <variable number>
Data2
STEP# (<step number>)
Example
GETPOS PX000 STEP#(1)
Function
Converts the numeric value of the character string (ASCII) of Data2 into the
real number, and stores the result in Data1.
Format: VAL <Data1> <Data2> cardinal number
Additional
Item
Data1
B <variable number>,
I <variable number>,
D <variable number>,
R <variable number>
Data2
Character string,
S <variable number>
RADIX=<cardinal number>
ASC
CHR$
MID$
Example
VAL B000 “123”
Function
Obtains the character code of the first letter of the character string (ASCII) of
Data2, and stores the result in Data1.
Format:ASC<Data1><Data2>
Additional
Item
Data1
B <variable number>
Data2
Character string,
S <variable number>
Example
ASC B000 “ABC”
Function
Obtains the character (ASCII) with the character code of Data2, and stores
the result in Data1.
Format:CHR$<Data1><Data2>
Additional
Item
Data1
S <variable number>
Data2
Constant,
B <variable number>
Example
CHR$ S000 65
Function
Obtains the character string (ASCII) of any length (Data 3, 4) from the
character string (ASCII) of Data2, and stores the result in Data1.
Format:MID$<Data1><Data2><Data3><Data4>
Additional
Item
Data1
S <variable number>
Data2
Character string,
S <variable number>
Data3
Constant,
B <variable number>,
I <variable number>,
D <variable number>
Data4
Constant,
B <variable number>,
I <variable number>,
D <variable number>
Example
MID$ S000 “123ABC456” 4 3
10-15
10
Table of Basic Instructions
10.5 Operating Instructions
LEN
CAT$
Function
Obtains the total number of bytes of the character string (ASCII) of Data2,
and stores the result in Data1.
Format:LEN<Data1><Data2>
Additional
Item
Data1
B <variable number>,
I <variable number>,
D <variable number>
Data2
Character string,
S <variable number>
Example
LEN B000 “ABCDEF”
Function
Combines the character string (ASCII) of Data2 and Data3, and stores the
result in Data1.
Format:CAT$<Data1><Data2><Data3>
Additional
Item
Data1
S <variable number>
Data2
Character string,
S <variable number>
Data3
Character string,
S <variable number>
Example
CAT$ S000 “ABC” “DEF”
10-16
Index
Symbols
’ (comment) ......................................................................................... 10-7
* (label) ............................................................................................... 10-6
A
ADD ................................................................................................... 10-9
additional items...................................................................................... 3-5
address area ....................................................................................... 3-45
ADVINIT ............................................................................................. 10-7
ADVSTOP ........................................................................................... 10-7
Airgun condition data.............................................................................. 7-9
ALARM HISTORY................................................................................ 1-39
alarm history data ................................................................................ 7-11
Alarm Status........................................................................................ 1-20
alphanumeric input ............................................................................... 1-24
ANALOG MONITOR ............................................................................ 1-39
ANALOG OUTPUT .............................................................................. 1-38
analog output function ........................................................................ 6-159
AND ................................................................................................. 10-11
Android ............................................................................................. 6-175
ANT .................................................................................................... 9-58
ANTDIS .............................................................................................. 9-58
anticipation output function ................................................................... 9-58
AOUT ................................................................................................. 10-5
apk file .............................................................................................. 6-202
APPLI COND....................................................................................... 1-41
APPLICATION CONDITION SETTING .................................................. 1-41
application parameter ........................................................................... 7-10
APPLICATION SETTING...................................................................... 1-41
ARATIOF .................................................................................. 6-161, 10-5
ARATION .................................................................................. 6-162, 10-5
ARC AUX COND. ................................................................................ 1-41
ARC END COND. ................................................................................ 1-41
arc end condition data ............................................................................ 7-9
ARC MONITOR ................................................................................... 1-41
ARC MONITOR (SAMPL) ..................................................................... 1-41
ARC START COND. ............................................................................ 1-41
arc start condition data ........................................................................... 7-9
ARC WELD DIAG. ............................................................................... 1-41
ARC WELDING ................................................................................... 1-41
AREA ................................................................................................... 1-8
ARM CONTROL .................................................................................. 1-39
ASC.................................................................................................. 10-15
ASSIST ................................................................................................. 1-6
ATAN................................................................................................ 10-14
ATOM OFF DELAY TIME ....................................................................... 9-4
ATOM ON ADVANCE TIME.................................................................... 9-4
attach photo ...................................................................................... 6-211
AUTO BACK SET ................................................................................ 1-40
AUTO cycle ......................................................................................... 4-23
AUXILIARY RELAY.............................................................................. 1-38
Axis Key....................................................................................... 1-2, 1-11
Index-1
Index
B
BASE ........................................................................................... 2-1, 2-17
base axis ............................................................................................ 1-18
BASE POINT ...................................................................................... 6-23
basic axes............................................................................ 2-8, 2-10, 2-13
batch selection .................................................................................... 7-45
BWD ..................................................................................... 1-9, 2-4, 3-24
byte .......................................................................................... 1-38, 3-106
C
calibration output ........................................................................... 9-3, 9-17
calibration settings ................................................................................. 9-8
CALL .......................................................................................... 9-46, 10-6
Call back request with QR code .......................................................... 6-208
Call Center........................................................................................ 6-204
CANCEL ............................................................................................... 1-6
cancel....................................................................................... 4-14, 6-145
cartesian coordinates .............................................................. 1-19, 2-2, 2-7
CAT$................................................................................................ 10-16
CHANGE BUTTON .............................................................................. 1-40
CHANGE FONT .................................................................................. 1-40
CHANGE WINDOW PATTERN............................................................. 1-40
character input .................................................................................... 1-23
character type variables ..................................................................... 3-108
check mode operation .......................................................................... 4-13
CHR$ ............................................................................................... 10-15
CIO program ....................................................................................... 7-10
circular interpolation ............................................................................... 3-8
CLEAR ............................................................................................. 10-13
CLEARANCE SETTING ....................................................................... 1-41
ClO parameter..................................................................................... 7-10
CNVRT ............................................................................................. 10-13
COMMAND POSITION ................................................................ 1-39, 3-49
COMMAND VALUE ............................................................................. 9-17
comment out .............................................................. 3-73, 3-75, 3-77, 3-80
comments ............................................................................................. 3-5
COMMON TO ALL APPLICATIONS ...................................................... 1-41
COMPLETION SIGNAL ............................................................... 9-11, 9-13
Continuous (operation cycle) ................................................................ 1-19
continuous circular arcs.......................................................................... 3-8
control group .................................................................................. 2-1, 3-3
CONTROL INPUT ............................................................................... 1-38
Converter parameter ............................................................................ 7-10
COORD ........................................................................................ 1-7, 2-15
coordinate home position parameter...................................................... 7-10
COORDINATES .................................................................................. 6-22
copy ................................................................................................... 3-68
copying jobs .......................................................................................... 5-2
CORRECT RATE .................................................................................. 9-8
COS ................................................................................................. 10-13
CREATE NEW JOB ............................................................................. 1-38
creating a job ...................................................................................... 7-15
CURRENT POSITION ......................................................................... 1-39
cursor ...................................................................................... 1-2, 1-5, 3-5
Customer Information......................................................................... 6-205
cut...................................................................................................... 3-68
CWAIT ............................................................................................... 10-7
CYCLE ............................................................................................... 1-38
Index-2
Index
Cycle (operation cycle) ......................................................................... 1-19
cycle time .............................................................................................. 4-6
cylindrical coordinates ............................................................. 1-19, 2-2, 2-8
D
data for QR code select area .............................................................. 6-180
DATE/TIME ......................................................................................... 1-40
DEC ................................................................................................. 10-11
DELETE...................................................................................... 1-10, 1-39
deleting a file ....................................................................................... 7-43
deleting a job ....................................................................................... 7-42
deleting additional items ....................................................................... 3-64
deleting instructions ............................................................................. 3-56
deleting jobs .......................................................................................... 5-6
Deleting SYSTEM BACKUP (CMOS.BIN) .............................................. 7-44
DENSO WAVE INCORPORATED ....................................................... 6-175
DESTINATION JOB ............................................................................. 6-22
DETAIL EDIT window ........................................................................... 3-20
DEVICE .............................................................................................. 1-39
DIN ..................................................................................................... 10-4
direct open ..................................................................................... 1-7, 6-1
DISPLAY SETUP ................................................................................. 1-40
DISPLAYING COLOR COND. ............................................................... 1-40
DIV ................................................................................................... 10-10
DOUBLE ............................................................................................. 1-38
double precision integer...................................................................... 3-106
DOUT ................................................................................................. 10-4
DROP AMOUNT .................................................................................. 1-39
dry-run ................................................................................................ 4-22
dry-run speed operations ...................................................................... 4-12
E
E. STOP Button ..................................................................................... 1-4
E-axis ................................................................................................. 2-17
edit lock ............................................................................. 3-86, 3-88, 3-91
edit mode .................................................................................... 1-19, 1-37
editing comments ................................................................................. 5-12
editing condition files .......................................................................... 3-104
editing interpolation type ..................................................................... 3-103
editing job ............................................................................................. 5-1
editing play speed ................................................................................ 3-99
eight points of external signals .............................................................. 4-33
emergency stop ................................................................................... 4-16
emergency stop button .................................................................... 1-2, 3-1
Emergency Stop Status ........................................................................ 1-20
Enable Switch................................................................................. 1-2, 1-5
ENCODER MAINTENANCE ................................................................. 1-40
END ................................................................................................... 10-6
End Painting ........................................................................................ 9-60
energy saving .................................................................................... 6-107
ENERGY SAVING FUNCTION ............................................................. 1-40
ENTER ........................................................................................ 1-2, 1-10
ENTRY ............................................................................................... 9-57
EX. AXIS ............................................................................................... 1-8
EX.MEMORY ...................................................................................... 1-39
External Axis ....................................................................................... 2-16
Index-3
Index
External I/O name data ........................................................................ 7-10
EXTERNAL INPUT .............................................................................. 1-38
external memory devices........................................................................ 7-1
EXTERNAL OUTPUT .......................................................................... 1-38
F
FAST.................................................................................................... 2-4
FILE/GENERAL DATA ........................................................................... 7-9
flip/no flip .......................................................................................... 3-118
FOLDER ............................................................................................. 1-39
folder .......................................................................................... 5-14, 5-17
folder name ......................................................................................... 5-24
FUNCTION COND. .............................................................................. 1-40
function definition parameter ................................................................. 7-10
FUNCTION ENABLE ........................................................................... 1-40
Function key allocation data ................................................................. 7-11
function keys .................................................................................. 1-2, 9-1
FWD...................................................................................... 1-9, 2-4, 3-24
G
gallery .............................................................................................. 6-211
GENERAL .......................................................................................... 1-41
GENERAL DIAG.................................................................................. 1-41
general-purpose display area .......................................................... 1-2, 1-12
GETE ............................................................................................... 10-12
GETFILE .................................................................................. 9-14, 10-15
GETPOS .......................................................................................... 10-15
GETS ............................................................................................... 10-12
Gmail ............................................................................................... 6-212
GRP COMBINATION ........................................................................... 1-40
GUN CONDITION ............................................................................... 1-41
GUN PRESSURE ................................................................................ 1-41
H
HANDLING ......................................................................................... 1-41
HANDLING DIAGNOSIS ...................................................................... 1-41
hardware control parameters ................................................................ 8-52
high .................................................................................................... 4-29
high speed ........................................................................... 1-11, 1-19, 2-4
HOLD ................................................................................................... 1-4
Hold ................................................................................................... 4-15
hold at the station ................................................................................ 4-45
hold button ............................................................................................ 1-2
hold by external input signal (system input) ............................................ 4-44
HOLD on the programming pendant ...................................................... 4-44
Hold Status ......................................................................................... 1-20
HOME POSITION................................................................................ 1-39
home position calibrating data .............................................................. 7-11
human interface display area ........................................................ 1-12, 1-21
Index-4
Index
I
I/O ALARM .......................................................................................... 1-38
I/O ALLOCATION ................................................................................ 1-41
I/O MESSAGE ..................................................................................... 1-38
I/O message history data ...................................................................... 7-11
I/O MSG HISTORY .............................................................................. 1-39
I/O name data...................................................................................... 7-10
I/O OUTPUT...................................................................... 9-2, 9-3, 9-5, 9-6
I/O OUTPUT(Gr) ................................................................ 9-2, 9-3, 9-5, 9-6
I/O SIMULATION LIST ......................................................................... 1-38
I/O VARIABLE CUSTOMIZE ................................................................. 1-41
IF ....................................................................................................... 10-7
IMOV .................................................................................................. 10-2
IN/OUT ............................................................................................... 1-38
INC ................................................................................................... 10-10
inching ........................................................................................ 1-19, 4-29
individual selection ............................................................................... 7-45
individual shift ...................................................................................... 6-34
INFORM LIST........................................................................................ 1-8
INHB PAINT .......................................................................................... 9-1
initial folder setting ............................................................................... 7-17
INITIALIZE LAYOUT ............................................................................ 1-40
INITIALIZE1) ....................................................................................... 1-39
INSERT .............................................................................................. 1-10
inserting additional items ...................................................................... 3-62
inserting instructions ............................................................................ 3-53
insertion slot for compact flash ................................................................ 1-2
INSPECTION RECORD ....................................................................... 1-40
instruction group .................................................................................. 3-52
instruction search ............................................................................... 3-131
INTEGER ............................................................................................ 1-38
integer .............................................................................................. 3-106
INTERFERENCE ................................................................................. 1-39
Interference area file .............................................................................. 7-9
INTERLOCK.......................................................................................... 1-8
interpolation type ................................................................................... 3-6
Interruption .......................................................................................... 9-63
INVMAT ............................................................................................ 10-14
IO painting condition output .................................................................. 9-17
ITEM OUTPUT GROUP ............................................................... 9-11, 9-13
J
JET .................................................................................................... 9-52
JOB ............................................................................................. 1-38, 7-9
JOB CAPACITY ................................................................................... 1-38
JOB CAPACITY window ....................................................................... 3-50
JOB CONTENT window ............................................................... 3-33, 3-44
JOB EDIT (PLAY) ................................................................................ 1-38
job edit function ................................................................................. 6-137
JOB HEADER window.......................................................................... 3-42
job registration table ............................................................................. 9-46
JOG COND. ........................................................................................ 1-40
JOG KEY ALLOC................................................................................. 1-40
joint coordinates ..................................................................... 1-19, 2-2, 2-5
joint interpolation.................................................................................... 3-6
JUMP ................................................................................................. 10-6
Index-5
Index
K
KEY ALLOCATION .............................................................................. 1-40
L
label search ...................................................................................... 3-129
LADDER PROGRAM ........................................................................... 1-38
LEN .................................................................................................. 10-16
LIMIT RELEASE.................................................................................. 1-39
limited speed operations....................................................................... 4-12
line numbers ......................................................................................... 3-5
line search ........................................................................................ 3-127
linear interpolation ................................................................................. 3-7
LOAD ................................................................................................. 1-39
loading a condition file or general data ................................................... 7-33
loading a job ....................................................................................... 7-31
loading a parameter ............................................................................. 7-34
loading I/O data ................................................................................... 7-36
loading system data ............................................................................. 7-37
LOCAL VARIABLE .............................................................................. 1-38
local variables ......................................................................... 3-122, 3-124
logging function ................................................................................. 6-147
low ..................................................................................................... 4-29
low speed ................................................................................... 1-19, 4-11
M
machine lock ............................................................................... 3-28, 4-13
MAIN MENU ......................................................................................... 1-5
main menu area .......................................................................... 1-12, 1-18
major alarms ....................................................................................... 4-18
major axes .................................................................................... 2-5, 2-17
management mode ...................................................................... 1-19, 1-37
manipulator coordinate systems .............................................................. 2-1
MANIPULATOR TYPE ......................................................................... 1-39
manipulator types .............................................................................. 3-117
manual full-speed ................................................................................ 3-93
manual speed ..................................................................... 1-10, 1-19, 3-26
MANUAL SPEED keys ........................................................................... 1-2
Marker (*) Selection ............................................................................. 7-45
MASTER JOB ..................................................................................... 1-38
medium .............................................................................................. 4-29
medium speed..................................................................................... 1-19
menu area .................................................................................... 1-2, 1-12
MFRAME .......................................................................................... 10-14
MID$ ................................................................................................ 10-15
minor alarms ....................................................................................... 4-18
mirror shift.................................................................. 6-47, 6-49, 6-50, 6-51
MODE .......................................................................................... 1-4, 6-30
Mode Change Auto Reset .................................................................... 9-18
mode switch .......................................................................................... 1-2
modification of speed type .................................................................... 3-99
MODIFY ............................................................................................. 1-10
modifying additional items .................................................................... 3-61
modifying additional numeric data ......................................................... 3-60
modifying instructions........................................................................... 3-56
Index-6
Index
modifying job names .............................................................................. 5-8
MONITORING TIME ............................................................................ 1-39
motion function parameter .................................................................... 7-10
motion time ........................................................................................... 4-6
MOTION TYPE ...................................................................................... 1-9
MOTION TYPE key ................................................................................ 1-2
MOTOMAN Touch! .................................................................. 6-172, 6-201
MOVC ......................................................................................... 3-8, 10-2
move instructions ................................................................................. 3-11
MOVJ ................................................................................................. 10-1
MOVL ................................................................................................. 10-1
MOVS .......................................................................................... 3-9, 10-2
M-SAFETY SIGNAL ALLOC ................................................................. 1-40
MSHIFT ............................................................................. 6-11, 6-16, 10-8
MUL ................................................................................................. 10-10
MULMAT .......................................................................................... 10-14
MULTI .................................................................................................. 1-6
Multi Mode .......................................................................................... 1-20
multi window function ........................................................................... 6-55
N
NETWORK INPUT ............................................................................... 1-38
NETWORK OUTPUT ........................................................................... 1-38
NEW JOB CREATE window ................................................................... 3-2
NONE ................................................................................................... 4-8
NOP ................................................................................................... 10-7
NOT ................................................................................................. 10-11
Numeric Key................................................................................. 1-2, 1-11
NWAIT ......................................................................................... 9-5, 9-58
O
one time manage mode ................................................................ 1-19, 1-37
one-touch operation ............................................................................... 6-1
OPERATE COND ........................................................................ 1-40, 4-35
OPERATE ENABLE ............................................................................. 1-40
Operating Status .................................................................................. 1-20
operation control parameter .................................................................. 7-10
operation cycle ...................................................................................... 4-7
operation mode............................................................................ 1-19, 1-37
OR ................................................................................................... 10-11
OUTPUT INSTRUCTION...................................................................... 9-17
override speed settings .......................................................................... 4-6
OVERRUN&S-SENSOR ....................................................................... 1-39
P
PAGE ................................................................................................... 1-7
PAGE key ............................................................................................. 1-2
PAINT CONDITION NO.......................................................................... 9-5
PAINTEND .......................................................................................... 9-40
Painting Application................................................................................ 9-1
painting conditions ........................................................................ 9-7, 9-33
painting data settings ........................................................................... 9-14
Index-7
Index
painting device characteristics ................................................................ 9-4
painting output test .............................................................................. 9-15
painting system settings .................................................................. 9-2, 9-5
PAINTSET .......................................................................................... 9-33
PAM function....................................................................................... 6-39
parallel shift function .............................................................................. 6-3
parallel shift job conversion function ...................................................... 6-17
PARAMETER .............................................................................. 1-39, 7-10
parameter ............................................................................................. 8-1
parametersetting ................................................................................. 6-86
paste .................................................................................................. 3-69
PAUSE ............................................................................................... 10-7
PDF ................................................................................................... 9-14
PL ...................................................................................................... 3-16
PLAY EDIT JOB LIST .......................................................................... 1-38
play mode ................................................................................... 1-20, 1-36
play speed ............................................................................................ 3-6
Play Speed Setting Window.................................................................... 3-6
playback ....................................................................................... 4-1, 4-10
PLAYBACK COND. ............................................................................. 1-40
playback time ........................................................................................ 4-6
PM ..................................................................................................... 1-40
PM (REDUCER) .................................................................................. 1-40
POSITION (BASE)............................................................................... 1-38
POSITION (ROBOT)............................................................................ 1-38
POSITION (ST) ................................................................................... 1-38
position level ................................................................................. 3-14, 8-5
POWER ON/OFF POS......................................................................... 1-39
PRESSURE ........................................................................................ 1-41
product code ..................................................................................... 6-206
programming pendant ............................................................................ 1-2
programming pendant display ............................................................... 1-12
PSEUDO INPUT SIG ........................................................................... 1-38
Pseudo input signals ............................................................................ 7-10
PULSE ............................................................................................... 10-4
pulse mirror-shift.......................................................................... 6-47, 6-48
Q
QR Code .......................................................................................... 6-172
QR Code Creation Function................................................................ 6-172
QR code transfer and incoming call ..................................................... 6-208
QR code transmission only ................................................................. 6-208
R
REAL ................................................................................................. 1-38
real type variables ............................................................................. 3-106
reference point instructions ................................................................... 3-18
REFP ......................................................................................... 3-18, 10-2
REGISTER ................................................................ 1-38, 9-2, 9-3, 9-5, 9-6
Register name data ............................................................................. 7-10
Register Word Function........................................................................ 1-26
registering a job ..................................................................................... 3-2
Related job (Job+Condition) ................................................................... 7-9
relative modification ............................................................................. 3-99
releasing alarms .................................................................................. 4-18
remote mode ....................................................................................... 1-36
Index-8
Index
RES. START (CNCT) ........................................................................... 1-40
RES. START (JOB).............................................................................. 1-38
RES. START(CNCT) ............................................................................ 4-36
RES. STATUS ............................................................................. 1-38, 4-42
RESERVE JOB NAME ......................................................................... 1-40
reserved start .............................................................................. 4-34, 4-41
RESET RESERVATION ....................................................................... 4-43
restart ......................................................................................... 4-15, 4-17
RET .................................................................................................... 10-6
reverse pasting .................................................................................... 3-70
RIN ..................................................................................................... 1-38
ROBOT .................................................................................. 1-8, 1-39, 2-1
robot axis ............................................................................................ 1-18
robot control expand parameter ............................................................. 7-10
robot matching parameter ..................................................................... 7-10
robot-coordinates mirror-shift function .................................................... 6-47
RUNNING SIGNAL .............................................................................. 9-11
S
S2C431 .............................................................................................. 2-12
SAFETY FUNC.................................................................................... 1-40
SAFETY LOGIC CIRCUIT .................................................................... 1-40
safety mode ................................................................................ 1-19, 1-37
SAVE.................................................................................................. 1-39
saving a condition file or general data .................................................... 7-21
saving a job ......................................................................................... 7-19
saving a parameter .............................................................................. 7-23
Saving Data ........................................................................................ 1-20
saving I/O data .................................................................................... 7-25
saving system data .............................................................................. 7-26
search .............................................................................................. 3-126
SECOND HOME POS .......................................................................... 1-39
second home position .......................................................................... 7-11
SECURITY .......................................................................................... 1-39
security mode ...................................................................................... 1-37
SELECT................................................................................................ 1-5
SELECT JOB ...................................................................................... 1-38
SELECT key.......................................................................................... 1-2
selecting a folder.................................................................................. 7-15
selecting the range ............................................................................... 3-67
sensor parameter ................................................................................. 7-10
SERVO MONITOR .............................................................................. 1-39
SERVO ON FACTOR ........................................................................... 1-38
SERVO ON READY ............................................................................... 1-6
servo parameter .................................................................................. 7-10
servo power block parameter ................................................................ 7-10
servomotor parameter .......................................................................... 7-10
SERVOPACK parameter ...................................................................... 7-10
SET .................................................................................................. 10-11
SET SPEED ........................................................................................ 1-40
SET WORD ......................................................................................... 1-40
SETE ................................................................................................ 10-12
SETFILE ................................................................................... 9-14, 10-14
SETUP ............................................................................................... 1-40
SFTOF........................................................................................ 6-10, 10-8
SFTON ........................................................................................ 6-8, 10-8
SHIFT ................................................................................................... 1-8
shift instruction ...................................................................................... 6-7
SHIFT VALUE ............................................................................. 1-39, 6-23
shift value.............................................................................................. 6-5
Index-9
Index
shock detection level data ...................................................................... 7-9
SHOCK SENS LV.(CURRENT)............................................................. 1-39
SIMPLE MENU ..................................................................................... 1-5
simple menu function ........................................................................... 6-68
SIN................................................................................................... 10-13
single circular arc................................................................................... 3-8
Single job.............................................................................................. 7-9
single spline curve ................................................................................. 3-9
SLOW .................................................................................................. 2-4
SOFTLIMIT SETTING .......................................................................... 1-39
softlimit setting function ...................................................................... 6-131
SOURCE JOB ..................................................................................... 6-22
special playback operations .................................................................. 4-11
SPECIFIC INPUT ................................................................................ 1-38
SPECIFIC OUTPUT............................................................................. 1-38
SPEED ............................................................................................... 10-3
speed override .................................................................... 4-20, 4-21, 4-22
speed percentage ................................................................................ 4-33
spline curves ....................................................................................... 3-10
spline interpolation ................................................................................. 3-9
SPOT WELDER COND. ....................................................................... 1-41
SPOT WELDING ................................................................................. 1-41
SPOT WELDING (MOTOR GUN) ......................................................... 1-41
SPY OFF ADVANCE TIME..................................................................... 9-4
SPY ON ADVANCE TIME ...................................................................... 9-4
SPYOF ....................................................................................... 9-26, 9-64
SPYON....................................................................................... 9-19, 9-63
SQRT ............................................................................................... 10-14
stack .................................................................................................. 4-46
START .......................................................................................... 1-4, 3-1
start button............................................................................................ 1-2
start no. ................................................................................................ 4-6
Start Painting ...................................................................................... 9-58
START SIGNAL .................................................................................. 9-11
STATION ............................................................................................ 2-17
station ................................................................................................ 4-40
station axis.......................................................................................... 1-18
status display area ....................................................................... 1-12, 1-18
status I/O ............................................................................................ 8-41
Step (operation cycle) .......................................................................... 1-19
step search ....................................................................................... 3-128
STEP SECTION .................................................................................. 6-22
stop .................................................................................................... 4-15
stop by alarm ...................................................................................... 4-17
Stop Status ......................................................................................... 1-20
STRING.............................................................................................. 1-38
SUB ................................................................................................... 10-9
SV monitor signals ............................................................................... 7-11
SV POWER STATUS........................................................................... 1-38
symbol input ........................................................................................ 1-25
SYSTEM BACKUP (CMOS.BIN) ............................................................. 7-9
System Backup Saving ........................................................................ 7-28
system definition parameter .................................................................. 7-10
SYSTEM INFO .................................................................................... 1-39
system information............................................................................... 7-11
system matching parameter.................................................................. 7-10
T
TABLE........................................................................................ 9-11, 9-12
tag search ......................................................................................... 3-133
Index-10
Index
TCP .................................................................................................... 2-20
teach .................................................................................................... 2-3
teach lock.............................................................................................. 3-1
teach mode ................................................................................. 1-20, 1-36
teaching ................................................................................................ 3-1
TEACHING COND ............................................................................... 1-40
teaching Line coordinates ....................................................................... 2-2
TERMINAL .......................................................................................... 1-38
test operations ............................................................................. 3-27, 3-92
TEST START ........................................................................................ 1-9
time chart ........................................................................... 9-11, 9-12, 9-13
time chart settings ................................................................................ 9-11
TIMER ................................................................................................ 10-7
TIMER DELAY SET ............................................................................. 1-40
timer instruction ........................................................................... 3-19, 3-40
TIP INSTALLATION ............................................................................. 1-41
TOOL ................................................................................................. 1-39
tool coordinates .................................................................... 1-19, 2-2, 2-10
tool data ................................................................................................ 7-9
tool number ......................................................................................... 2-12
torch angle .................................................................................. 2-23, 2-26
Touch Panel Operation Disable ............................................................. 1-20
TRANSMISSION PARAMETERS .......................................................... 8-56
transmission(general) parameter ........................................................... 7-10
TRASH JOB LIST ................................................................................ 1-38
travel angle ................................................................................. 2-23, 2-26
TRT (Traverse Time) .......................................................................... 3-101
U
undo ................................................................................................... 3-38
UNIVERSAL INPUT ............................................................................. 1-38
UNIVERSAL OUTPUT ......................................................................... 1-38
UNTIL ................................................................................................. 10-7
UNUSED ............................................................................................ 3-15
USB...................................................................................................... 7-4
Use of Words ...................................................................................... 1-29
USER COORDINATE .......................................................................... 1-39
user coordinate data .............................................................................. 7-9
user coordinates ........................................................... 1-19, 2-2, 2-13, 2-15
USER DEFINITION .............................................................................. 6-74
USER DEFINITION MENU ................................................................... 1-39
USER ID ............................................................................................. 1-40
user variables .................................................................................... 3-105
user word register name ....................................................................... 7-11
user word registration ........................................................................... 7-11
user-coordinates mirror-shift function ..................................................... 6-47
V
VAL .................................................................................................. 10-15
VARIABLE .......................................................................................... 1-38
variable data.......................................................................................... 7-9
variable name ...................................................................................... 7-11
VERIFY .............................................................................................. 1-39
verifying a file ...................................................................................... 7-41
verifying a job ...................................................................................... 7-39
verifying data ....................................................................................... 7-39
Index-11
Index
VERSION ........................................................................................... 1-39
VOLTAGE(0-14V)........................................................................... 9-3, 9-6
W
WAIT .................................................................................................. 10-5
Weak Battery of Memory ...................................................................... 1-20
WEAVING........................................................................................... 1-41
weaving data ......................................................................................... 7-9
weaving prohibit .................................................................................. 4-13
WELD DIAGNOSIS ............................................................................. 1-41
Welder characteristic data ...................................................................... 7-9
Welder characteristic definition data ........................................................ 7-9
WELDER COND.................................................................................. 1-41
welding condition auxiliary data ............................................................... 7-9
Word Registration ................................................................................ 1-27
WORK HOME POS ............................................................................. 1-39
Work home position data ...................................................................... 7-11
Work Instruction .................................................................................. 9-19
wrist axes .............................................................. 2-5, 2-8, 2-10, 2-13, 2-17
WRONG DATA LOG............................................................................ 1-40
X
XOR ................................................................................................. 10-11
Index-12
DX200
OPERATOR’S MANUAL
FOR PAINTING
C 2014 YASKAWA ELECTRIC CORPORATION
Published by YASKAWA
MANUAL NO. RE-CSO-A050 11
June 2024 14-10
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