FANUC R-J3iB - Arc Tool Operator Manual - B-81464EN-3

FANUC Robot seriesR--J3iB CONTROLLER ARC TOOL OPERATOR’S MANUAL B--81464EN--3/01 Table of Contents B--81464EN--3/01 Volume 1 1. INTRODUCTION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 1.1 MANUAL PLAN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2 1.2 WORKERS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 1.3 GENERAL SAFETY PRECAUTIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 1.4 SAFETY PRECAUTIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 2. OVERVIEW . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14 2.1 ARC TOOL SOFTWARE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2.1.1 2.1.2 2.1.3 2.1.4 2.1.5 2.2 ROBOT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2.2.1 2.2.2 2.3 System setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Jog feed of the robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Test operation (test execution) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Automatic operation (operation execution) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Robot arms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Arc welding torch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . CONTROLLER . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2.3.1 16 16 16 16 17 17 18 18 19 20 Teach pendant . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2.3.1.1 Keys on the teach pendant . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21 23 2.3.1.2 LEDs on the teach pendant . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26 2.3.1.3 Display screen of the teach pendant . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27 2.3.1.4 Screen menu and function menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Operator’s panel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Remote controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . CRT/KB . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Input/output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Peripheral I/O . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Motion of the robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Emergency Stop devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Extended axis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28 31 32 32 32 32 32 33 33 33 3. SETTING UP THE ARC SYSTEM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34 2.3.2 2.3.3 2.3.4 2.3.5 2.3.6 2.3.7 2.3.8 2.3.9 2.3.10 3.1 WELDING INPUT/OUTPUT SIGNALS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.1.1 3.1.2 3.1.3 3.1.4 Welding input signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Welding output signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Setting a reference value range and command value range for specifying an analog input/output signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Selecting welder power supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35 37 38 42 44 3.2 SETTING THE ARC WELDING SYSTEM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45 3.3 SETTING THE ARC WELDING EQUIPMENT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49 3.4 SETTING ARC WELDING CONDITIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52 3.5 WELD SCHEDULE ADVISE SCREEN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54 3.5.1 Process Conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58 3.6 SETTING FOR WEAVING . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61 3.7 WEAVE SCHEDULE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64 c--1 Table of Contents 3.8 B--81464EN--3/01 INPUT/OUTPUT SIGNALS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.8.1 3.8.2 3.8.3 Digital I/O . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Group I/O . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Analog I/O . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67 73 78 81 3.9 ROBOT I/O . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86 3.10 PERIPHERAL I/O . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89 3.11 OPERATOR’S PANEL I/O . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96 I/O LINK SCREEN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99 3.12 3.12.1 3.12.2 3.12.3 3.13 3.14 99 100 101 I/O CONNECTION FUNCTION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102 SETTING AUTOMATIC OPERATION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104 3.14.1 3.14.2 3.15 I/O Link list screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . MODEL B unit list screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Signal count setting screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Robot service request (RSR) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Program number selection (PNS) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . SETTING COORDINATE SYSTEMS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.15.1 3.15.2 3.15.3 Setting a tool coordinate system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Setting a user coordinate system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Setting a jog coordinate system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105 108 111 113 122 131 3.16 SETTING A REFERENCE POSITION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 136 3.17 JOINT OPERATING AREA . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 139 3.18 USER ALARM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 141 3.19 VARIABLE AXIS AREAS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 142 3.20 SPECIAL AREA FUNCTION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 144 3.21 SYSTEM CONFIG MENU . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 148 3.22 SETTING UP GENERAL ITEMS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 155 3.23 OTHER SETTINGS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 157 4. PROGRAM STRUCTURE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 158 4.1 PROGRAM DETAIL INFORMATION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.1.1 4.1.2 4.1.3 4.1.4 4.1.5 4.1.6 4.2 4.3 161 161 162 162 163 163 163 LINE NUMBER, PROGRAM END SYMBOL, AND ARGUMENT . . . . . . . . . . . . . . . . . . . . . . . . 166 MOTION INSTRUCTIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 168 4.3.1 4.3.2 4.3.3 4.3.4 4.3.5 4.3.6 4.4 Program name . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Program comment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Subtype . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Group mask . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Write protection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Interruption disable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Motion format . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Position data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Feedrate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Weld speed statement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Positioning path . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Additional motion instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ARC INSTRUCTIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.4.1 4.4.2 4.4.3 4.4.4 Arc start instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Arc end instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Weaving . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . TRACK{Sensor} instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . c--2 169 171 176 178 179 180 191 191 192 194 197 B--81464EN--3/01 4.5 REGISTER INSTRUCTIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.5.1 4.5.2 4.5.3 4.6 Digital I/O instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Robot I/O instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Analog I/O instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Group I/O instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Welding I/O instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . BRANCH INSTRUCTIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.7.1 4.7.2 4.7.3 4.7.4 4.7.5 4.8 Register instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Position register instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Position register axis instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . I/O INSTRUCTIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.6.1 4.6.2 4.6.3 4.6.4 4.6.5 4.7 Table of Contents Label instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Program end instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Unconditional branch instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Conditional branch instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Arguments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . WAIT INSTRUCTIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.8.1 4.8.2 Time--specified wait instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Conditional wait instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 198 198 200 201 203 203 204 206 207 208 209 209 209 210 210 213 220 220 220 4.9 SKIP CONDITION INSTRUCTION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 223 4.10 OFFSET CONDITION INSTRUCTION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 225 4.11 TOOL OFFSET CONDITION INSTRUCTIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 226 4.12 FRAME INSTRUCTIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 227 PROGRAM CONTROL INSTRUCTIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 228 4.13 4.13.1 4.13.2 4.14 OTHER INSTRUCTIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.14.1 4.14.2 4.14.3 4.14.4 4.14.5 4.14.6 4.14.7 4.14.8 4.15 RSR instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . User alarm instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Timer instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Override instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Comment instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Message instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Parameter instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Maximum speed instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . MULTIAXIS CONTROL INSTRUCTIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.15.1 4.15.2 4.15.3 4.16 Halt instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Abort instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Semaphore instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Semaphore wait instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Program execution instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . OPERATION GROUP INSTRUCTIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.16.1 4.16.2 Asynchronous operation group instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Synchronous operation group instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 228 228 229 229 229 230 230 230 231 231 233 234 234 234 235 236 236 236 5. PROGRAMMING . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 237 5.1 TIPS ON EFFECTIVE PROGRAMMING . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.1.1 5.1.2 5.1.3 5.2 Motion instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Predefined position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Arc welding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . TURNING ON THE POWER AND JOG FEED . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.2.1 5.2.2 5.2.3 Turning on the power and turning off the power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Three--Mode Switch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Moving the robot by jog feed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . c--3 239 239 239 240 241 241 243 249 Table of Contents 5.3 CREATING A PROGRAM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.3.1 5.3.2 5.3.3 5.3.4 5.3.5 5.3.6 5.4 Registering a program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Changing a standard motion instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Teaching a motion instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Teaching a supplementary motion instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Teaching a control instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . TP start prohibition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . CHANGING A PROGRAM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.4.1 5.4.2 5.4.3 5.4.4 5.5 B--81464EN--3/01 Selecting a program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Changing a motion instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Changing a control instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Program edit instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . PROGRAM OPERATION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.5.1 Changing program information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 258 259 263 266 268 273 280 282 282 284 292 295 310 310 5.6 BACKGROUND EDITING . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 315 5.7 SINGULARITY POINT CHECK FUNCTION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 324 6. EXECUTING A PROGRAM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 325 6.1 PROGRAM HALT AND RECOVERY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.1.1 6.1.2 6.1.3 6.2 EXECUTING A PROGRAM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.2.1 6.2.2 6.2.3 6.3 6.6 Specifying test execution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Step test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Continuous test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Program look/monitor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . MANUAL I/O CONTROL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.4.1 6.4.2 6.4.3 6.5 Starting a program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Robot motion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Resuming a program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . TESTING . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.3.1 6.3.2 6.3.3 6.3.4 6.4 Halt by an emergency stop and recovery . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Halt by a hold and recovery . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Halt caused by an alarm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Forced output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Simulated I/O . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Standby release . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 326 327 328 329 332 332 333 335 340 340 342 345 347 348 348 349 351 MANUALLY OPERATING WELDING EQUIPMENT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 352 AUTOMATIC OPERATION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 353 6.6.1 6.6.2 6.6.3 Automatic operation by robot start request (RSR) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Automatic operation with program number selection (PNS) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . External override selection function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 354 356 358 6.7 ONLINE POSITION MODIFICATION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 360 6.8 WELDING TUNING . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 366 7. STATUS DISPLAY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 368 7.1 LEDS ON THE TEACH PENDANT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 369 7.2 USER SCREEN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 370 7.3 REGISTERS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 371 7.4 POSITION REGISTERS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 372 7.5 ARC WELDING STATUS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 375 7.6 CURRENT POSITION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 376 c--4 B--81464EN--3/01 Table of Contents 7.7 SYSTEM VARIABLES . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 378 7.8 PROGRAM TIMER . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 379 7.9 SYSTEM TIMER . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 381 7.10 EXECUTION HISTORY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 382 7.11 MEMORY USE STATUS DISPLAY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 384 8. FILE INPUT/OUTPUT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 385 8.1 FILE INPUT/OUTPUT UNITS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.1.1 8.1.2 8.1.3 8.1.4 8.2 8.3 394 FILES . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 398 Loading using program selection screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Loading a specified program file using the file screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . PRINTING FILES . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.6.1 8.6.2 8.7 Saving with the program selection screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Saving all the program files using the file screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Saving with a function menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . File manipulation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ASCII save . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . LOADING FILES . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.5.1 8.5.2 8.6 Program file . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Default logic file . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . System file . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Data file . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ASCII file . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . SAVING FILES . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.4.1 8.4.2 8.4.3 8.4.4 8.4.5 8.5 387 388 389 391 SETTING A COMMUNICATION PORT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.3.1 8.3.2 8.3.3 8.3.4 8.3.5 8.4 Memory card . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . External memory unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Floppy Cassette adapter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Handy file . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 386 Printer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Printing files . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . AUTOMATIC BACKUP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.7.1 8.7.2 8.7.3 8.7.4 8.7.5 8.7.6 Overview of Automatic Backup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Usable Memory Cards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Setting of Automatic Backup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Perform Automatic backup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Version management . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Restore the backup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 398 398 399 399 399 400 400 402 405 407 409 412 413 414 419 419 421 424 424 424 425 426 426 427 9. UTILITIES . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 428 9.1 MACRO INSTRUCTION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.1.1 9.1.2 9.2 Setting macro instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Executing macro instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . SHIFT FUNCTIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.2.1 9.2.2 9.2.3 Program shift function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Mirror shift function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Angle--input shift function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 429 430 435 439 440 445 449 9.3 COORDINATE SYSTEM CHANGE SHIFT FUNCTIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 454 9.4 SOFT FLOAT FUNCTION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 459 9.5 CONTINUOUS ROTATION FUNCTION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 464 9.6 POSITION REGISTER LOOK--AHEAD EXECUTION FUNCTION . . . . . . . . . . . . . . . . . . . . . . . 468 c--5 Table of Contents B--81464EN--3/01 9.7 OPERATION GROUP DO OUTPUT FUNCTION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 470 9.8 PRE--EXECUTION INSTRUCTION FUNCTION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 472 9.9 DISTANCE BEFORE OPERATIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 477 9.9.1 9.9.2 9.9.3 9.9.4 9.9.5 9.9.6 9.9.7 9.9.8 9.10 9.11 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Specification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Entering Distance Before . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Caution and limitations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . System Variables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Error Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 477 477 477 477 485 487 488 490 STATE MONITORING FUNCTION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 491 AUTOMATIC ERROR RECOVERY FUNCTION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 498 9.11.1 9.11.2 9.11.3 9.11.4 9.11.5 9.11.6 9.11.7 9.11.8 9.11.9 9.11.10 9.11.11 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Outline of the automatic error recovery function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Defining a resume program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Teaching the RETURN_PATH_DSBL instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Setting the automatic error recovery function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Flowchart for resuming a suspended program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Manual operation screen of the automatic error recovery function . . . . . . . . . . . . . . . . . . . . . . . . . . . . Execution of the resume program from the teach pendant and test mode . . . . . . . . . . . . . . . . . . . . . . . Changing conditions for executing the resume program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Other specifications and restrictions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Warnings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 498 498 501 502 503 510 511 513 513 513 514 9.12 TORCH POSTURE CONVERSION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 515 9.13 TORCH POSTURE ADJUSTMENT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 525 TAST TRACKING FUNCTION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 530 9.14 9.14.1 Tast tracking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.14.1.1 Weave plane (XY-plane) lateral tracking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 531 532 9.14.2 9.14.3 9.14.4 9.14.5 9.14.6 9.14.7 9.14.8 9.14.1.2 Vertical plane (Z-plane) tracking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Factors that affect tast tracking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Tast application guidelines . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Tast hardware requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Tast programming . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Tast schedule setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Special functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Adjustment of gain value . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.14.8.1 Tracking failure conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 533 534 535 535 536 536 540 542 542 9.14.9 9.14.8.2 Fine adjusting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Tast troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.14.9.1 Poor tracking performance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 542 543 543 9.14.9.2 No compensation with high vertical or lateral gain setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . 543 9.14.9.3 TAST schedule . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 544 9.14.9.4 Robot wanders from path . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 544 9.14.9.5 Weld path is shifted . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 544 9.14.9.6 Slow response . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 544 9.14.9.7 Weld path is snaking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 545 9.14.9.8 Weld Path has Changed at a Specific Position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 545 9.14.9.9 Significant changes in joint gap . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 545 9.14.9.10 Extreme changes in workpiece temperature . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 545 c--6 B--81464EN--3/01 9.15 AUTOMATIC VOLTAGE CONTROL TRACKING . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.15.1 9.15.2 9.15.3 9.15.4 9.15.5 9.16 General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . CAUTION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . INITIAL SETTING . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . TUNING PROCEDURE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . GRAVITY COMPENSATION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.23.1 9.23.2 9.24 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Operating Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Load Estimation Procedure (for 6--Axis Robots) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Calibration Procedure (for 6--Axis Robots) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Other Related Matters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . COLLISION DETECTION FOR AUXILIARY AXIS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.22.1 9.22.2 9.22.3 9.22.4 9.23 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Motion Performance Screens . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Program Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . LOAD ESTIMATION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.21.1 9.21.2 9.21.3 9.21.4 9.21.5 9.22 Assigning touch sensing I/O . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Setting up touch sensing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Touch sensing programming . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Touch sensing hardware . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Touch sensing mastering . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . LOAD SETTING . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.20.1 9.20.2 9.20.3 9.21 Data monitor setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Data monitor schedule . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Programming . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . TOUCH SENSING . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.19.1 9.19.2 9.19.3 9.19.4 9.19.5 9.20 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Setting a coordinated motion system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Coordinated jogging . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Coordinated motion in a program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Main alarm codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . DATA MONITOR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.18.1 9.18.2 9.18.3 9.19 Root pass memorization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Multipass . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Coordinated motion with RPM and multipass . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . COORDINATED MOTION FUNCTION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.17.1 9.17.2 9.17.3 9.17.4 9.17.5 9.18 AVC Tracking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Factors that affect avc tracking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . AVC hardware requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . AVC schedule setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . AVC programming . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ROOT PASS MEMORIZATION AND MULTIPASS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.16.1 9.16.2 9.16.3 9.17 Table of Contents System Variables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . MOTION Screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ARC SMART HIGH--SPEED RECOVERY FUNCTION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.24.1 9.24.2 9.24.3 9.24.4 9.24.5 9.24.6 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Specification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Torch guard function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Notes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Related alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Torch recovery function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 546 546 549 549 549 554 555 555 558 566 569 569 575 584 588 589 590 592 596 599 600 600 602 618 625 627 635 635 635 636 638 638 638 638 641 643 645 645 645 645 645 647 647 647 649 649 649 649 651 652 652 9.25 MULTI EQUIPMENT CONTROL FOR ARC WELDING . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 663 9.26 ARC START SYNCHRONIZATION FOR ARC MULTI--EQUIPMENT CONFIGUTARION . . . . 667 9.26.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . c--7 667 Table of Contents 9.26.2 9.26.3 9.26.4 9.27 Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Specification & Limitation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Sample Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 667 668 669 ADJUSTMENT OF ANALOG OUTPUT CONVERSATION FACTOR BY MULTIPLE POINTS 671 9.27.1 9.27.2 9.28 Function Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Enabling or Disabling the Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Assigning Welder Program Select Output Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Selecting a Welder Program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Setting a Welder Program in a Welding Schedule . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . SERVO TORCH CONTROL FUNCTION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.30.1 9.30.2 9.30.3 9.30.4 9.31 Function Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Notes on Use . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Operation at Recovery from Alarm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Using the Welding Fine--Tune Function Concurrently . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Using the Arc Sensor Concurrently . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Sample Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . WELDER PROGRAM SELECT FUNCTION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.29.1 9.29.2 9.29.3 9.29.4 9.29.5 9.30 Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Operation procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . WELDING PARAMETER GRADE FUNCTION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.28.1 9.28.2 9.28.3 9.28.4 9.28.5 9.28.6 9.28.7 9.29 B--81464EN--3/01 674 674 674 674 676 676 676 677 678 678 678 678 680 680 682 Outline of Servo Torch control function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Attention and Limitation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Detail of Servo Torch control function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.30.3.1 Arc welding instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 682 682 682 682 9.30.3.2 Wire inching . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 682 9.30.3.3 Air purge function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Setup for Servo Torch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.30.4.1 Setup Servo Torch axes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 683 683 684 9.30.4.2 Setup in Weld equipment setup screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 685 9.30.4.3 Servo Torch setup screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 686 SERVO TORCH FINE ADJUSTMENT FUNCTION OF WIRE VELOCITY COMMANDS . . . . 9.31.1 9.31.2 671 671 Six--Points Touchup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Direct Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 688 688 692 Volume 2 APPENDIX A. APPENDIX . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 697 A.1 LIST OF MENUS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 698 A.2 TYPES OF SCREENS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 702 A.3 LIST OF PROGRAM INSTRUCTIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 725 A.4 PROGRAM INSTRUCTIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 729 A.4.1 A.4.2 A.4.3 A.4.4 A.4.5 A.4.6 Motion instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Additional motion instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Register and I/O instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Conditional branch instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Wait instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Unconditional branch instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . c--8 729 729 731 733 734 734 B--81464EN--3/01 A.4.7 A.4.8 A.4.9 A.4.10 A.4.11 A.4.12 A.4.13 A.4.14 A.4.15 A.4.16 A.4.17 Table of Contents Program control instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Other instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Skip and Offset condition instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Frame setup instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Macro instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Multiaxis control instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Position register look--ahead execution instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Soft float instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Status monitoring instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Motion group instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Arc instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 735 735 736 737 737 737 738 738 738 738 739 B. APPENDIX . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 740 B.1 START MODE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B.1.1 B.1.2 B.1.3 B.1.4 B.1.5 B.2 Start up Methods . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Initial start . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Controlled start . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Cold start . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Hot start . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . MASTERING . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B.2.1 B.2.2 B.2.3 B.2.4 B.2.5 Jig mastering . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Mastering at the zero--degree positions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Quick mastering . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Single axis mastering . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Setting mastering data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 741 741 741 742 744 745 746 748 750 752 755 758 B.3 SOFTWARE VERSION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 760 B.4 ROBOT AXIS STATUS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 763 DIAGNOSIS SCREEN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 769 B.5 B.5.1 B.5.2 B.5.3 B.5.4 Outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . About Reducer Diagnosis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Each item . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 769 769 770 771 B.6 WORLD FRAME ORIGIN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 774 B.7 I/O MODULE SETTING . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 775 B.8 POSITIONER SETUP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 780 B.9 EXTENDED AXIS SETUP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 786 B.10 INDEPENDENT ADDITIONAL AXIS BOARD (NOBOT) STARTUP PROCEDURE . . . . . . . . . 791 C. FANUC I PENDANT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 795 C.1 C.2 OVERVIEW . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 796 APPEARANCE AND OPERATIONSAPPEARANCE AND OPERATIONS . . . . . . . . . . . . . . . . . . 797 C.2.1 C.2.2 C.2.3 C.2.4 C.2.5 C.2.6 C.2.7 C.2.8 Appearance and Switches . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Key Switches . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Status Window . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Splitting the Screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Changing the Operation Target Screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Internet Browser Screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Screen Selection Menu and Screen Menus on the Edit Screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Status Subwindow . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C.2.8.1 Current Position Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 797 798 799 800 802 803 806 807 808 C.2.8.2 Operator Panel Status Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 808 C.2.8.3 Safety Signal Status Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 809 c--9 Table of Contents C.2.9 C.3 B--81464EN--3/01 Color Display According to the Alarm Severity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . RESTRICTIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 810 811 D. ALARM CODES . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 812 D.1 DESCRIPTION OF AN ALARM CODE TABLE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 813 D.2 ALARM CODES . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 820 E. SYSTEM VARIABLES . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 941 E.1 FORMAT OF A SYSTEM VARIABLE TABLE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 942 E.2 SYSTEM VARIABLES . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 944 c--10 1. INTRODUCTION B--81464EN--3/01 1. INTRODUCTION This chapter explains the manual plan and the safety precautions that must be observed when working with the FANUC Robot. j Contents of this chapter 1.1 1.2 1.3 1.4 Manual Plan Workers General Safety Precautions Safety Precautions 1 1. INTRODUCTION B--81464EN--3/01 1.1 Manual Plan FANUC Robot series (R--J3iB CONTROLLER) ARC TOOL Operator’s Manual. This manual describes how to operate the FANUC Robot, an all--purpose compact robot. It is controlled by the FANUC R--J3iB controller (Called the robot controller here in after) containing the ARC Tool software. This manual describes the following procedures for manipulating workpieces with the robot: F Setting the system for manipulating workpieces F Operating the robot F Creating and changing a program F Executing a program F Status indications F Alarm codes and system variables Using this manual Each chapter of the manual describes a single operation of the robot. The user can select and read chapters describing required operations. Chapter 1 Introduction Describes how to use this manual and the safety precautions that must be observed in working with the robot. All users must read the safety precautions. Chapter 2 Overview Gives a basic knowledge of the robot. It describes the basic configuration of the robot and the system for manipulating workpieces. Chapter 3 Setting the System for Arc Welding Describes the procedure for setting the system for manipulating workpieces, including input/output, coordinate system, and reference position. Chapter 4 Program Structure Describes the program structure and the syntax of program instructions. Chapter 5 Creating a Program Describes how to design, create, change, delete, and copy a program. It also describes the procedures for turning the power on and moving the robot by jog feed. Chapter 6 Executing a Program Describes how to execute and stop a program. It also describes the test operation, automatic operation, and recovery from the alarm state. Chapter 7 Status Indicators Describes how to check the operating status of the robot, using the status indicator LEDs. Chapter 8 File Input/Output Describes how to store, read, and print a program file or system file. Chapter 9 Utility Describes additional utility functions and macro functions, program shift and mirror shift. Appendix Describes lists of the menus, screens, and program instructions. Alarm Codes and System Variables Lists the alarm codes and system variables. 2 1. INTRODUCTION B--81464EN--3/01 Identification For editions and order files of software, read the following sections: Section Item to be checked Edition of your software B.3 Software Version Order No. of your software A.1 List of Menus Specifications of products For memory statuses or software option list, see the following sections: Section Item to be checked Memory status 7.11 Memory Use Status Display Software option list A.1 List of Menus Menu displayed when an option is selected A.1 List of Menus Program instruction that can be used when an option is selected A.3 List of Program Instructions Related manuals The following manuals are available: R-J3iB Controller Mechanical unit OPERATOR’S MANUAL ARC TOOL Intended readers: Operators responsible for designing, introducing, operating, and adjusting the robot system at the work site. Topics: Functions, operations and the procedure for operating the robot. Programming procedure, interface, and alarm. Use: Guide to teaching, introducing, and adjusting the robot at the work site, and application designing. MAINTENANCE MANUAL B--81465EN Topics: Installing and activating the system, connecting the mechanical unit to the peripheral device, and maintaining the robot. Maintenance manual Intended readers: Maintenance person, system designer Topics: Installing and activating the robot, connecting the mechanical unit to the controller, maintaining the robot. Use: Guide to installation, activation, connection, and maintenance. 3 1. INTRODUCTION B--81464EN--3/01 Notation This manual contains safety precautions against injury and property damage. Those precautions are labelled “Warning” or “Caution,” according to the degree of importance. Supplementary explanation is given under “Note.” Before starting to use a robot, carefully read the “Warning,” “Caution,” and “Note.” WARNING Failure to follow the instruction given under “Warning” can cause fatal or serious injury to the user. This information is indicated in bold type in a box so that it can be easily distinguished from the main body of this manual. CAUTION Failure to follow the instruction given under “Caution” can cause injury to the user or property damage. This information is indicated in a box so that it can be easily distinguished from the main body of this manual. NOTE The information given under “Note” is a supplementary explanation, which is neither a warning nor a caution. Carefully read and save this manual. 4 1. INTRODUCTION B--81464EN--3/01 1.2 Workers A robot cannot do anything alone. The robot can operate only after it is equipped with a hand or other device and connected with peripheral equipment to form a system. Give considerations for the safety of not only the robot but also the entire system. When using the robot, provide a safety fence and other safety measures. FANUC defines the system personnel as indicated below. Check which worker should be trained in a specialist robot course. Operator The jobs of an operator are: F Turning on and off the system F Starting and stopping programs F Recovering the system from an alarm state The operator must not enter the area enclosed by the safety fence to do his or her work. Programmer or teaching operator The jobs of the programmer or teaching operator include the jobs of the operator and the following: F Teaching of a robot, adjustment of the peripheral equipment, and other work that must be done in the area enclosed by the safety fence The programmer or teaching operator should be trained in a specialist robot course. Maintenance engineer The jobs of the maintenance engineer include the jobs of the programmer and the following: F Repair and maintenance of the robot The maintenance engineer should be trained in a specialist robot course. 5 1. INTRODUCTION B--81464EN--3/01 1.3 General Safety Precautions This section lists general safety precautions. Before starting to use the robot, read the precautions. The subsequent sections of the manual indicate other precautions. Take each of the precautions. General rules WARNING When the robot is used, the following precautions should be taken. Otherwise, the robot and peripheral equipment can be adversely affected, or workers can be severely injured. -- Avoid using the robot in a flammable environment. -- Avoid using the robot in an explosive environment. -- Avoid using the robot in an environment full of radiation. -- Avoid using the robot under water or at high humidities. -- Avoid using the robot to carry a person or animal. -- Avoid using the robot as a stepladder. (Never climb up on or hang from the robot.) WARNING Robot personnel must wear the following safety articles: -- Clothing suitable for each job -- Safety shoes -- Helmet NOTE Programmers and maintenance staff should be trained in a suitable course at FANUC. Notes on installation WARNING The robot should be transported and installed by accurately following the procedures recommended by FANUC. Incorrect transportation or installation may cause the robot to fall, resulting in severe injury to workers. CAUTION In the first operation of the robot after installation, the operation should be restricted to low speeds. Then, the speed should be gradually increased to check the operation of the robot. Notes on operation WARNING Before the robot is started, it should be checked that no one is in the area of the safety fence. At the same time, a check must be made to ensure that there is no risk of hazardous situations. If detected, such a situation should be eliminated before operation. CAUTION Operators should be ungloved while manipulating the operator’s panel or teach pendant. Operation with gloved fingers could cause an operation error. NOTE Programs, system variables, and other information can be saved on floppy disks (option). It is wise to save the data periodically in case the data is lost in an accident. (Refer to the operator’s manual.) 6 1. INTRODUCTION B--81464EN--3/01 Notes on programming WARNING Programming should be done outside the area of the safety fence as much as possible. If programming needs to be done in the area of the safety fence, the programmer should take the following precautions: -- Before entering the area of the safety fence, ensure that there is no risk of dangerous situations in the area. -- Be prepared to press the emergency stop button whenever necessary. -- Robot motions should be made at low speeds. -- Before starting programming, check the entire system status to ensure that no remote instruction to the peripheral equipment or motion would be dangerous to himself or herself. CAUTION NOTE After programming is completed, a test execution should be given according to a specified procedure. (Refer to the operator’s manual). During the test execution, workers must stay out of the safety fence. Programmers should be trained in a suitable course at FANUC. Notes on maintenance WARNING During maintenance, the robot and system should be in the power--off state as much as possible. If the robot or system is in the power--on state, some maintenance operations can cause a shock hazard. If necessary, a lock should be provided to prevent any other person from turning on the robot or system. If maintenance needs to be executed in the power--on state, the emergency stop button should be pressed if possible. WARNING When replacing a part, the maintenance worker should read the maintenance manual and learn the replacement procedure beforehand. If a wrong procedure is followed, an accident may occur, causing damage to the robot and injury to the worker. WARNING When entering the area enclosed by the safety fence, the maintenance worker should check the entire system to make sure that no dangerous situations are present. If the worker needs to enter the area of the fence while a dangerous situation exists, the worker should always take extreme care and check the current system status. WARNING A part should be replaced with a part recommended by FANUC. If other parts are used, malfunction or damage could occur. Especially, a fuse that is not recommended by FANUC should not be used. Such a fuse may cause a fire. WARNING When a motor or brake is removed, the robot arm should be supported with a crane or other equipment beforehand so that the arm can not fall during the removal. WARNING If robot motion is necessary during maintenance, the following precautions should be taken: -- Reserve an escape route. During the maintenance, always check the motions of the whole system so that the escape route will not be blocked by the robot or peripheral equipment. -- Always pay attention to the risk of dangerous situations and be prepared to press the emergency stop button whenever necessary. WARNING When a motor, decelerator, or other heavy load is handled, a crane or other equipment should be used to protect maintenance workers from excessive load. Otherwise, the maintenance workers can be severely injured. CAUTION Whenever grease is spilled on the floor, it should be removed as quickly as possible to prevent dangerous falls. CAUTION The robot should not be stepped on or climbed on during maintenance. If it is attempted, the robot could be adversely affected. In addition, a misstep can cause injury to the worker. CAUTION The following parts are heated. If a maintenance worker needs to touch such a part when it is heated, the worker should wear heat--resistant gloves or use other protective tools. -- Servo motor -- Inside the control unit CAUTION When a part is replaced, all bolts and other related components should put back into their original places. A careful check must be given to ensure that no components are missing or left unmounted. CAUTION Before the maintenance of the pneumatic system is started, the supply pressure must be shut off and the pressure in the piping must be reduced to zero. CAUTION After a part is replaced, a test execution should be given for the robot according to a predetermined method. (Refer to the operator’s manual.) During the test execution, the maintenance staff should work outside the safety fence. CAUTION After maintenance is completed, spilled oil or water and metal chips should be removed from the floor around the robot and within the safety fence. 7 1. INTRODUCTION CAUTION B--81464EN--3/01 When a part is replaced, care must be taken to prevent dust from entering the robot. NOTE Each maintenance worker or inspection worker should be trained in a suitable course at FANUC. NOTE Maintenance should be done under suitable light. Care must be taken that the light does not cause any danger. NOTE The robot should be periodically inspected. (Refer to the maintenance manual.) Failure to do period inspection can adversely affect the performance or service life of the robot and also may cause an accident. 8 Safety precautions related to installation and layout F Use warning lamps and other provisions to indicate that the robot is operating. it is quite dangerous.about how to connect. A robot is quite flexible. the control unit stops the robot immediately. Refer to the maintenance manual for explanations about how to connect. Install the controller outside of the protective fence. NOTE Upon receiving an emergency stop signal. The safety precautions are described below. Design the system so that it will stop when the door is opened. NOTE Connect the *FENCE input signal to the safety door. F Put a protective fence so that the motion range of the robot is completely surrounded.1. Figure 1--2. NOTE When the *SFSPD (safety speed) input signal is turned off. The robot is usually connected with peripheral equipment to comprise an automated system. Users must take safety precautions for the entire system.4 Safety Precautions Safety precautions Unlike ordinary automatic machines. but on the other hand. INTRODUCTION B--81464EN--3/01 1. Protective Fence Improper installation Proper installation F Install an emergency stop button where it will be readily accessible to the operator. robots have arms and wrists which can be moved. 9 . Figure 1--1. Alarm Indications Teaching Do not enter F Danger Put a protective fence with a safety door around the system so that only the operator can enter the operating area by the door. the controller immediately stops the robot. F Ground all peripheral units properly. F The robot receives interlock signals sent from remote equipment. Locking the Circuit Breaker 10 . If an abnormal external force is applied to the robot. Safety Plug Safety plug When the safety plug is removed. the robot can stop or halt. This can be set on the system setting screen. Upon receiving a signal indicating the operating status of the remote equipment.1. NOTE When the hand break (*HBK) input signal goes off. the contact opens. the safety joint breaks and the robot stops. Control circuit to stop the robot * SFSPD input Safety precautions related to system design F Install a safety joint between robot wrists. Figure 1--4. the desired area can be specified by software parameters. F When required. F When a desired operating area is smaller than the maximum operating area of the robot. INTRODUCTION B--81464EN--3/01 Figure 1--3. install a lock so that only authorized personnel can switch the power on. the controller immediately stops the robot. See the system config menu section. NOTE The circuit breaker on the control unit door is designed such that power--on can be disabled by setting a padlock. F Hand breakage detection can be disabled when the *HBK input signal is off. F When carrying out an inspection in which the robot needs to be operated.1. INTRODUCTION B--81464EN--3/01 Safety precautions related to inspection and maintenance F Before starting the inspection or maintenance. F Before starting an inspection in which the electrical system of the robot does not to be operated. F Before disconnecting the pneumatic system. Figure 1--5. other carrying equipment. release the supply pressure. press the emergency stop button. Immediately press the emergency stop button whenever required. turn off the power to the controller. and carrying handle on the product. securely fasten the robot to the carrier. Emergency Stop Button ON EMEGENCY STOP Emergency stop button OFF PORT Emergency stop button Safety precautions related to transportation F When transporting the robot or another unit on a carrier such as a crane or fork lift. carefully observe the motion of the robot. fork lift. F Carefully inspect the crane. Carrying the Robot 11 . Figure 1--6. Lock the circuit breaker or place a guard to prevent someone else from switching the power on. Operation Maintenance and inspection Welding machine and torch Attend training classes. Before working within the operating area of the robot. the controller door. Wear Keep the workshop neat. Figure 1--8. Transportation and installation Keep the transportation lane free from obstacles. Close Insulate the gun from the robot. Inspect and maintain the cables. Safety Clothes and Safety Helmet Before approaching the robot to program it. unauthorized personnel. Check for leakage of the cooling water.1. Provide a spatter protection wall. install a guard so that the robot can be immediately stopped in an emergency. NOTE If the deadman switch is released while the teach pendant enable switch is on. tidy. the robot immediately stops. Install a guard to prevent someone else from entering the operating area of the robot or activating the robot from the operator’s panel. Never bring flammable material to the workshop. Exclude Before starting maintenance or Check the pneumatic pressure. F 12 . When transporting the robot or another unit on a carrier such as a fork lift or crane. INTRODUCTION B--81464EN--3/01 Safety precautions related to operation F F F F All robot system operators are requested to attend FANUC training courses to learn the safety precautions and functions of the robot. turn the power off. make sure that there are no abnormal or dangerous conditions around the robot and peripheral equipment. press the deadman switch. Master the Use only FANUC products for repair. inspection. Provide ventilation. While programming the robot in its operating area. and a clean. warning indications. Keep a sufficient operating area. securely fasten it to the carrier. even when the robot is not running. switch the power off or press the emergency stop button. safety shoes. and work clothes. Install a protective fence and safety helmet. Figure 1--7. operating procedures. and set the teach pendant enable switch on. Make connections properly. Danger Monitoring by Two Persons Table 1--1. Before beginning to program the robot. Safety precautions item Operator Workshop Avoid dangerous behavior. hold the teach pendant in your hand. INTRODUCTION B--81464EN--3/01 Figure 1--9.1. F Before moving the robot by jog feed. 13 . sufficiently lower the feedrate override of the robot. Deadman switch and Teach pendant enable switch Teach pendant enable switch Deadman switch F Before moving the robot by jog feed. carefully observe the operation of the jog keys and the robot. j Contents of this chapter 2.1 Arc Tool Software 2.2.3 Controller 14 .2 Robot 2. OVERVIEW B--81464EN--3/01 2. OVERVIEW This chapter shows the basic configuration of the FANUC Robot System and briefly describes the functions of each component. The system consists of a robot. are required to configure a system for arc welding. and printer. F The workpiece clamp. and external peripheral devices. System Robot Remote controller R--J3iB robot controller Weld Equipment Conveyor 15 . It is installed in the robot controller. Fig. The ARC tool software can also control input and output between the robot with six basic axes or controller and the peripheral equipment. welding machine. Peripheral devices. 2--1 shows a typical robot system for arc welding. and other peripheral units. and peripheral devices. and the robot control unit. The tool software for arc welding is installed on the robot control unit to control the teach pendant. including remote control units. operator’s panel. The FANUC robot ARC Mate 100iB is ideal for arc welding. and other devices are operated using I/O and serial communication units. the robot control unit. printer. The peripheral equipment includes the cell controller. The operator can perform welding by selecting from menus and issuing instructions using the teach pendant. external disk drive unit. remote controller. the mechanical unit of the robot itself (FANUC Robot series). Figure 2--1. The robot system offers superior performance suited to arc welding of industrial products. OVERVIEW B--81464EN--3/01 A FANUC robot for arc welding consists of the tool software for arc welding. The ARC tool software provides all the instructions necessary to control the robot.2. Robot The robot has a welding torch or another end effector interface for control to do work. F The remote control units are used to control the robot control unit. floppy disk drive. Controller The robot control unit supplies power to drive the mechanical unit. ARC tool software The ARC tool software is a software package designed for welding. 1. the system can be expanded and the management functions can be enhanced. F Motion instruction: Moves the tool to the target position within the operating range. F Macro instruction: Calls a specified program and executes it. (For creation of a program. communication. F Input/output instruction: Sends or receives a signal to or from a peripheral unit.2 Jog feed of the robot Jog feed of the robot is the operation of moving the robot as desired by manually entering commands on the teach pendant.1 System setting The Arc tool software has an interface for specifying parameters of operation of the arc welding system.) With the ARC tool software. F Arc welding instruction: Controls the welding machine and welding torch. F Other instructions 16 . F Additional motion instruction: Performs an additional (special) operation during a motion. F Comment instruction: Adds a comment to a program. When a motion instruction of a program is executed.3 Program A program contains motion instructions. F Wait instruction: Delays the execution of a program.1. welding machine.) 2. see Chapter 3.1 Arc Tool Software The Arc tool software has been specially designed to perform arc welding operations. see Chapter 4. The Arc teach pendant is used to create or correct a program. F Program end instruction: Terminates execution of a program. The target work is accomplished by sequentially executing the instructions.1. welding machine and other peripheral units. (For the program structure. Figure 2--2 shows a basic program for arc welding. register instructions.) Each instruction is assigned a statement number. The Arc tool software is contained in the robot controlunit and enables the following: F Setting up the system for arc welding applications F Creating a program F Testing the operation of a program F Performing automatic operations F Status display or monitoring When optional functions (for connecting a printer. the welding torch.) The program contains the following instructions. (For the jog feed of the robot. F Register instruction: Places (loads) numerical data into a register. and other external units can be controlled. selecting an external program. remote controller. F Position register instruction: Places (loads) position data into a register. see Chapter 5. F Routine call instruction: Calls and executes a subprogram. see Chapter 5. (For how to set the arc welding system. input/output instructions.2. Before the arc welding is started. 2. and branch instructions. OVERVIEW B--81464EN--3/01 2. etc. connecting a floppy disk drive unit. F Branch instruction: Changes the flow of a program. the robot is moved to the target position by jog feed. 2. and automatic operation. the following must be specified: input from and output to the welding torch. the coordinate system.) are incorporated. then the position is recorded. 2.) Test execution of the program is one of the most important steps in creating a good program. (For automatic operation.4 Test operation (test execution) After the system is set up and a program is created.14 and 6.) F During automatic operation. test each program. the following processing is executed: F Specified programs are started one after another. 2. OVERVIEW B--81464EN--3/01 Figure 2--2.6. (For fine--tuning of welding. Arc welding Program Program name SAMPLE1 Line number 1: 2: 3: : 4: 5: 6: : 7: 8: Motion instruction Program instructions Arc welding instruction Weaving instruction Program end symbol JOINT 10% 1/9 J P [1] 100% FINE J P [2] 70% CNT50 L P [3] 500mm/s FINE Arc Start [1] Weave Sine [1] L P [4] 50cm/m CNT80 L P [5] 50cm/m CNT80 Arc End [55V. In automatic operation. 0. the welding schedule data can be adjusted.1.1s] Weave End J P [1] 100% FINE [End] POINT ARCSTRT WELD_PT ARCEND TOUCHUP> 2.2 and 6. see Sections 3. (For test operation. (For halting a program.) F The processing is halted.5 Automatic operation (operation execution) Automatic operation (operation execution) is the final step in executing programs.7). see Sections 6. see Section 6.) 17 . perform the test operation in the test execution mode to check the program for normal operation. F During automatic operation.3. see Section 6.1.8. then aborted or resumed. Before starting automatic operation. 75A.1. position data can be corrected (online position correction Section 6. 2 Robot A robot is a mechanical unit consisting of axes and arms driven by servo motors.1 Robot arms FANUC offers the ARC Mate 100iB. an arc welding torch is usually attached to the wrist. or an axis. Figure 2--4 shows the robots. J1. OVERVIEW B--81464EN--3/01 2. FANUC Robot ARC Mate 100iB 18 . Main axes and wrist axes +J3 --J3 +J4 +J5 --J5 --J4 Wrist axes +J6 --J2 --J6 +J2 --J1 +J1 Main axes 2. The wrist itself can be wagged about one wrist axis and the end effector rotated about the other wrist axis. The wrist axes are used to move an end effecter (tool) mounted on the wrist flange. and J3 are main axes. J2.2. Figure 2--3.2. The place at which an arm is connected is a joint. With an arc welding system. The robot is a 6--axis articulated robot with three basic axes and three wrist axes. Figure 2--4. The basic configuration of the robot depends on whether each main axis functions as a linear axis or rotation axis. OVERVIEW B--81464EN--3/01 Figure 2--5.2. Consult a system designer and select a welding torch that is suitable for your application. Welding torch Curved torch for MAG welding Straight torch for TIG welding 19 .2 Arc welding torch An arc welding torch is mounted on the robot’s wrist flange.2. FANUC Robot ARC Mate 120iβ 2. Figure 2--6. thus ensuring optimum welding. The arc tool software controls the torch as well as the welding machine. via the main CPU printed circuit board. refer to the maintenance manual. The input/output (I/O) circuit interfaces the controller with the peripheral units by receiving and sending signals via the I/O link cable and peripheral connecting cable. The memory circuit can store programs and data set by the user in the S--RAM on the main CPU printed circuit board. memory circuit.3 Controller The robot controller includes a power unit. and input/output circuit. For details. OVERVIEW B--81464EN--3/01 2. The user should use a teach pendant and operator’s box to operate the control unit. including any additional axes. 20 . The remote input/output signal is used for communication with the remote controller. The operation control circuit controls the servo amplifier which moves all the robot axes. user interface circuit. motion controlling circuit. Robot controller R--J3i MODEL B controller Operator panel Three mode switch Teach pendant The circuitry of the controller depends on the robot and the system it controls.2. Figure 2--7. The following operations can be performed using the teach pendant: F Jog feed of the robot F Program generation F Test execution F Actual work F Status check The teach pendant includes the following: F Liquid crystal display of 40 characters by 16 lines F 11 LEDs including three LEDs for the ARC tool F 61 keys including three keys for the ARC tool CAUTION The operator of the teach pendant should use gloves that will not cause any operation error.1 Teach pendant The teach pendant interfaces the Arc tool software with the operator. this switch allows robot motion only while the DEADMAN switch is gripped. The teach pendant is connected to the PC board for controlling the robot in the controller by a cable. Emergency stop button When pressed. the emergency stop button immediately stops the robot. or test execution cannot be carried out.3. Figure 2--8. If you release this switch. program generation. When the teach pendant is enabled. Switches on the Teach Pendant EMERGENCY STOP button Teach pendant enable switch DEADMAN switch Figure 2--9 shows the teach pendant. OVERVIEW B--81464EN--3/01 2. When the teach pendant is disabled.2. The following switches are also provided: Teach pendant enable switch This switch enables or disables the teach pendant. DEADMAN switch DEADMAN SWITCH is used as an enabling device. a jog feed. the robot stops immediately. 21 . HOLD key: Use this key to stop the robot. SAMPLE1 Return key: Used to move back to the previous operation. diagnostic etc. The Macro program can move the orobt to its HOME position. Function key (F key): Selects a function key menu item. data. running. WIRE + BACK SPACE key: Use this key to delete the character or number immediately before the cursor. Jog Speed keys: Use these keys to adjust the speed of the robot when it moves. COORD (coordinate) key: Use this key to select the jog coordinate system or select another group.1s] Weave End J P [1] 100% FINE ARCSTRT WELD_PT ARCEND Next page key: Displays the function key menu of the next page. MAN FCTN keys: Use this key to display the Manual function screen. 22 . STEP key: Use this key to switch between step execution and cycle execution. STATUS key: Use this key to dispaly the STATUS screen. MOVE MENU WELD ENBL Key: Alternately Enable and Disable Weld equipment. Cursor keys: Use these keys to move the cursor. Emergency Stop button: Use this button for Emergency stop FCTN key: Use this key to display the supplementary menu. ITEM key: Use this key to select an item using its number ENTER key: Use this key to enter a numeric value or to select an item from the menu. POSN key: Use this key to display the POSITION screen. Status indicators: Indicates alarm. WIRE -- MAN FCTN POSN STATUS Jog keys: Use this key to move the robot manually. FWD (forward) key: Use this key to execute the next program statement. OVERVIEW B--81464EN--3/01 Figure 2--9. 0. MOVE MENU Key: Use this key to invoke a Macro program. FAUL T PAUSED STEP BUSY RUNNING Arc LEDs: Displays arc welding status. etc. Teach Pendant LCD screen (16*40): Displays programs. WELD ENBL ARC ESTAB DRY RUN JOINT Enable/Disable switch (Teach pendant ON/OFF switch): Selects teach pendant enable/disable. TOUCHUP> TOOL OFF ON MENUS key: Use this key to display the menu screen. WIRE keys: Advance and Retract the wire manually. busy status. WELD ENBL RESET key: Use this key to clear the alarm. Program keys: Use these keys to select menu options.2. XYZ 1: 2: 3: : 4: 5: 6: : 7: 8: [End] POINT JOINT 10% 1/9 J P [1] 100% FINE J P [2] 70% CNT50 L P [3] 500mm/s FINE Arc Start [1] Weave Sine [1] L P [4] 50cm/m CNT80 L P [5] 50cm/m CNT80 Arc End [55V. 75A. I/O The POSN key displays the current position screen.1 Keys on the teach pendant The teach pendant has the following keys: F Keys related to menus F Keys related to jog feed F Keys related to execution F Keys related to editing F Keys related to arc welding Table 2--1. The DATA key displays the program data screen. OVERVIEW B--81464EN--3/01 2.3. The SELECT key displays the program selection screen. SETUP The STATUS key displays the current position screen. NEXT SELECT MENUS FCTN EDIT DATA MOVE MENU The MENUS key displays the screen menu.1. POSN 23 . Keys related to menus Function Key The function (F) key selects a function menu at the bottom of the screen. The SET UP key displays the setup screen. Create a program which moves the robot to the reference position and assign this program to a macro instruction so that this can be started by this MOVE MENU key. F1 F2 F3 F4 F5 The NEXT page key displays the function menu on the next page. STATUS The I/O key displays the I/O screen.2. The MOVE MENU key moves the robot to the reference position. The EDIT key displays the program edit screen. The FCTN key displays the function menu. ) Keys related to execution Key Function FWD BWD The start key (+ SHIFT key) starts a program. The jog key executes a jog feed of the robot. This part becomes the object of operation ( input or change of the value or contents) from the teach pendant key. The HOLD key causes a program to halt. The cursor is the highlighted part which can move on the teach pendant screen. The ITEM key moves the cursor to a line whose number is specified. teach position data. 5%. The override key adjusts the feedrate override. the program halts. HOLD The STEP key selects step or continuous test operation. ITEM 24 . Pressing this key together with the shift key displays the jog menu for coordinate system switching. The cursor key moves the cursor. ENTER BACK SPACE The BACK SPACE key deletes the character or numeral immediately before the cursor.2. 1%. 100%. PREV The ENTER key enters a numeral or selects a menu. it selects the next override in the order: VFINE. The manual feed coordinate system key is used to switch the manual feed coordinate system (jog type) from JOINT to JGFRM to RECT to TOOL to USER to PATH then back to JOINT. STEP Table 2--4. When the shift key is released during regeneration. Keys related to editing Key Function The PREV key restores the most recent state. FINE. Keys related to jog feed Key Function SHIFT --Z (J3) --Y (J2) --X (J1) +Z (J3) +Y (J2) +X (J1) --Z (J6) --Y (J5) --X (J4) +Z (J6) +Y (J5) +X (J4) COORD +% Table 2--3. Each time the override key is pressed. OVERVIEW B--81464EN--3/01 Table 2--2. and start a program.(changing amount 1% for 5% or less and changing amount 5% for 5% or more. 50%. --% The SHIFT key is used to execute a jog feed of the robot. WIRE -- WIRE + 25 .2. OVERVIEW B--81464EN--3/01 Table 2--5. WELD ENBL The WIRE+/-.key (+ SHIFT key) feeds/rewinds the wire manually. Keys related to arc welding Key Function The WELD ENBL key (+ SHIFT key) enables/disables welding. JOINT The JOINT LED is lit when joint jog is selected as the manual--feed coordinate system (jog type). OVERVIEW B--81464EN--3/01 2.1. It is also lit when a program is executed or when the printer or floppy disk drive unit is operating. ARC ESTAB The ARC ESTAB LED. when lit. is selected. when lit. DRY RUN The DRY RUN LED. HOLD The HOLD LED indicates that the HOLD button is being pressed STEP The STEP LED indicates that it is in step operation mode. RUNNING The RUNNING LED indicates that the program is being executed. when lit. using dry run.3. LEDs on the teach pendant FAULT HOLD STEP BUSY RUNNING WELD ENBL ARC ESTAB DRY RUN JOINT XYZ TOOL OFF ON Table 2--6. WELD ENBL The WELD ENBL LED. XYZ The XYZ LED is lit when Cartesian jog (JGFRM or USER) is selected as the manual--feed coordinate system (jog type).2 LEDs on the teach pendant Figure 2--10. TOOL Indicates that the manual feed coordinate system is a tool coordinate system or path coordinate system. indicates that arc welding is enabled. indicates that test operation mode. indicates that arc welding is in progress. 26 . LEDs on the teach pendant LED Function FAULT The FAULT LED indicates that an alarm has occurred.2. BUSY The BUSY LED is lit while the robot is working. PAUSED. Program Edit Screen Program which is being executed Program which is being edited Line number Program end symbol Manual--feed coordinate system (jog type) Indicates the current jog type. TP forward/backward disable FBD is displayed when the teach pendant is effective and is set that start from teach pendant is FBD prohibited.1. The menu depends on the selected screen and the position of the cursor. Function key menu Indicates the function key labels. PAUSED Current line number Indicates the number of the line in the program being executed. Current line and total number of lines Indicates the number of the line in the program being executed or edited and the total number of lines in the current program. 27 .2. Feedrate override The override key specifies the percentage of the maximum feedrate.3 Display screen of the teach pendant The liquid crystal display screen (liquid crystal display) displays the Arc tool software screen shown in Figure 2--11. Labels including [ ] shows that the selection menu is displayed when this label is selected. To operate the robot. SAMPLE1 SAMPLE1 LINE 1 PAUSED 1: J 2: J 3: L 4: L 5: J [End] P[1] P[2] P[3] P[4] P[1] JOINT 30% 1/6 100% FINE 70% CNT50 1000cm/min CNT30 500mm/sec FINE 100% FINE Enter value of press ENTER [CHOICE] POSITION Prompting message Prompts the operator to enter data. The screen is selected by the screen menus shown in Figure 2--12. OVERVIEW B--81464EN--3/01 2. select a screen corresponding to a desired function.3. Figure 2--11. or RUNNING. The message depends on the selected screen and the position of the cursor. Execution status Indicates ABORTED. SYSTEM The system screen is used to set system variables and for mastering. Screen menu The screen menu is used to select a screen. SELECT EDIT DATA STATUS POSITION SYSTEM --NEXT-- Page 2 Screen menu LED Function UTILITIES The utility screen is used to display hints.2. (For the list of menus. Figure 2--12.2. and pallet register. and quick menu respectively. The function menu is selected by the FCTN key. ALARM The alarm history screen shows the history and details of alarms. The screen menu is selected by the MENUS key. MANUAL FCTNS The manual operation screen is used to execute macro instructions. position registers.) To display the screen menu. 28 .4 Screen menu and function menu Menus are used to operate the teach pendant. TEST CYCLE The test cycle screen is used to specify the data for test operation. Screen menu 1 2 3 4 5 6 7 8 9 0 MENUS 1 2 3 4 5 6 7 8 9 0 UTILITIES TEST CYCLE MANUAL FCTNS ALARM I/O SETUP FILE USER --NEXT-- Page 1 Table 2--7. STATUS Indicates the system or arc welding state. POSITION The current position screen shows the current position of the robot. Figure 2--13.1. Figure 2--12. EDIT The program edit screen is used to correct and execute a program. press the MENUS key on the teach pendant. and Figure 2--14 show the screen menu. SETUP The setting screen is used to setup the system. see Appendix A. The screen menu lists the following options. USER The user screen shows user messages. DATA The program data screen shows the values in registers. I/O The I/O screen is used to display and set manual output. For the screen type. SELECT The program selection screen is used to list or create programs. FILE The file screen is used to read or store files.1. simulated input/output. see Appendix A. OVERVIEW B--81464EN--3/01 2. function menu. and assignment of signals.3. (For the list of menus. QUICK/FULL MENUS SAVE PRINT SCREEN PRINT -. Figure 2--13. Disable FWD/BWD Disable FWD/BWD enables or disables starting a program with the teach pendant CHANGE GROUP Changes the operation group for jog feed. Function menu 1 2 3 4 5 6 7 8 9 0 FCTN ABORT (ALL) Disable FWD/BWD CHANGE GROUP TOGGLE SUB GROUP TOGGLE WRIST JOG 1 2 3 4 5 6 7 8 9 0 RELEASE WAIT -. OVERVIEW B--81464EN--3/01 Function menu The function menu is used to execute a miscellaneous function.2. Displayed only when multiple groups are set. 29 . TOGGLE WRIST JOG TOGGLE WRIST JOG toggles jog between the attitude control feed and the wrist joint feed which does not maintain the wrist attitude in linear feed. see Appendix A. QUICK/FULL MENUS QUICK/FULL MENUS toggles the menu between a usual screen menu and a quick menu. PRINT PRINT prints the data on the current screen.NEXT -- Page 2 Function menu LED Function ABORT (ALL) ABORT forces a program which is being executed or temporarily halted to terminate. RELEASE WAIT Skips the wait instruction currently being executed. SAVE SAVE saves the data related to the current screen on a floppy disk. execution of the program stops temporarily at the line immediately following the wait instruction.1. press the FCTN key on the teach pendant. TOGGLE SUB GROUP TOGGLE SUB GROUP toggles jog feed between robot standard axes and extended axes.NEXT -- Page 1 Table 2--8.) To display the function menu. When the wait state is released. PRINT SCREEN PRINT SCREEN prints the data displayed on the current screen. But the function except selecting a program can not be used. Quick menu 1 2 3 4 5 6 7 8 9 0 ALARM UTILITIES TEST CYCLE DATA MANUAL FCTNS I/O STATUS POSITION NOTE The program selection screen can be displayed by using the SELECT key. the screen that can be displayed by using the screen menu is limited to the following: F ALARM / alarm history screen F UTILITIES / hint screen F Setup screen F DATA / register screen F MANUAL FUNCTIONS Screen F STATUS screen F I/O screen F POSITION screen Figure 2--14. NOTE The program edit screen can be displayed by using the EDIT key.2. 30 . OVERVIEW B--81464EN--3/01 Quick menu When a quick menu is selected. But the function except changing of the position and the speed value can not be used. Lit while the power is on. Table 2--10. OVERVIEW B--81464EN--3/01 2. Emergency stop button Press this button to stop the robot immediately.2. Power--off button Turns off the power to the robot control unit. Table 2--10 lists the LEDs on the operator’s panel. 2--22 shows the operator’s box on the cabinet. LED Alarm LEDs on the Operator’s Panel Function Indicates the alarm state. Start button Starts the currently selected program. Turn the emergency stop button clockwise to release it. Remote switch Switches between remote and local operation modes.2 Operator’s panel The operator’s panel/box has buttons. Figure 2--15. switches. start a program. Switches on the Operator’s Panel Switch Function Power--on button Turns on the power to the robot control unit. CAUTION Do not wear gloves that could cause operator errors when using the operator’s panel. and perform other operations. Operator’s Box Power--on button Three mode switch Start button Alarm release 31 Emergency stop button . Alarm release button Releases the alarm state. Three mode switch Enables the user to select operation mode suitable to the robot operation conditions or the status of its use. release the alarm state. Fig. Press the alarm release button to release the alarm state. Table 2--9. Table 2--9 lists the switches on the operator’s panel. User #1 and #2 buttons Execute the functions defined for the user keys.3. Lit while the program is being started. The buttons on the operator’s panel can be used to turn the power on and off. The operator’s panel also has an RS--232C communication port and a memory card slot. and connectors. The general--purpose signal (user--defined signal) is controlled by a program and is used to send or receive data to or from the external units or hand. An external CRT/KB is connected to the control unit via an RS--232C cable.1. I/O unit model B. Functions related to robot operation can only be executed using the teach pendant. As a result. “Peripheral I/O”).3. The input/output signals include the following: F Welding Input/Output (See Section 3. The specialized signal (system--defined signal) is applied to a specific use.3.3. F One standard RS--232C port (external) F Two optional RS--232C ports (internal) 2.4 CRT/KB The CRT/KB is an optional operation unit.10. the following interfaces are provided (Refer to communication ports Section 8. I/O unit model A.) The number of the I/O signals and their types depend on the hardware of the control unit and the number of selected I/O modules and their types. (See MAINTENANCE MANUAL) 2.2.) F Group I/O (See Subsection 3. These control units operate systems that are configured by the custome using peripheral devices and Robot I/O.10. and Process I/O PC board can be connected to the controller.2). Process I/O PC board has the maximum number of I/O signal lines which can be used.1. OVERVIEW B--81464EN--3/01 2.7 Peripheral I/O Peripheral I/O is a signal specialized for sending and receiving data to or from the remote controller or peripheral equipment. 2. The CRT/KB can be used to execute almost all teach pendant functions excluding those related to robot operation.3. 2.8.5 Communication For communications.8.3.3.6 Input/output General--purpose and specialized input/output (I/O) signals are used to send the data of an external unit to the Arc tool software.) F Robot I/O (See Section 3.8.) F Digital I/O (See Subsection 3.11.3 Remote controller Remote control units are external devices connected to the robot control unit to configure a system. Peripheral I/O signals perform the following: F Select a program F Start and stop a program F Recover the system from the alarm state F Others 32 .) F Analog I/O (See Subsection 3.9.) F Operator’s panel I/O (See Section 3.) F Peripheral I/O (See Section 3. the following operations can be done (See Section 3.2. 10 Extended axis A maximum of 3 axes in one group can be added to the standard axes (usually six axes) of the robot. When a motion instruction is used.9 Emergency Stop devices This robot has the following emergency stop devices. The signal terminal is on the controller and operator’s box inside. but can be synchronized to operate the robot simultaneously. A positioning path can be selected from two options. the motion of the robot depends on the position data. Use these axes to perform linear or circular robot operation. When Circular is selected. gate). The robot moves according to a jog feed specified on the teach pendant or a motion instruction specified in a program. and Joint ---. The robot control unit can control up to 16 axes. the tool is moved arbitrarily between two specified points.3. the motion of the robot depends on the selected manual--feed coordinate system (jog type) and feedrate override. the tool is moved along a straight line between the two specified points.3. F Integrated axes Controlled together with the robot during linear or circular robot operation. The control unit can control up to nine axes for a group.can be selected to operate the robot. motion format. The robot controller uses a motion control system that comprehensively controls the tool path. positioning. Fine and Cnt.3. 2. The external emergency stop outputs or inputs the emergency stop signal for peripheral devices (e. When Joint is selected. Circular. F two emergency stop buttons ( installed on the operator’s panel and the teach pendant ) F external emergency stop ( input signal ) When the emergency stop button is pushed.Linear. The robot controller can control up to 16 axes (with optional servo card). and other factors. divided into up to three operation groups (multiple motion function). 2. To execute a jog feed of the robot. The extended axis has the following two types: F Extended axes This can be controlled regardless of the robot motion and can move only at the joint motion. and feedrate override specified in the instruction. or a movement of the tool center point (TCP) from the current position to the target position. the tool is moved along an arc connecting three specified points.g. use the corresponding key on the teach pendant. One of three motion formats ---.2. OVERVIEW B--81464EN--3/01 2. The operation groups are independent of one another. When Linear is selected. the robot stops immediately in all cases. In jog feed.8 Motion of the robot A single motion instruction specifies a motion of the robot. positioning path. traveling speed. 33 . feedrate. safety fence. acceleration/deceleration. 12 I/O Link Screen 3.4 Setting Arc Welding Conditions 3.5 Weld Schedule Advise Screen 3.14 Setting Automatic Operation 3.15 Setting coordinate systems 3.7 Weave Schedule 3.13 I/O Connection Function 3.9 Robot I/O 3.3 Setting the Arc Welding Equipment 3. This chapter describes the data that can be specified.2 Setting the Arc Welding System 3.1 Welding Input/Output Signals 3. j Contents of this chapter 3.6 Setting for Weaving 3. SETTING UP THE ARC SYSTEM The ARC Tool application can be used after required data is specified.11 Operator’s Panel I/O 3.21 System Config Menu 3.19 Variable Axis Areas 3.20 Special Area Function 3.10 Peripheral I/O 3.22 Setting Up General Items 3. SETTING UP THE ARC SYSTEM B--81464EN--3/01 3.8 Input/Output Signals 3.18 User Alarm 3.23 Other Settings 34 .17 Joint Operating Area 3.3.16 Setting a Reference Position 3. 1 Welding Input/Output Signals Welding input/output (I/O) signals are used to control welding equipment exclusively via the process I/O printed circuit board during program execution.3. SETTING UP THE ARC SYSTEM B--81464EN--3/01 3. . as listed below. Welding output signals Welding output signals Weld start Arc WO [ 1 ] Gas start Gas WO [ 2 ] Inch forward Manual wire feed WO [ 4 ] Inch backward Manual wire rewind WO [ 5 ] Wire stick alarm Wire stick alarm WO [ 6 ] Voltage Command voltage AO [ 1 ] Current Command current AO [ 2 ] Wire inch Wire inching AO [ 2 ] Figure 3--1. Table 3--1. The signal numbers for the welding input/output signals (WDI/WDO or AI/AO) are fixed on the welding process I/O printed circuit board. Interface for the CA Welding Process I/O Printed Circuit Board Printed circuit board for robot control Process I/O printed circuit board CA JD1A CRM2A Peripheral unit A1 JD4A CRM2B Peripheral unit A2 JD4B CRW1 01 02 03 04 05 06 07 08 09 10 11 12 aout 1 aout 1--C aout 2 aout 2--C WDI 1 WDI 2 WDI 3 WDI 4 WDI 5 WDI 6 WDI 7 WDI 8 13 14 15 16 17 18 19 20 21 22 ain 1 ain 1--C ain 2 ain 2--C 0V 0V 0V 0V CRW1 Peripheral unit CRW2 Peripheral unit CRW2 23 24 25 26 27 28 29 30 31 32 33 34 WDO 1 WDO 2 WDO 3 WDO 4 WDO 5 WDO 6 WDO 7 WDO 8 WDI + WDI -+24V +24V 35 01 02 03 04 05 06 07 08 ain 6 09 ain 6--C 10 11 12 13 14 15 16 17 18 19 20 ain 3 ain 3--C ain 4 ain 4--C ain 5 ain 5--C ain *--C is the common signal line for ain *. Welding input signals Welding input signals Arc detect Arc detection WI [ 2 ] Gas fault Gas alarm WI [ 3 ] Wire fault Wire alarm WI [ 4 ] Water fault Cooling water alarm WI [ 5 ] Power fault Power alarm WI [ 6 ] Voltage feed back Feedback voltage AI [ 1 ] Current feed back Feedback current AI [ 2 ] Arc enable Enable welding DI [ 0 ] Wire stick Wire stick detection WS [ 1 ] Table 3--2. SETTING UP THE ARC SYSTEM B--81464EN--3/01 Welding sequence Figure 3--2. Welding Sequence (Accompanied by a Motion Instruction) Operating Robot operation At stop Arc end instruction Arc start instruction Gas start Gas purge time Gas preflow time Gas postflow time Weld start Specified voltage Postprocessing time Specified current Start--up time Crater prevention time Arc detection Arc detect time Wire stick detect instruction delay Wire stick detect instruction (WST) Wire stick detection delay Wire stick detection (WDI+) (WDI--) Wire stick detection time Figure 3--3. Welding Sequence (Not Accompanied by a Motion Instruction) Operating At stop Robot operation Arc start instruction Arc end instruction Gas start Gas preflow time Gas postflow time Weld start Specified voltage Postprocessing time Specified current Start--up time Crater prevention time Arc detection Arc detect time Wire stick detect instruction delay Wire stick detect instruction (WST) Wire stick detection delay Wire stick detection (WDI+) (WDI--) Wire stick detection time 36 .3. it indicates that an arc is being generated on the torch and welding is in progress. It works only in the remote mode (when the remote switch on the operator’s panel is set to on). When the arc enable signal is effective. this signal is ineffective. if the *SFSPD or ENBL input signal becomes off. and the program is aborted. Current feedback AI [2] The current feedback signal is an analog voltage signal representing the welding current being currently used for welding. The arc enable signal is used by peripheral units to enable/disable welding. If the wire shortage detection function (welding system screen) is enabled.3. the robot stops immediately when an arc loss occurs. If it turns off during welding. Welding input signals Input signal Description Arc detect WI [2] When the arc detect signal is on. the gas fault signal generates a weld alarm. If the power supply failure detection function (welding system screen) is enabled. 37 . Gas fault WI [3] The gas fault signal is usually connected to the gas output switch. Wire fault WI [4] The wire fault signal is input if trouble such as a wire shortage occurs in the wire feed unit during welding. Power fault WI [6] The power fault signal is input if a failure occurs in the power supply during welding. welding is disabled. It is supplied to the controller. Wire stick WS [1] The wire stick detection signals are fixed on the process I/O board. The WELD ENBL key is used with the teach pendant to enable/disable welding. Water fault WI [5] The water fault signal is input if trouble occurs in the cooling unit or water circulation hose during welding. These signals are specified at the [5 I/O Weld] on the welding I/O screen. If the signal number is 0. A wire stick is judged depending on whether the voltage reading is below a certain level. the water fault signal generates a weld alarm. This signal is input when a gas shortage occurs. Table 3--3. the power fault signal generates a weld alarm. The actual voltage used depends on the specified voltage input scaling factor. It is supplied to the controller. If the arc loss detection function (welding system screen) is enabled. A wire stick can be detected by reading the voltage across the weld detection circuit (software switch in the controller) when it is operating. If the gas shortage detection function (welding system screen) is enabled.1 Welding input signals Welding input signals are supplied from the welding equipment and peripheral units. Voltage feedback AI [1] The voltage feedback signal is an analog voltage signal representing the welding voltage being currently used for welding. Arc enable DI [0] The arc enable signal is a peripheral unit input signal for enabling/disabling welding.1. The actual current used depends on the specified current input scaling factor. If the coolant shortage detection function (welding system screen) is enabled. it means that an arc loss occurred. SETTING UP THE ARC SYSTEM B--81464EN--3/01 3. the wire fault signal generates a weld alarm. Weld output WO [3] The weld output signal is not in use at present. It is sent to the welding machine. Voltage AO [1] The specified--voltage signal is an analog voltage output signal representing the welding voltage. Wire inch AO [2] The wire inch signal sets a wire feed/rewind amount when the wire feed/rewind signal is output from the control unit. It is sent to the welding machine. Inch forward WO [4] The inch forward signal is used on the teach pendant to direct wire feed. thereby reading the voltage difference between the wire stick detection signals (WDI+ and WDI--). The wire feed speed signal is an analog voltage output signal representing the speed at which the welding wire is to be fed. NOTE The name of this signal is automatically changed when the model of welding power supply is set. SETTING UP THE ARC SYSTEM B--81464EN--3/01 3. Welding output signals Output signal Description Weld start WO [1] When the weld start signal is on. This signal is used to operate the weld detection circuit relay in the controller.2 Welding output signals Welding output signals are supplied to the welding equipment and peripheral units.1. Current or wire feed speed AO [2] The specified--current signal is an analog voltage output signal representing the welding current. if the wire stick detection function is enabled (welding system screen) and a wire stick is detected (when the wire stick detection signal is on). it directs the welding machine to generate arc. If an automatic wire stick reset is enabled (welding equipment screen). The voltage value of the analog signal depends on the voltage output scaling factor. WST The wire stick detect instruction signal is used within the controller. These signals are defined as follows: Table 3--4. a wire stick reset is performed a specified number of times. Wire stick alarm WO [6] The wire stick alarm signal is output to the welding machine. The output voltage value of the analog signal depends on the current output scaling factor.3. this signal is output. it directs the welding machine to output welding gas. Gas start WO [2] When the gas start signal is on. 38 . It is sent to the welding machine. Inch backward WO [5] The inch backward signal is used on the teach pendant to direct wire rewind. If a wire stick is still detected. 2 Select 5 (I/O).0 0. Welding input screen 4 ALARM 5 I/O 6 SETUP I/O Weld In G1 10 % 1/12 TYPE # SIM STATUS ] AI[ 1] U 0.0 ] AI[ 2] U 0.0 WELD SIGNAL 1 [Voltage 2 [Current MENUS 3 4 5 6 7 8 9 10 Weld [TYPE] F1 [ [Arc detect [Gas fault [Wire fault [Water fault [Power fault [ [ WI[ WI[ WI[ WI[ WI[ WI[ WI[ WI[ 1] 2] 3] 4] 5] 6] 7] 8] U U U U U U U U OFF OFF OFF OFF OFF OFF OFF OFF 11 [Wirestick ] WS[ 1] U OFF 12 [Are enable ] [***] * *** [ TYPE ] HELP HELP ] ] ] ] ] ] ] ] JOINT IN/OUT SIMULATE UNSIM > CONFIG SIMULATE UNSIM > NOTE The analog signal display area of the screen shown above increases or decreases in accordance with the number of analog input/output signals. 6 To set or reset the simulation flag. Welding output screen I/O Weld Out [ TYPE ] HELP G1 JOINT IN/OUT F3 WELD SIGNAL 1 [Voltage 2 [Current 3 [Wire inch 4 5 6 7 8 9 10 11 TYPE # SIM ] AO[ 1] U ] AO[ 2] U ] AO[ 2] U [Weld start ] [Gas start ] [ ] [Inch forward ] [Inch backward ] [Wire stick alarm] [Feed forward ] [Feed backward ] [ TYPE ] [ TYPE ] HELP HELP WO[ WO[ WO[ WO[ WO[ WO[ WO[ WO[ 1] 2] 3] 4] 5] 6] 7] 8] U U U U U U U U 10 % 1/11 STATUS 0.0 0. 4 Select “Weld.0 OFF OFF OFF OFF OFF OFF OFF OFF IN/OUT SIMULATE UNSIM > CONFIG SIMULATE UNSIM > NOTE The analog signal display area of the screen shown above increases or decreases in accordance with the number of analog input/output signals. 3 Press F1 (TYPE). place the cursor on the simulation flag and select the function key. 39 . 5 To switch between the input and output screens.3. press F3 (IN/OUT). SETTING UP THE ARC SYSTEM B--81464EN--3/01 Procedure 3--1 Step Setting welding I/O signals 1 Press the MENUS key.” The welding I/O signal screen is displayed. 40 . the number of analog input/output signals needs to be set. WARNING The controller controls peripheral units using signals. Select a welding power supply from the welding power supply selection screen held in the floppy disk data. I/O Weld In JOINT 30% 2 Arc detect: [ TYPE ] WI[ IN/OUT 2] S ON OFF OFF I/O Weld In 2 Arc detect: [ TYPE ] JOINT 30% WI[ IN/OUT 2] S ON ON OFF F4 NOTE Forcible output or simulated input/output cannot be specified for items having no line number.Number of controlled analog input/output signals (AO: 1 to 6. Two methods of increasing/decreasing the number of controlled analog input/output signals are available. F A floppy disk that holds welding power supply data including the changed number of analog input/output signals is supplied.Welding power supply name -.3. and select the function key. Increasing/decreasing the number of controlled analog input/output signals In the initial state. When three or more controlled analog input/output signals are required.Name and unit of each analog input/output signal -. inform FANUC of the following items beforehand: -. SETTING UP THE ARC SYSTEM I/O Weld In B--81464EN--3/01 JOINT 30% 2 Arc detect: WI[ [ TYPE ] IN/OUT 2] U OFF SIMULATE UNSIM I/O Weld In 2 Arc detect: [ TYPE ] JOINT 30% WI[ IN/OUT 2] S OFF SIMULATE UNSIM F4 7 For forcible output and simulated input/output. place the cursor at ON/OFF. the number of analog input/output signals that can be controlled is 2 channels. AI: 1 to 6) -.Reference value and command value for each analog input/output signal F The number of controlled analog input/output signals can be increased or decreased by changing the value of a system variable according to the procedure below. Do not use forcible output or simulated input/output before you understand how the signals are used in the system. Forcible output or simulated input/output might cause an adverse effect to the safety of the system. For welding power supply data creation. Then. $ FBK5 : $ AWEPRR [1].$CURRENT_CMD above: AO [1] AO [2] AO [3] AO [4] AO [5] AO [6] AI [1] AI [2] AI [3] AI [4] AI [5] AI [6] : $ AWEPRR [1]. $ VOLTAGE_FBK : $ AWEPRR [1]. make the following settings: a Set the value 3 in $AWEPRR[1].) 7 When making a modification to each analog input/output signal.$CURRENT_CMD.$NUM_AO (number of analog output signals) and $NUM_AI (number of analog input signals) as required. 3 Change the setting of the system variable $AWECFG[1]. then select 4 SYSTEM. SETTING UP THE ARC SYSTEM B--81464EN--3/01 Procedure 3--2 Step Increasing/decreasing the controlled analog input/output signals 1 Turn off the power. ArcTool Setup CONTROLLED START MENUS 1/3 1 F Number: F00000 Equipment: 1 2 Manufacturer: DAIDEN 3 Model: UR200/Fe0. $ PK_CURR_CMD : $ AWEPRR [1]. $ FREQ_CMD : $ AWEPRR [1]. modify the following system variables in the system variable $AWEPRR[1]: To change $NUM_AO to 3.$CURRENT_CMD. then select START (COLD).$UNITS (which allows up to 6 characters to be set). $ CURRENT_CMD : $ AWEPRR [1]. 6 After startup. the screen shown below appears.$PORT_NUM. $ CURRENT_FBK : $ AWEPRR [1]. b Enter the word FREQUENCY in $AWEPRR[1]. c Enter the word Hz in $AWEPRR[1]. (See the welding I/O screen. 5 Press the auxiliary key. $ WFS_CMD : $ AWEPRR [1]. $ WFS_FBK : $ AWEPRR [1]. $ VOLTAGE_CMD : $ AWEPRR [1].$NAME (which allows up to 12 characters to be set). 4 To set the attribute of each analog signal. $ PULSE_CMD : $ AWEPRR [1].3. and set a frequency (Hz) in AO[3]. $ FBK4 : $ AWEPRR [1]. for example. then perform a control start. [ TYPE ] HELP 2 Press the MENUS key.8 Press FCTN then START (COLD) when done.$CURRENT_CMD. set a reference value range and command value range for each analog input/output signal on the welding I/O screen. $ FBK6 41 . change the following system variables according to $AWEPRR[1]. 3. whether an assigned signal type and number actually exist can be checked. press the F3 (CONFIG) key..000 + . Input Reference value: Voltage of an analog input (feedback) signal sent from the welding equipment to the control unit Command value: Value actually output by the welding equipment for the reference value above Output Reference value: Voltage of an analog output signal sent from the control unit to the welding equipment Command value: Value actually output by the welding equipment for the reference value above Procedure 3--3 Step Setting a reference value range and command value range for specifying an analog input/output signal 1 On the welding input or output signal screen... The modifiable items are as follows: F Minimum reference value (lower side on the vertical axis) F Maximum reference value (upper side on the vertical axis) F Minimum command value (left side on the horizontal axis) F Maximum command value (right side on the horizontal axis) 4 By pressing the F3 (VERIFY) key.. 42 .1. For example.* | * | 0.000 50. SETTING UP THE ARC SYSTEM B--81464EN--3/01 3.000 + . move the cursor to an analog signal to be modified..000 Voltage (Volts ) [ TYPE ] MONITOR VERIFY HELP 3 Move the cursor to a reference value (on the vertical axis) or command value (on the horizontal axis) to be newly set.3 Setting a reference value range and command value range for specifying an analog input/output signal Set the correspondence between each analog input/output signal (reference value) of the control unit and an actual output value (command value) of the welding equipment. The screen shown below appears.. move the cursor to voltage input AI[1]. 5 Pressing the F2 (MONITOR) key returns the screen display to the welding I/O monitor screen.* | * | | +-----+-----------+------> 0.. 2 After pressing the F! key. I/O Weld In 1 2 3 4 G1 JOINT 10 % 1/4 AI[ 1 ] ^ (Volts) | | * 10.. press the F3 (CONFIG) key. I/O Weld In G1 WELD SIGNAL 1 [Arc enable JOINT 10 % 1/1 TYPE # ] [***] [ TYPE ] MONITOR VERIFY [CHOICE] HELP 3 To change the signal type: F Move the cursor to the signal type field. F Press the F4 (CHOICE) key. 5 By pressing the F3 (VERIFY) key. 4 To change the signal number: F Move the cursor to the signal number field. F Choose a desired signal type from WI. and RI. The screen shown below appears. For example. 43 .3. then press the ENTER key. whether an assigned signal type and number actually exist can be checked. move the cursor to a digital signal to be modified. move the cursor to the Enable Weld signal on the welding input screen. SETTING UP THE ARC SYSTEM B--81464EN--3/01 Procedure 3--4 Step Changing a welding signal type and number 1 On the welding input or output signal screen. 6 Pressing the F2 (MONITOR) key returns the screen display to the welding I/O monitor screen. 2 After pressing the F! key. DI. F Enter a desired number. So.8 2 UR200/Fe1. ArcTool Setup 1 F Number: Equipment: 2 Manufacturer: 3 Model: CONTROLLED START MENUS 1/3 F00000 1 Press FCTN then START (COLD) when done. WFS) 2 MIG (Volts.4 Selecting welder power supply This screen enables you to load welding power supply data for a welder power supply to be used from internal memory. then press F4 (CHOICE). Select the manufacturer of the desired welder power supply. it becomes possible to start welding immediately when the control unit gets started. then select 1 START (COLD). Examples of screens are provided below.6 8 -.9 ArcTool Setup CONTROLLED START MENUS 5 UR350/Fe1. [ TYPE ] HELP 2 Place the cursor at [2 Manufacturer]. When the power supply manufacturer is DAIDEN [ CHOICE ] F4 1 UR200/Fe0. and click F4 [CHOICE]. The options displayed at this time depend on the power supply manufacturer selected in step 2.1. according to the following procedure. and perform controlled start. WFS) ArcTool Setup 4 After selecting a welding power supply.NEXT -- When the power supply manufacturer is General Purpose CONTROLLED START MENUS 1 MIG (Volts. The procedure for loading welder power supply data is as follows: Procedure 3--5 Step Selecting welder power supply 1 Switch the power off. Amps) 3 TIG (Amps) 4 TIG (Amps. which cannot conventionally be avoided.0 6 UR350/Fe1. This procedure saves you the trouble of specifying analog instruction reference values and instruction values. SETTING UP THE ARC SYSTEM B--81464EN--3/01 3.NEXT -- 3 Move the cursor to 3 Model. 44 . press the auxiliary key. The following screen appears. [ CHOICE ] F4 1 DAIDEN 2 DAIDEN 3 General Purpose 4 KEMPPI ArcTool Setup CONTROLLED START MENUS 5 KOBELCO 6 Lincoln Electric 7 NAS 8 -.2 7 UR350/Fe1.2 4 UR350/Fe0.0 3 UR200/Fe1.3. Coolant shortage Specifies whether to enable/disable the coolant shortage detection function. If welding stops due to a hold request or alarm occurrence. Table 3--5. internal signal) is turned on to check for a voltage difference between the wire stick detection signals. If this function is enabled. Power supply failure Specifies whether to enable/disable the power supply failure detection function. the robot moves to the point of break and restarts welding there. a weld alarm is issued.3. If the wire fault signal is on. a check is made to see whether a power fault signal is on. If this function is enabled. SETTING UP THE ARC SYSTEM B--81464EN--3/01 3. a weld alarm is issued the arc loss detection time (welding equipment screen) after the arc detection signal becomes off during welding. a weld alarm is issued. 1 Welding is stopped. If this function is enabled. If there is a voltage difference. If this function is enabled. If the signal is on. the wire stick detect instruction signal (WST. or a weld alarm is issued. Gas shortage Specifies whether to enable/disable the gas shortage detection function. the items related to control of the welding machine are specified at the [6 SETUP Weld System] on the system configuration screen. When directed to restart from a stopped state. Setting arc welding system ITEMS DESCRIPTIONS Arc loss Specifies whether to enable/disable the arc loss detection function. the automatic wire stick reset function (welding equipment screen) is disabled automatically. Wire stick Specifies whether to enable/disable the wire stick detection function. a weld alarm is issued. Wire shortage Specifies whether to enable/disable the wire shortage detection function. Overlap distance 45 . the robot moves back through the overlap distance from the point of break. a check is made to see whether the water fault signal is input during welding. If the wire stick detection function is disabled. a check is made to see whether a gas fault signal is input the gas detection time (welding equipment screen) after the gas start signal becomes on. Return--to--Path Function 2 When restarted. If this function is enabled. provided that welding has been enabled. Figure 3--4. a weld alarm is issued. If this function is enabled. and the robot is moved away. then restarts welding. the return--to--path function enables restarting welding at the point of break.2 Setting the Arc Welding System For the welding process. Return to path Specifies whether to enable/disable the return--to--path function. If the signal is on. an automatic wire stick reset occurs (if enabled). a check is made to see whether a wire fault signal is input during welding. If the gas fault signal is on. Return--to--path speed Welding is stopped. Scratch Start Function 1 The robot starts moving even if arc is not generated. Welding paths are checked without using arc during test operation directed from the teach pendant. 46 . specifies whether to generate arc at program start (SHIFT + FWD) directed from the teach pendant. More specific. (Cont’d) Setting arc welding system ITEMS DESCRIPTIONS Overlap distance When directed to restart. the robot moves in a specified direction through a specified distance. Default speed Operation speed when a welding speed instruction is executed under the following conditions: -. If the scratch start distance is specified to be 0. This is intended to prevent the sequence of beads from being cut. the robot moves back for a restart.3.When the move statement including a welding speed instruction is executed without executing the Arc Start instruction -. the robot moves back from the point of break through the overlap distance. 2 When arc is generated.When a backward movement is made Default unit Unit of speed used for a welding speed instruction Weld from teach pendant Specifies whether to enable/disable welding directed from the teach pendant. If arc is not generated even after this distance is exceeded. If arc is generated during this movement. Return--to--start speed Direction of welding Scratch start distance Distance Specifies the distance through which the robot runs in the scratch start mode.In the single--step mode -. Return--to--start speed Specifies the speed at which the robot moves back to the welding start point if arc is generated during scratch start. and arc is not generated at start of welding. Return--to--path speed Specifies the return--to--path speed at which the robot moves to the point of break when restarted. the actual overlap distance is limited to within that teach point. This function is used to prevent accidental generation of arc during test operation. SETTING UP THE ARC SYSTEM B--81464EN--3/01 Table 3--5. then restarts welding. a weld alarm is issued. If the specified overlap distance extends beyond the previous teach point. Scratch start Specifies whether to enable/disable the scratch start (automatic welding error recovery) function. a weld alarm is issued without performing a scratch start. the robot moves back to the start point and runs as directed by the program. Figure 3--5. If this function is enabled. This function prevents the welding wire from sticking to the work by applying voltage for proper time after wire feed is stopped. arc generation stops for safety if the robot continues stopping longer than the period specified by the system variable $AWSEMGOFF. Wire burnback/retract Specifies whether to enable/disable the wire postprocessing (burnback/retract) function. Run--In and Wire Postprocessing Weld start Postprocessing voltage Specified voltage Start--up voltage Crater prevention voltage Specified current Crater prevention current Postprocessing time Start--up current Arc detection Arc detect time Start--up time Crater prevention time NOTE While the system variable $AWSEMGOFF.3. set the time to have the possibility for a robot that to stop it in $AWSEMGOFF. 47 . or crater prevention. SETTING UP THE ARC SYSTEM B--81464EN--3/01 Table 3--5. (Cont’d) Setting arc welding system ITEMS DESCRIPTIONS Runin Specifies whether to enable/disable the run--in function. This function specifies the start--up current and voltage slightly higher than normal so that welding can start smoothly.$NOFLTR_OFF is held TRUE. wire postprocessing. Figure 3--6. If this arc stop occurs during run--in.$CHK_TIME.$CHK_TIME during the arc generation. ” Arc welding system screen 5 I/O 6 SETUP 7 FILE SETUP Weld System MENUS Weld System [TYPE] F1 G2 JOINT NAME Monitoring Functions 1 Arc loss: 2 Gas shortage: 3 Wire shortage: 4 Wire stick: 5 Power supply failure: 6 Coolant shortage: Weld Restart Function 7 Return to path: 8 Overlap distance: 9 Return to path speed: Scratch Start Function 10 Scratch start: 11 Distance: 12 Return to start speed: Weld Speed Function 13 Default speed: 14 Default unit: . 3 Press F1 (TYPE).3. 48 . place the cursor at the target item and enter the corresponding value. SETTING UP THE ARC SYSTEM Procedure 3--6 Step B--81464EN--3/01 Setting arc welding system 1 Press the MENUS key. Other Functions 15 On-The-Fly: 16 Weld from teach pendant: 17 Runin: 18 Wire burnback/retract: [ TYPE ] 10 % 1/18 VALUE ENABLED DISABLED DISABLED ENABLED ENABLED DISABLED ENABLED 0 mm 200 mm/s ENABLED 10 mm 100 mm/s 100 cm/min ENABLED ENABLED DISABLED DISABLED ENABLED DISABLED 5 To input values. Alternatively. 4 Select “Weld System. 2 Select 6 (SETUP). select the function key menu. Setting the Arc Welding Equipment SETTING ITEM DESCRIPTION Welder This item indicates the type of the welding power supply currently set. respectively. arc is not detected.3 Setting the Arc Welding Equipment For the welding process. Timing Arc start error time Specifies the time during which a check is made to see whether an arc detection signal is input. wire speed] control This item is indicated only when [power supply maker: General Purpose] is selected in the welding power supply setting. WIRE+ WIRE-. and wire feed speeds from mm/s. cm/min. The arc start error time is measured from the output of a weld start signal. Feed forward/backward This item enables or disables the function for outputting the wire feed signal during welding. If the arc detection signal does not stay continuously on for more than the specified time.MIG = CO2--MAG welding -.TIG = TIG welding Process control This item indicates the model of welding power supply control currently set: -. If arc is not detected within the specified time. The following items are set up for the welding equipment. Wire feed speed units Selects the measurement unit of the manual wire feed.3. Arc detect time Timing Arc loss error time Specifies the time lag from when an arc detection signal becomes off during arc welding until a weld alarm is generated. rewind. The measurement unit of the specified time is seconds.speed Specifies the speed for manual wire feed and rewind using the WIRE+ and WIRE-. The measurement unit of the arc detect time is seconds. wire speed] control -. Timing Specifies the time after which arc can be assumed to be continuously being generated. F Welding equipment general items F Run--in and wire postprocessing functions F Welding sequence F Automatic wire stick reset function F Analog I/O scaling factor Table 3--6. cm/min. The measurement unit of the specified time is seconds.keys on the teach pendant. or a scratch start (if enabled) occurs.AMPS = [current] control -. a weld alarm is generated. A weld alarm is generated if the arc detection signal is not input again within the specified time. and IPM (inch/min).VLT + AMP = [voltage. or IPM (inch/min). The arc detect time is measured from the input of an arc detection signal. Process This item indicates the type of welding to be performed: -.VLT + WFS = [voltage. 49 . The measurement unit of the specified speed can be mm/s. current] control -.AMP + WFS = [current. SETTING UP THE ARC SYSTEM B--81464EN--3/01 3. the items related to control of the welding machine are specified at [6 SETUP Weld Equip] on the welding equipment screen. The specified time is ignored in a welding sequence not accompanied by a motion instruction.3. Wire stick Reset tries Specifies the number of times an automatic wire stick reset is to be tried. Timing Timing Gas postflow time Wire stick Reset Specifies the gas output time from when a weld start signal becomes off until a gas start signal turns off. Specifies whether to enable/disable the automatic wire stick reset function. (Cont’d) Setting the Arc Welding Equipment SETTING ITEM Timing Gas detect time DESCRIPTION Specifies the time lag from when a gas start signal is output until a gas fault signal is checked for to see whether the gas is output. this function burns off the stick by applying a voltage for a fraction of a second. a wire stick reset is performed. After a wire stick reset is repeated a specified number of reset tries. The wire stick detection function must also be enabled. The measurement unit of the specified time is seconds. If a wire stick is detected. When the function is enabled.DISABLED: The automatic wire stick reset function is disabled. If a gas fault signal is input within the specified time. Various Detection Times Operating Robot operation At stop Arc start instruction Gas start Gas detect time Weld start Arc start error time Arc detection Arc detect time Timing Arc loss error time Gas purge time Specifies the gas output time from when a gas start signal is output until the weld start position is reached. The measurement unit of the specified time is seconds.ENABLED: The automatic wire stick reset function is enabled. it is necessary to specify the necessary parameters (reset tries. and time) for the function. SETTING UP THE ARC SYSTEM B--81464EN--3/01 Table 3--6. a wire stick reset is repeated. Gas preflow time Specifies the gas output time from when a gas start signal is output until the weld start position is reached and a weld start signal is output. If a wire stick is detected again. If a wire stick occurs at the end of welding. -. if a wire stick is still detected. Figure 3--7. -. The measurement unit of the specified time is seconds. voltage. 50 . The measurement unit of the specified time is seconds. a weld alarm is generated. a weld alarm is generated. speed: Feed forward/backward: Wire stick reset: Wire stick reset tries: cm/min 50 cm/min DISABLED ENABLED 3 Timing: 6 7 8 9 10 11 12 Arc Arc Arc Gas Gas Gas Gas start error time: detect time: loss error time: detect time: purge time: preflow time: postflow time: 2. a prompt will appear at the bottom of the screen.30 .06 1.00 . place the cursor in the corresponding field. SETTING UP THE ARC SYSTEM B--81464EN--3/01 Procedure 3--7 Step Setting the arc welding equipment 1 Press the MENUS key. 4 Select Weld Equip. 51 . The screen change menu is displayed. 3 Press F1 (TYPE).05 . Arc welding equipment screen SETUP Weld Equip Welder: G1 JOINT 10 % 1/12 ROBOWELD CO2/MAG 350 Process: MIG Feeder: **************** 1 2 3 4 5 Wire feed speed units: WIRE+ WIRE.35 . 2 Select 6 (SETUP). b Enter the value or select the function key menu.30 [ TYPE ] sec sec sec sec sec sec sec HELP NOTE The displayed items depend on the specified welder model.2 5 To specify each item. The screen menu is displayed. If it is necessary to turn the power off and on again after the item is specified.3. The sample screen shown above is displayed when the following welder model is selected: Manufacturer: DAIDEN Model: 350UR/Fe1. to select the corresponding menu.00 . and: a Press F4 (CHOICE). Up to 32 arc welding conditions can be defined at [3 DATA Weld Sched] on the arc welding condition list screen. The setting items increase or decrease. This setting is invalid for the arc start instruction.0 inch/min.4 Setting Arc Welding Conditions Arc welding conditions are previously defined.3. For details of the WELD_SPEED instruction. Delay time Specifies a crater prevention time for the arc end instruction. cm/min. Feedback current Displays the present welding current (A) output from the welding machine.0 to 500.9 V. see the section of the operation speed instruction. The welding current can range from 0. Arc welding instructions in a program are executed by specifying an arc welding condition number for the necessary arc welding conditions. the value set in this item is used as the operation speed.00 to 0. or mm/s. SETTING UP THE ARC SYSTEM B--81464EN--3/01 3.50 seconds. Table 3--7.0 to 500. The wire feed speed can range from 0. the unit set in Default unit on the weld system setting screen is used. As the unit of speed. Feedback voltage Displays the present welding voltage (V) output from the welding machine.0 to 99. It is fed back to the controller. The crater prevention time can range from 0. Command current or command wire feed Specifies the welding current or wire feed speed. It is fed back to the controller. When the WELD_SPEED instruction is taught between the Arc Start instruction and Arc End instruction. 52 . The welding voltage can range from 0. See Figure 3--2.0 A. depending on the settings of the model of the welding power supply and the number of analog input/output signals. Setting Arc Welding Conditions ITEMS DESCRIPTIONS Command voltage Specifies the welding voltage. Travel speed Travel speed means welding speed. 0 0 0.0 0.0 0 0.0 0. 2 Select 3 (DATA).0 0 0. 4 Select Weld Sched. The screen change menu is displayed. place the cursor in the corresponding field and enter the necessary value. 3 Press F1 (TYPE).0 Amps 1 cm/min 0. 53 .0 0.0 [ TYPE ] G1 Amps cm/min 0. SETTING UP THE ARC SYSTEM B--81464EN--3/01 Procedure 3--8 Step Setting arc welding conditions 1 Press the MENUS key. depending on the settings of the model of the welding power supply and the number of analog input/output signals. c Press the appropriate function keys to add the comment. d When you are finished.0 0 0.0 0. press the ENTER key.0 Volts 0.00 sec 0. 7 To specify an item.0 Volts 5.0 0 0. The arc welding condition detail screen corresponding to the specified number will appear.0 0 DETAIL JOINT 10 % 1/32 COMMENT ADVISE HELP > F1 5 Press F2 (DETAIL). then enter the corresponding condition number.3. To return to the list screen.0 0. JOINT 1 [ 30 % ] ENTER b Select the method of naming the comment. Arc welding condition list screen 5 EDIT 6 DATA 7 STATUS DATA Weld Sched 1 2 3 4 5 6 7 8 9 MENUS Weld Sched [TYPE] Volts 0.0 0. press F2 (SCHEDULE). 8 To switch to the detail of another welding condition. press the PREV key. The screen menu is displayed.0 0 0.0 0 0. 6 To add a comment: a Move the cursor to the comment line and press the ENTER key.0 Amps [ TYPE ]SCHEDULE ADVISE HELP > NOTE The item display changes.0 0 0. Arc welding condition detail screen DATA Weld Sched [ TYPE ] DETAIL G1 HELP > 1 2 3 4 5 F2 Weld Schedule: 1 Command voltage Command current Travel speed Delay Time Feedback voltage Feedback current JOINT 10 % 1/5 [WELDCNDITON ] 20.0 0.0 0. This function can be used only when the welding system is “MIG + current control. Otherwise. If this setting is not made.$PROTECT to TRUE. make selections from similar patterns. So. by wearing a helmet type protector. the F3 (ADVISE) key on the screen below is not displayed. spatters might be produced. protect yourself carefully. changes made by the user are initialized before moving to another screen.3. WARNING This function does not provide suitable values for welding conditions but provides reference data only. plate thickness. you could injure personnel or damage equipment. CAUTION If incorrect welding conditions are selected. wire diameter. and root gap amount.5 Weld Schedule Advise Screen The weld schedule advise function provides welding conditions as reference information from a joint figure. So. To set the welding system to “MIG + current control. no fine selection conditions (joint figure. In this case. those conditions can be set on the weld schedule advise screen instead of being directly set on the weld schedule data screen. Welding conditions need to be adjusted using the welding fine--adjustment function. set the system variable $AWSADVATR. The purpose of this function is to offer initial welding conditions and allow best conditions to be determined with the welding fine--adjustment function. if there are user--specific reference welding conditions (such as a database). you might get burned. for example. If appropriate values cannot be determined for welding conditions. However. this function can provide appropriate values from joint figure. Welding novices do not even know appropriate values for welding conditions. This setting protects changes made by the user. When performing welding.” In other cases. 54 . if such reference data is directly used. and wire diameter. Note that this function does not provide directly usable values but provides reference data only. In addition. wire diameter. a hole might be made in the target workpiece. plate thickness.” make settings as described in operation 3--5 on the weld equipment setting screen. So. this function does not optimize the welding conditions. SETTING UP THE ARC SYSTEM B--81464EN--3/01 3. This function serves for this purpose. plate thickness. In such a case. and route gap amount) are available. Welding novices need to reference a document describing welding conditions. 6 2.0 W=1.0 0 DETAIL ADVISE DATA Weld Advise G1 JOINT 10 % 1/32 COMMENT 5 Press F3 (ADVISE).0 [ TYPE ] G1 Amps cm/min 0. SETTING UP THE ARC SYSTEM B--81464EN--3/01 Procedure 3--9 Step Welding system setting to use the weld schedule advise function 1 Press the MENUS key.speed: Feed forward/backward: Wire stick reset: [ TYPE ] cm/min 50 cm/min DISABLED ENABLED [CHOICE] HELP > F1 Procedure 3--10 Step Displaying the weld schedule advise screen 1 Press the MENUS key. SETUP Weld Equip 6 STATUS Welder: MENUS G1 JOINT 10 % 1/12 DAIDEN 200UR/Fe0.0 SELECT 55 JOINT 10 % 1/20 WA=90 WA=90 WA=90 WA=90 WA=90 WP=0 WA=60 WP=0 WA=60 WP=2 WA=60 WP=2 WA=60 HELP .0 1.0 1. 2 Select 6 SETUP. 4 Select Weld Sched.2 W=0.9 W=1. 3 Press F1 (TYPE).6 2.7 1. 3 Press F1 (TYPE).3 W=0. 4 Select Weld Equip.7 1.2 0.0 W=1.3 3.0 W=1.3. DATA Weld Sched 1 Volts 0. 1 2 3 4 5 6 7 8 9 Butt Butt Butt Butt Butt Lap Lap Lap Lap [ TYPE ] : : : : : : : : : T= T= T= T= T= T= T= T= T= DETAIL 0. 2 Select DATA.9 W=1.0 W=1.0 W=1.8 Process: MIG Feeder: **************** 1 2 3 4 Weld Equip [TYPE] Wire feed speed units: WIRE+ WIRE. 0 0 0.5 40.0 55 Weld schdule 1 0. The welding conditions are reflected.0 0 DETAIL G1 ADVISE JOINT HELP > 8 This help screen explains the symbols used on the advise screen.0 0 0.0 0 0. PREV to exit [ Discription of Joint type ] Fillet : Fillet joint Bevel : Single bevel fillet joint Lap : Lap fillet joint Butt : Sequare-butt joint V-Butt : Single V-butt joint B-Butt : Single bevel butt joint X-Butt : Double V butt joint T-Joint : T-joint K-Joint : K-joint [ Discription of sign ] T : Thickness(mm) W : Wire diameter(mm) F : Fillet leg(mm) R : Root gap(mm) A : Angle(degree) C : Coating G : Gas flow WA: Work Angle(degree) TA: Travel Angle(degree) WP: Wire position(mm) D : Direction 56 .7 W=0. SETTING UP THE ARC SYSTEM B--81464EN--3/01 6 Press F4 (DETAIL).0 0 0.0 0.0 0 55.0 0. DATA Weld Advise 1 2 3 4 5 Butt G1 LIST 10 % 1/5 : T= 0.0 0 0.0 [ TYPE ] 10 % 1/32 Amps cm/min COMMENT 80.0 0 0.0 0.3.0 0.0 Volts Amps cm/min cm/min SELECT HELP 7 Press F3 (SELECT). DATA Weld Advise G1 JOINT 10 % HELP Arrows to scroll.0 0.0 0 0.0 0.0 0. DATA Weld Sched 1 2 3 4 5 6 7 8 9 Volts 19.0 0.9 WA=90 Command voltage: Command current: Command wire feed: Travel speed: [ TYPE ] JOINT 16. Press F5 (HELP) to proceed to step 8. 9 W=1. 3 Press F1 (TYPE).7 1.0 Amps [ TYPE ]SCHEDULE ADVISE HELP > 6 The advise screen can also be displayed from the weld schedule detail screen.2 W=0.9 W=1.6 2. 4 Select Weld Sched.0 1.7 1.0 W=1.00 sec 0.0 Volts 0.0 SELECT 57 JOINT 10 % 1/20 WA=90 WA=90 WA=90 WA=90 WA=90 WP=0 WA=60 WP=0 WA=60 WP=2 WA=60 WP=2 WA=60 HELP .2 0.3.0 W=1. 2 Select DATA.3 3. Press F4 (ADVISE). DATA Weld Sched 1 2 3 4 5 G1 Weld Schedule: 1 Command voltage Command current Travel speed Delay Time Feedback voltage Feedback current JOINT 10 % 1/5 [WELDCNDITON ] 20.0 W=1.0 W=1.0 Volts 5.0 1.0 W=1.6 2.3 W=0. SETTING UP THE ARC SYSTEM B--81464EN--3/01 Procedure 3--11 Step Displaying the weld schedule advise screen (display from the weld schedule detail screen) 1 Press the MENUS key.0 Amps 1 cm/min 0. DATA Weld Advise 1 2 3 4 5 6 7 8 9 Butt Butt Butt Butt Butt Lap Lap Lap Lap [ TYPE ] : : : : : : : : : T= T= T= T= T= T= T= T= T= DETAIL G1 0. 5 Press F2 (DETAIL). The unit is amperes. post--processing condition. Welding speed: Set a wire feedrate to be used when the welding equipment is started up. 58 . Table 3--8. The unit is volts. The unit is cm/min. Voltage: Set a wire post--processing voltage for CO2 (MAG) welding. stick clearance condition. The amount of wire to be retracted is specified as follows: D MIG current control: A value specified at “Current” is output. Voltage: Set a welding voltage to be used when the welding equipment is started up.1 Process Conditions As process conditions. SETTING UP THE ARC SYSTEM B--81464EN--3/01 3. The unit is cm/min. a startup processing condition. Current: Set a wire post--processing current for TIG welding. The unit is amperes. The unit is volts. as shown above. and welding fine--adjustment increment/decrement are set. WO[8] is output during postprocessing (retracting). D MIG wire control: The absolute value of a value specified at “Wire feed” is output. Post--processing The post--processing function is used to apply a voltage for an appropriate time after the end of wire feed in order to prevent the wire from sticking to the workpiece. Set the items below for this condition setting. Process Conditions SETTING ITEM Startup processing DESCRIPTION The startup processing function is used to set slightly higher command values for voltage and current in order to start up welding smoothly. The unit is sec. D TIG wire control: The absolute value of a value specified at “Wire feed” is output. Welding speed: Set a speed for wire retraction at the end of arc welding.3. The table below indicates the conditions and their respective items. Figure 3--8.5. Processing time: Set a time required to start up the welding equipment. Wire Power Control Weld start Specified voltage Retracting Specified current WO[7] WO[8] If a negative value is specified at “Wire feed” on the welding equipment screen. Set the items below for this condition setting. Current: Set a welding current to be used when the welding equipment is started up. The unit is volts. (Cont’d) Process Conditions SETTING ITEM Post--processing DESCRIPTION Processing time: Set a time required for wire post--processing. Run--In and wire Postprocessing Weld start Postprocessing voltage Specified voltage Crater prevention voltage Start--up voltage Postprocessing time Specified current Crater prevention current Start--up current Arc detection Arc detect time Start--up times Stick clearance Crater prevention time The automatic stick clearance function is used to apply a voltage for a short period of time at the end of arc welding in order to burn off a point. where the welding wire is sticking to the workpiece. Set the items below for this condition setting. Current: Not used Welding speed: Not used Processing time: Set a processing time required for stick clearance. Automatic Wire Stick Reset Operating At stop Robot operation Arc end instruction Gas start Gas postflow time Weld start Wire stick reset delay Wire stick reset time Specified voltage Crater prevention time Wire postprocessing time Specified current Wire stick detect instruction delay Wire stick detect instruction (WST) Wire stick detection delay Wire stick detection (WDI+) Wire stick detection (WDI--) 59 Wire stick detection time . Figure 3--9.3. The unit is sec. enable the welding detection function (on the welding system screen). The unit is sec. SETTING UP THE ARC SYSTEM B--81464EN--3/01 Table 3--8. NOTE When using this function. if any. Voltage: Set a voltage used for automatic stick clearance. Figure 3--10. 0 20. The screen shown below appears. SETTING UP THE ARC SYSTEM B--81464EN--3/01 Table 3--8.3. welding current. the actual incremental or decremental value remains unchanged.0 0 0. 2 Press F1 ([SCREEN]).00 Volts Amps cm/min sec HELP > 4 Pressing the return key returns the screen display to the list screen.0 . and an attempt to change this value has no effect.0 0 0. DATA Weld Process 1 2 3 4 Volts 2. NOTE The incremental or decremental welding speed for welding fine--adjustment is fixed at 1 cm/min.0 210. This value is fixed at 1 cm/min. Processing time: Not used Procedure: Procedure 3--12 Step Displaying the process condition screen Displaying process conditions screen 1 Press the data key. (Cont’d) Process Conditions SETTING ITEM Welding fine--adjustment DESCRIPTION The welding fine--adjustment function allows the welding voltage. 60 . Set a value incremented or decremented by one key operation as described below. Welding speed: A wire feedrate incremented or decremented by one function key operation on the welding fine--adjustment screen is displayed.5 [ TYPE ] G1 JOINT 10 % 1/4 Amps cm/min 210.0 1 DETAIL HELP > 3 Pressing F2 (DETAIL) displays the screen shown below. and wire feedrate currently used for welding to be increased or decreased by function key operation on the teach pendant. Current: Set a current incremented or decremented by one function key operation on the welding fine--adjustment screen. Voltage: Set a voltage incremented or decremented by one function key operation on the welding fine--adjustment screen.0 0 1. DATA Weld Process Schedule: 1 1 2 3 4 G1 [ RUNIN Command Voltage Command Current Travel speed Delay Time [ TYPE ] SCHEDULE JOINT 10 % 3/4 ] 2.0 0 0. then select Process Condition. If an attempt is made to change this value.0 0. ) A setting for weaving can be made with [6 SETUP -.Tool: Tool coordinate system Figure 3--11. see Section 4. SETTING UP THE ARC SYSTEM B--81464EN--3/01 3. Table 3--9. -.3. Set 1 for the part corresponding to a motion group for which weaving is enabled.3.Tool & Path: Formed by the Z direction of the tool coordinate system and move direction -. Figure 3--12. The dwell time during which the robot stops at end points is determined by the values set in R_DW and L_DW (weave schedule screen). -.Stop: Completely stops the robot at both weaving end points. (For information about types of weaving.Move: Stops only sideway movements at both weaving end points.6 Setting for Weaving Weaving means swinging the welding torch right and left periodically at a certain angle relative to the welding direction. Weaving Coordinate System Tool coordinate system + Z direction Z Pitch a Welding speed Frequency Weaving plane Y Welding speed Move direction Pitch Azimuth Amplitude X This item specifies the inclination of weaving swing direction on the weaving plane (in degrees). Frame type This item is used to select a coordinate system for weaving plane determination. Setting for Weaving SETTING ITEM DESCRIPTION Weave Enable Group Mask This item specifies a motion group for which weaving is enabled.4. Dwell delay type This item is used to specify whether to stop the robot completely or stop sideway movements only at both end points during weaving. Swing Direction Y Swing direction (= 0 degrees) X Y Swing direction (= 10 degrees) X 61 .Weave] on the weaving setting screen. -. thus increasing the width of a bead to increase the strength of welding. Figure 3--14. When multi--layer welding is performed. Figure 3--15. Elevation Angle Z Z Elevation angle (= 0 degrees) Elevation angle (= 15 degrees) Y Y X X Current rise This item specifies the amount the torch is raised at the center of weaving (in mm). this item is set to clear the height of the previous bead(s). Radius Y Y Amplitude X Radius X Travel speed 62 . (Cont’d) Setting for Weaving SETTING ITEM Elevation DESCRIPTION This item specifies the inclination of the weaving plane relative to the weaving coordinate system (in degrees).3. SETTING UP THE ARC SYSTEM B--81464EN--3/01 Table 3--9. Figure 3--13. Amount Raised at the Center Z Y Amount raised at the center Radius X This item specifies the amplitude relative to the welding direction when circular weaving or 8--shaped weaving is performed (in mm). a specified output SDO signal is output. When the torch reaches an end point during weaving. The sharp # represents a motion group number that can range from 1 to 5. The sharp # represents a motion group number that can range from 1 to 5. The sharp # represents a motion group number that can range from 1 to 5. Group # Peak output shift This item specifies the time delay in output of the end point output SDO signal (in sec).NO: Moves to taught points at all times. 2 Select 6 SETUP. Weaving Linkage Y Weaving linkage disabled X Y Weaving linkage enabled X Group # Peak output port DO This item specifies the signal number of an SDO signal output at a weaving end point. SETTING UP THE ARC SYSTEM B--81464EN--3/01 Table 3--9.3. 63 . 4 Select Weave. -. Weaving of each motion group can be specified. Weaving of each motion group can be specified. (Cont’d) Setting for Weaving SETTING ITEM Blend weare end DESCRIPTION This item specifies whether to ignore the taught points of the move instruction to continue weaving. 3 Press F1 (TYPE) to display the screen switch menu. Figure 3--16. Procedure 3--13 Step Setting for Weaving 1 Press the MENUS key to display the screen menu. Group # Peak output pulse This item specifies the output pulse width of the end point output SDO signal (in sec). Weaving of each motion group can be specified. -.YES: Does not follow taught points but links an end point of weaving with a start point of weaving. 1 sec Group 5 Peak output shift: 0. b Enter a desired value or select an F key menu item.0 (mm) Figure 3--17. Weave Schedule Setting SETTING ITEM DESCRIPTION Frequency This item specifies the number of weaving cycles per second.7 Weave Schedule A weave schedule defines a pattern of weaving performed during welding.0. 0.1 sec Group 2 Peak output shift: 0.*] Dwell delay type: Move Frame type: Tool & Path Flevation: 0 deg Azimuth: 0 deg Center rise: 0.0 sec [ TYPE ] [CHOICE] HELP 5 When setting an item.9 (Hz) Frame type This item specifies the distance from the welding line to an end point.3.0 to 25. SETTING UP THE ARC SYSTEM B--81464EN--3/01 Weaving setting screen 5 I/O 6 SETUP 7 FILE SETUP Weave 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 MENUS Weave [TYPE] F1 G1 JOINT 10 % 1/10 NAME VALUE Weave Enable Group Mask [1.0.00 (sec) 64 . then select a desired menu. Amplitude Tool coordinate system + Z direction Z Pitch a Welding speed Frequency Weaving plane Y Welding speed Move direction Pitch Right dwell Amplitude X This item specifies a dwell time at the right end points of weaving. then a Press F4 (CHOICE).0 to 99.0. 3.0 mm Blend weave end: YES Group 1 Peak output port DO: 0 Group 1 Peak output pulse: .*.0 sec Group 2 Peak output port DO: 0 Group 2 Peak output pulse: . A weaving instruction is executed by specifying a weave schedule number in the program.1 sec Group 4 Peak output shift: 0.0 mm Radius: 0. Up to 16 weave schedules can be set.0 sec Group 5 Peak output port DO: 0 Group 5 Peak output pulse: . A weave schedule is defined with [DATA -.0. 00 to 1. move the cursor to the setting field.1 sec Group 1 Peak output shift: 0.0 sec Group 4 Peak output port DO: 0 Group 4 Peak output pulse: .Weave Sched] on the weave schedule screen.*. the robot moves in the welding direction. When Move is specified for dwell at end points.1 sec Group 3 Peak output shift: 0. Table 3--10. 0.0 sec Group 3 Peak output port DO: 0 Group 3 Peak output pulse: .*.0. 00 (sec) L pattern angle This item specifies the angle made by the left weaving plane and right weaving plane in L--pattern weaving. 00 to 1. SETTING UP THE ARC SYSTEM B--81464EN--3/01 Table 3--10. (Cont’d) Weave Schedule Setting SETTING ITEM DESCRIPTION Left dwell This item specifies a dwell time at the left end points of weaving. 0 to 360 (degrees) Figure 3--18. Angle of L--pattern weaving Angle of L--pattern weaving 65 . the robot moves in the welding direction.3. When Move is specified for dwell at end points. then enter a copy destination schedule number.0 4. then press F3 (delete) on the next page.000 0. press F2 (COPY) on the next page. move the cursor to the schedule number to be copied.0 0.3.0 0. 8 To set an item.0 4. 6 When deleting a set schedule.0 1.000 0.0 4.0 2. move the cursor to the setting field.0 1. The weld schedule detail screen of the specified number is displayed. 7 For detail setting.000 [ TYPE ] G1 JOINT DETAIL HELP > F1 5 When copying a set schedule. press F2 (DETAIL).000 6 1.000 0.0 0. 66 . then enter a desired value.0 1. [ TYPE ] DETAIL DATA Weave Sched F2 G1 JOINT 10 % 5/5 Weave Schedule: 1 1 2 3 4 5 Frequency: Amplitude: Right dwell: Left dwell: L pattern angle: [ TYPE ]SCHEDULE 1.0 0.000 9 2. SETTING UP THE ARC SYSTEM Procedure 3--14 Step B--81464EN--3/01 Weave Schedule Setting 1 Press the MENUS key to display the screen menu. press F2 (SCHEDULE). 2 Select 3 DATA.0 4. 4 Select Weave Sched.0 4.0 4.000 3 1.000 5 1.000 1.000 2 1.000 7 1.000 0. then enter the desired schedule number.000 0.0 2.000 0.000 2.0 Hz mm sec sec deg HELP > To return to the list screen.000 4 1.0 0.0 0.0 4.0 0.000 0.0 2.000 8 1. move the cursor to the schedule number to be deleted.000 0. Weave schedule list screen 5 EDIT 6 DATA 7 SETUP DATA Weave Sched MENUS Weave Sched [TYPE] 10 % 1/10 FREQ(Hz) AMP(mm) R_DW(sec) L_DW(sec) 1 1.000 90. 3 Press F1 (TYPE). 9 To switch to another weld schedule detail screen. press the return key. For details. refer to the “Maintenance Manual” (! “R--J3iB Maintenance Manual”). This group includes the following signals: F Peripheral (UOP) I/O: UI[i]/UO[i] F Operator’s panel (SOP) I/O: SI[i]/SO[i] F Robot I/O: RDI[i]/RDO[i] F Welding I/O: WDI[i]/WDO[i] [i] represents the logic number of each I/O signal and group signal.1 to 16 = I/O Unit--MODEL A / B SLOT The slot indicates numbers of I/O module parts which compose the rack. for example. Group. uses the same amount of memory that 16 digital I/O signals do. F The physical numbers of the robot I/O are always the same as the logic numbers. Analog. F For Digital. SETTING UP THE ARC SYSTEM B--81464EN--3/01 3. This group includes the following signals: F Digital I/O: SDI[i]/SDO[i] F Group I/O: GI[i]/GO[i] F Analog I/O: AI[i]/AO[i] Specialized I/O The use of the specialized I/O has already been defined. Configuring I/O An I/O module consists of the following hardware components. General--purpose I/O The user can define the general--purpose I/O as required. the logic ports can be mapped to the physical ports. -. The maximum number for each signal line is 512. external equipment. the first connected board is SLOT 1. and Peripheral I/O.0 = Process I/O PC board -. the second is SLOT 2 and others are numbered sequentially in the same way. and other peripheral equipment of the system. The number of Input/Output signal lines can be expanded. Rack The rack indicates the kind of hardware which composes I/O module. The signals are divided into two groups: general--purpose I/O and specialized I/O. They can be redefined. end effector. They cannot be redefined.8 Input/Output Signals Input/output signals (I/O) are electric signals that allow the controller to communicate with the robot. SLOT is the slot number of the MODEL A or MODEL B rack. 67 . F When the process I/O PC board is used.3. Note that this maximum number is in terms of digital I/O signals and that one analog I/O signal. F When the I/O Unit--MODEL A or B is used. 3. SETTING UP THE ARC SYSTEM B--81464EN--3/01 Process I/O PC board As for Input/Output signal lines on the process I/O PC board. refer to CONNECTION MANUAL. when the peripheral I/O is allocated to the process I/O PC board. 18 input and 20 output signals are allocated in the peripheral I/O. Process I/O PC board Process I/O PCB CA CRM2B CRW2 CRW1 CRM2A JD4B JD4A Figure 3--20.1.2 “Group I/O”).8. Figure 3--19. “Digital I/O” and Section 3. (Refer to THE MAINTENANCE MANUAL) 68 .8. (See Section 3. To use the process I/O PC board.10 “Peripheral I/O”) I/O signal lines except the peripheral I/O are allocated in digital I/O and group I/O (See Section 3. Process I/O PC board Configuration Printed circuit board for controlling the robot Process I/O printed board CA / CB RACK 0 SLOT 1 JD4 CRM2A Peripheral equipment A1 JD4A CRM2B Peripheral equipment A2 JD4B CRW1 CRW2 Process I/O printed board DA JD4A JD4B CRM2A Peripheral equipment A1 CRM2B Peripheral equipment A2 CRM2C Peripheral equipment A3 CRM2D Peripheral equipment A4 CRM4A Peripheral equipment B1 CRM4B Peripheral equipment B2 For details of process I/O PC board. the controller needs to be mount type or panel--mount type and the printed circuit board for controlling the robot needs to be in master mode. NOTE The first four signal lines on the process I/O printed circuit board are fixed to 24 V common. . ain *--C is the common signal line for ain *. SETTING UP THE ARC SYSTEM B--81464EN--3/01 Figure 3--21. Process I/O PC board interface Peripheral equipment A1 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 CRM2A in 1 in 2 in 3 in 4 in 5 in 6 in 7 in 8 in 9 in 10 in 11 in 12 in 13 in 14 in 15 in 16 19 20 21 22 23 24 25 26 27 28 29 30 31 32 out 13 out 14 out 15 out 16 out 17 out 18 out 19 out 20 in 17 in 18 in 19 in 20 Peripheral equipment A2 out 1 out 2 out 3 out 4 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 out 5 out 6 out 7 out 8 out 9 out 10 out 11 out 12 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 Peripheral equipment A3 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 CRM2C in 41 in 42 in 43 in 44 in 45 in 46 in 47 in 48 in 49 in 50 in 51 in 52 in 53 in 54 in 55 in 56 19 20 21 22 23 24 25 26 27 28 29 30 31 32 out 53 out 54 out 55 out 56 out 57 out 58 out 59 out 60 in 57 in 58 in 59 in 60 CRM2B 19 20 21 22 23 24 25 26 27 28 29 30 31 32 out 45 out 46 out 47 out 48 out 49 out 50 out 51 out 52 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 Peripheral equipment B1 in 61 in 62 in 63 in 64 in 65 in 66 in 67 in 68 in 69 in 70 in 71 in 72 in 73 in 74 in 75 in 76 in 81 in 82 in 83 in 84 in 85 in 86 in 87 08 09 10 11 12 13 out 85 out 86 out 87 out 88 in 88 13 14 15 16 17 18 19 20 21 22 ain 1 ain 1--C ain 2 ain 2--C 0V 0V 0V 0V out 21 out 22 out 23 out 24 out 25 out 26 out 27 out 28 out 29 out 30 out 31 out 32 19 20 21 22 23 24 25 26 27 28 29 30 31 32 out 73 out 74 out 75 out 76 out 77 out 78 out 79 out 80 in 77 in 78 in 79 in 80 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 out 61 out 62 out 63 out 64 out 65 out 66 out 67 out 68 out 69 out 70 out 71 out 72 CRM4B 14 15 16 17 18 19 20 out 81 out 82 out 83 out 84 01 02 03 04 05 06 07 in 89 in 90 in 91 in 92 in 93 in 94 in 95 08 09 10 11 12 13 out 93 out 94 out 95 out 96 in 96 14 15 16 17 18 19 20 out 89 out 90 out 91 out 92 Analog input interface CRW1 aout 1 aout 1--C aout 2 aout 2--C WDI 1 WDI 2 WDI 3 WDI 4 WDI 5 WDI 6 WDI 7 WDI 8 in 37 in 38 in 39 in 40 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 Peripheral equipment B2 Welding interface 01 02 03 04 05 06 07 08 09 10 11 12 out 37 out 38 out 39 out 40 CRM2D CRM4A 01 02 03 04 05 06 07 out 33 out 34 out 35 out 36 Peripheral equipment A4 out 41 out 42 out 43 out 44 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 in 21 in 22 in 23 in 24 in 25 in 26 in 27 in 28 in 29 in 30 in 31 in 32 in 33 in 34 in 35 in 36 CRW2 23 24 25 26 27 28 29 30 31 32 33 34 WDO 1 WDO 2 WDO 3 WDO 4 WDO 5 WDO 6 WDO 7 WDO 8 WDI + WDI -+24V +24V 69 01 02 03 04 05 06 07 08 ain 6 09 ain 6--C 10 11 12 13 14 15 16 17 18 19 20 ain 3 ain 3--C ain 4 ain 4--C ain 5 ain 5--C in** and out** are physical numbers.3. Plural modules can be connected within the limits of 512 signal lines in all modules. When the I/O unit and process I/O printed circuit board are used simultaneously.10. Figure 3--22. the inputs and outputs of the peripheral device I/O are automatically assigned to signal lines on the process I/O printed circuit board. Before using it. The I/O unit--MODEL A can be used only in master mode. 70 . I/O Unit--MODEL A I/O Unit--MODEL A JD1B JD1A CP32 SLOT (Connector) (Terminal) JD2 Figure 3--23. “Peripheral Devices”). I/O Unit--MODEL A Configuration Main CPU printed board Operator’s box printed board 24V 0V JRM2 JD1A Base unit Rack 1 Slot 1 CP32 JD1A I/O unit model A JD1B JD26A Peripheral device Slot 2 Slot 3 Slot 4 Slot 5 When using only the I/O unit. contact FANUC. SETTING UP THE ARC SYSTEM B--81464EN--3/01 I/O Unit--MODEL A I/O Unit--MODEL A (Modular I/O) is the I/O module that includes the plural modules.3. assign 18 inputs and 20 outputs of the peripheral device I/O to appropriate signal lines (Refer to Section 3. I/O Unit MODEL A interface AID 32 E/F AID 32 A/B 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 in 31 in 28 in 25 + 24V 0V in 20 in 17 + 24V 0V in 15 in 12 in 9 + 24V 0V in 4 in 1 + 24V 0V 19 20 21 22 23 24 25 26 27 28 29 30 31 32 in 29 in 26 CMC in 23 in 21 in 18 in 13 in 10 CMA in 7 in 5 in 2 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 in 32 in 30 in 27 CMC in 24 in 22 in 19 CMC CMC in 16 in 14 in 11 CMA in 8 in 6 in 3 CMA CMA 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 AOD 32 A/C/D 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 out 31 out 28 out 25 + 24V 0V out 20 out 17 + 24V 0V out 15 out 12 out 9 + 24V 0V out 4 out 1 + 24V 0V 19 20 21 22 23 24 25 26 27 28 29 30 31 32 out 29 out 26 CMD out 23 out 21 out 18 out 13 out 10 CMB out 7 out 5 out 2 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 out 1 out 3 out 5 CMA out 7 out 9 out 11 CMB 02 04 06 08 10 12 14 16 18 20 19 20 21 22 23 24 25 26 27 28 29 30 31 32 in 29 in 26 CMD in 23 in 21 in 18 in 13 in 10 CMB in 7 in 5 in 2 AID 16 C/D 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 in 32 in 30 in 27 CMD in 24 in 22 in 19 CMC CMC in 16 in 14 in 11 CMB in 8 in 6 in 3 CMA CMA AOD 16 C/D 01 03 05 07 09 11 13 15 17 19 CMA out 2 out 4 out 6 out 8 CMB out 10 out 12 out 14 out 16 02 04 06 08 10 12 14 16 18 20 out 2 out 4 out 6 out 8 out 10 out 12 02 04 06 08 10 12 14 16 18 20 CM in 2 in 4 in 6 in 8 in 10 in 12 in 14 in 16 01 03 05 07 09 11 13 15 17 19 in 1 in 3 in 5 in 7 in 9 in 11 in 13 in 15 02 04 06 08 10 12 14 16 18 20 in 1 in 3 in 5 in 7 in 9 in 11 in 13 in 15 CM CM 02 04 06 08 10 12 14 16 18 20 in 2 in 4 in 6 in 8 in 10 in 12 in 14 in 16 AOD 08 C/D out 1 out 3 out 5 out 7 CMA out 9 out 11 out 13 out 15 CMB 01 03 05 07 09 11 13 15 17 19 AOA 08 E 01 03 05 07 09 11 13 15 17 19 01 03 05 07 09 11 13 15 17 19 AIA 16 G CM indicates the common signal line. out 32 out 30 out 27 CMD out 24 out 22 out 19 CMC CMC out 16 out 14 out 11 CMB out 8 out 6 out 3 CMA CMA AOA 12 F 01 03 05 07 09 11 13 15 17 19 in 31 in 28 in 25 + 24V 0V in 20 in 17 + 24V 0V in 15 in 12 in 9 + 24V 0V in 4 in 1 + 24V 0V 02 04 06 08 10 12 14 16 18 20 in 1 in 2 in 3 in 4 in 5 in 6 in 7 in 8 AOA 05 E out 1 out 2 out 3 out 4 CMA out 5 out 6 out 7 out 8 CMB 01 03 05 07 09 11 13 15 17 19 CMA out 2 out 4 out 6 out 8 CMB out 10 out 12 out 14 out 16 02 04 06 08 10 12 14 16 18 20 out 1 out 1--C out 2 out 2--C out 3 out 3--C out 4 out 4--C out 5 out 5--C in**. SETTING UP THE ARC SYSTEM B--81464EN--3/01 For details of FANUC I/O Unit--MODEL A. out** indicates the physical number 71 .3. refer to FANUC I/O Unit--MODEL A manual (B--61813EN) Figure 3--24. I/O Unit--MODEL B Main CPU printed board I/O unit--MODEL B Interface unit JD1A CP4 JD1B S1+ S1-- CRS7 JD1A S2+ S2-- CRS8A 24V 0V S3+ S3-- CRS8B Power supply unit Operator box printed board 24V 0V TBOP3 I/O unit--MODEL B Basic unit 24V 0V DI/DO S1+ S1-FG Peripheral device 24V 0V S1+ S1-FG DI/DO Refer to the FANUC I/O Unit MODEL B Connection Manual (B--62163E) for details of the I/O unit--MODEL B. SETTING UP THE ARC SYSTEM B--81464EN--3/01 I/O unit--MODEL B The I/O unit--MODEL B consists of an interface unit and more than one DI/DO unit.3. The DI/DO units are used to input/output signals. Twisted pair cables are used to connect the DI/DO units with the interface unit. Combining an appropriate number of DI/DO units of different types makes it possible to provide a necessary number of input/output points. Figure 3--25. 72 . thus allowing the DI/DO units to be installed at a distance from the interface unit. The interface unit is used to assemble I/O information in the DI/DO units and transfers it to or from the robot controller. When no process I/O printed circuit board is connected and I/O unit model A/B is connected.1 to 16 = I/O Unit--MODEL A and MODEL B Racks 1. The first physical number in the class of eight signals should be specified. all digital input/output signals are assigned to the digital I/O at the factory. SLOT The slot indicates the number of I/O module parts which composes RACK. No digital input/output signals are assigned to the peripheral device I/O. the second is SLOT 2 and others are numbered sequentially as this. Divide the digital input/output signals between the digital I/O and peripheral device I/O and reassign the signals to them.NORMAL = The current is turned on when the signal is set on. the standard assignment is made at the factory. RACK The rack indicates the kind of hardware which composes I/O module. Polarity The polarity selects whether the current is switched on or off when the signal is set on. NOTE Physical numbers starting with in 19 and out 21 can be assigned to the digital I/O because 18 input physical numbers (in 1 to 18) and 20 output physical numbers (out 1 to 20) on the process I/O printed circuit board are assigned to the peripheral device I/O.8 for the configuration of the rack and slot. Not allocated signal is automatically allocated to other logical number.3. the first connected board is SLOT 1.0 = Process I/O PC board -. Logical number is allocated to this physical number.8. injury or property damage would occur. Configuration of Input/Output In digital I/O. NOTE Any physical number can be specified as the start point. The following items are set. the use of the signals should be carefully checked. the number of the backplane slot in which the module is placed is the slot value of the module. 2.1 Digital I/O Digital I/O (SDI/SDO) is a group of general--purpose signals that send or receive the data of the peripheral equipment via the process I/O printed circuit board (or I/O unit). CAUTION Before the physical numbers are re--defined. NOTE A physical number specifies the pin of Input/Output lines on the I/O module. and so on are assigned to the base units of I/O unit model A and the interface units of I/O unit model B in the order in which they are connected. -. the configuration of the signal lines can be redefined. F When the I/O unit of model A is used. START PT START PT allocates the logical number to the physical number to map the signal lines. CAUTION When a process I/O printed circuit board is connected. The digital signal is set on or off. And eight signal lines which are represented in logical number and are included in the same class are allocated at the same time. 73 . SETTING UP THE ARC SYSTEM B--81464EN--3/01 3. Eight signal lines which is included in the same class are allocated at the same time. Refer to 3. -. this can send or receive the data of master (CNC) of I/O link. F When the process I/O PC board is used.INVERSE = The current is turned on when the signal is set off. Otherwise. Eight signal lines band. Moreover. -. F When the I/O unit--MODEL B is used. the slot number of the basic unit is specified by the DIP switch in the basic unit. When the kind of I/O PC board are changed to the different one. a program can be tested without sending or receiving signals to or from the external equipment.”) Simulated input/output When simulated input/output is selected.4. “I/O Instruction. Output The value of a digital output signal can be specified by executing a program or performing manual operation.3. Digital I/O and Group I/O Interfaces Process I/O printed circuit board CA or CB Main CPU printed circuit board JD1A CRM2A Peripheral device A1 JD4A CRM2B Peripheral device A2 JD4B CRW1 CRW2 Peripheral device A1 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 in 1 in 2 in 3 in 4 in 5 in 6 in 7 in 8 in 9 in 10 in 11 in 12 in 13 in 14 in 15 in 16 CRM2A 19 20 21 22 23 24 25 26 27 28 29 30 31 32 out 13 out 14 out 15 out 16 out 17 out 18 out 19 out 20 in 17 in 18 in 19 in 20 Peripheral device A2 Connector number 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 out 1 out 2 out 3 out 4 out 5 out 6 out 7 out 8 out 9 out 10 out 11 out 12 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 Physical number in 21 in 22 in 23 in 24 in 25 in 26 in 27 in 28 in 29 in 30 in 31 in 32 in 33 in 34 in 35 in 36 CRM2B 19 20 21 22 23 24 25 26 27 28 29 30 31 32 out 33 out 34 out 35 out 36 out 37 out 38 out 39 out 40 in 37 in 38 in 39 in 40 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 out 21 out 22 out 23 out 24 out 25 out 26 out 27 out 28 out 29 out 30 out 31 out 32 Standard digital I/O settings Physical number in 19 in 20 in 21 in 22 in 23 in 24 in 25 in 26 in 27 in 28 in 29 in 30 Digital input SDI 1 SDI 2 SDI 3 SDI 4 SDI 5 SDI 6 SDI 7 SDI 8 SDI 9 SDI 10 SDI 11 SDI 12 in 31 in 32 in 33 in 34 in 35 in 36 in 37 in 38 in 39 in 40 SDI 13 SDI 14 SDI 15 SDI 16 SDI 17 SDI 18 SDI 19 SDI 20 SDI 21 SDI 22 74 Physical number out 19 out 20 out 21 out 22 out 23 out 24 out 25 out 26 out 27 out 28 out 29 out 30 Digital output SDO 1 SDO 2 SDO 3 SDO 4 SDO 5 SDO 6 SDO 7 SDO 8 SDO 9 SDO 10 out 31 out 32 out 33 out 34 out 35 out 36 out 37 out 38 out 39 out 40 SDO 11 SDO 12 SDO 13 SDO 14 SDO 15 SDO 16 SDO 17 SDO 18 SDO 19 SDO 20 .6. I/O configuration may be done again.3. When the allocation or settings of I/O is changed. complementary sets the next signal having an even number off (on). turn the power off and on to use new information. “Manual I/O Control.1. (See Section 6.“Specifying test execution”) Figure 3--26. (See Section 4.” and Section 6. SETTING UP THE ARC SYSTEM B--81464EN--3/01 Complementary Complementary is the function to set on or off two successive digital output signals: When a signal having an odd number goes on (off). I/O configuration can be done with I/O configuration screen and I/O detail screen. or vice versa. press the F3 key.To return to the selection screen. Step 1 Press the MENUS key. IN/OUT. The screen change menu is displayed. b) Line division is performed automatically according to the specified range. 21 ACTIV 0 UNASG DELETE HELP 7 Manipulating the I/O assignment screen a) Place the cursor on “Range. Divide the digital input/output signals between the digital I/O and peripheral device I/O and reassign the signals to them. When no process I/O printed circuit board is connected and I/O unit model A/B is connected. The screen menu is displayed.” Digital I/O Selection Screen 4 ALARM 5 I/O 6 SETUP I/O Digital Out # SIM STATUS DO[1] U OFF [ DO[2] U OFF [ DO[3] U OFF [ DO[4] U OFF [ DO[5] U OFF [ DO[6] U OFF [ DO[7] U OFF [ DO[8] U OFF [ DO[9] U OFF [ MENUS Digital JOINT 30% ] ] ] ] ] ] ] ] ] [TYPE] [TYPE] CONFIG IN/OUT ON OFF F1 5 To switch the input screen to the output screen. 3 Press F1 [TYPE]. the standard assignment is made at the factory.3.” and specify the range of signals to be assigned. [ TYPE ] CONFIG IN/OUT F3 6 To allocate I/O.MONITOR. 2 Select 5 [I/O]. SETTING UP THE ARC SYSTEM B--81464EN--3/01 Procedure 3--15 Configuring Digital I/O CAUTION When a process I/O printed circuit board is connected. press F2. 4 Select “Digital.20] 2 DO[ 21-512] RACK 0 0 [ TYPE ] MONITOR IN/OUT SLOT 1 0 JOINT 10 % START STAT. 75 . Digital I/O Configuration Screen [ TYPE ] CONFIG F2 IN/OUT I/O Digital Out # RANGE 1 DO[ 1.CONFIG. all digital input/output signals are assigned to the digital I/O at the factory and no digital input/output signals are assigned to the peripheral device I/O. press F2. UNASG: No assignment has been made. c Press the appropriate function keys to add the comment. Turning the power off and on again causes the ACTIV status to be entered. The abbreviations that will appear in “Status” mean the following: ACTIV: This assignment is now in use. SETTING UP THE ARC SYSTEM B--81464EN--3/01 c) Enter appropriate values for “Rack. press F2. NOTE If process I/O printed circuit boards are connected. press PREV key. press the ENTER key. move the cursor to the setting column.3. NEXT. [ TYPE ] PREV NEXT F3 76 .” and “Start point.” d) When the entered values are valid. press NEXT key and press F4. Digital I/O detail screen DETAIL HELP > I/O Digital Out Port Detail F4 JOINT Digital Output: [ 1] 1 Comment : [ 2 ] Polarity : NORMAL 3 Complementary : FALSE [ TYPE ] 10 % 1/3 PRV-PT [ 1 - 2] NXT-PT To return to the selection screen. 11 To set the item. 8 To return to the list screen. abbreviation “PEND” is displayed in “Status. 10 To add a comment: a Move the cursor to the comment line and press the ENTER key. 12 To set the next digital I/O group.” “Slot. presses F3. INVAL: A specified value is invalid. and select the function key menu.MONITOR. d When you are finished. DETAIL of the next page. abbreviation “INVAL” is displayed in “Status. PEND: Assignment is normal. I/O Digital Out # SIM STATUS SDO[ 1] U OFF [DT SDO[ 2] U OFF [DT SDO[ 3] U OFF [DT SDO[ 4] U OFF [DT [ TYPE ] MONITOR IN/OUT JOINT SIGNAL SIGNAL SIGNAL SIGNAL DETAIL 1 2 3 4 30 % ] ] ] ] HELP > 9 To set the attribute of I/O.” If any entered value is invalid. JOINT 1 [ 30 % ] ENTER b Select the method of naming the comment.” Unnecessary lines can be deleted by pressing F4 (Delete). 18 input signals and 20 output signals on the first board are connected to the peripheral I/O by standard setting. 3.8] 0 SDO[ 9. the current setting information would be lost when it is changed. for example) in case the information needs to be re--loaded. Section 6.24] 0 SDO[ 25. Check the use of signals in the system before attempting the forced output or simulated input/output. Turn on the controller so it can use the new information. place the cursor on ON or OFF and press the corresponding function key. Otherwise. the setting information should be saved in external storage (floppy disk.32] 0 SLOT 1 1 1 2 [ TYPE ] MONITOR IN/OUT 30 % 3/32 START PT 21 29 37 1 DETAIL HELP > [ TYPE ] VERIFY > 14 Turn off the controller. press the PREV key to return to the selection screen. Otherwise. see Chapter 6.4. WARNING The controller uses signals to control the peripheral equipment.16] 0 SDO[ 17. injury or property damage would occur. I/O Digital Out # 1 2 3 4 JOINT RANGE RACK SDO[ 1. CAUTION After all I/O signals are set. WARNING Power should be turned on again to make a new setting valid. CAUTION In the first power--up after I/O re--allocation. 15 To perform forced output or simulated input/output of a signal. I/O Digital In I/O Digital In DI[1] S OFF DI[1] [TYPE] IN/OUT ON S CONFIG ON JOINT 30% [DIGITAL1 IN/OUT ON ] OFF OFF F4 For the forced output and simulated input of a signal. The forced output or simulated input/output may adversely affect the security of the system. power recovery would not be executed even if it is enabled. SETTING UP THE ARC SYSTEM B--81464EN--3/01 13 When you are finished. 77 . NUM PTS NUM PTS specifies the number of the digital signals which is assigned to one group.8. the defined group can not overlap with the digital output which is included in the complementary pair. NOTE Because the physical numbers for eighteen inputs (“in 1” to “in 18”) and twenty outputs (“out 1” to “out 20”) on the first process I/O printed circuit board on the I/O link are allocated to the peripheral I/O signals. -. When I/O configuration is changed.(See Section 4. I/O configuration can be done with I/O configuration screen and I/O detail screen. The first physical number of the signal line is specified with this rack. the number of the backplane slot in which the module is placed is the slot value of the module.the second is SLOT 2 and others are numbered sequentially as this. the slot number of the basic unit is specified by the DIP switch in the basic unit. The defined group can overlap with the digital I/O. The value of the group I/O is represented in decimal or hexadecimal. When the I/O unit of model A is used. the value is transformed to the binary number. Logical number is allocated to this physical number. START PT START PT allocates the logical number to the physical number to map the signal lines.4. turn off the controller.3. When the data is sent.2 Group I/O Group I/O (GI/GO) is a group of general--purpose signals that send or receive the data by using two or more signal lines as the same group. NOTE A physical number specifies the Input/Output pin on the I/O module.0 = process I/O PC board -. NOTE When two or more I/O boards are connected. the signal lines on the different boards can not be allocated to one group. according to the sequence of connection.1 to 16 = I/O Unit--MODEL A / B The base unit of the I/O unit--MODEL A and the interface unit of the I/O unit--MODEL B are defined as racks 1. The physical number can start from any number. Execution of output The value of the group output can be set by executing the program or manual I/O control. SLOT The slot indicates the number of I/O module parts which composes the rack. RACK The rack indicates the kind of hardware which composes I/O modules. and Section 6. When the I/O unit--MODEL B is used. The first physical number in the class of eight signals should be specified. Signal lines from 2 to 16 can be defined as one group. and turn on the controller to use the new information.“Manual I/O Control”) 78 . CAUTION At the first power--on after the I/O assignment is modified. ⋅⋅⋅ 2. “I/O instruction”. NOTE However. SETTING UP THE ARC SYSTEM B--81464EN--3/01 3. the signal number can be defined to one group. the first connected board is SLOT 1. 2. the physical numbers for the group I/O signals are “in 19” and above and “out 21” and above. F F F When the process I/O PC board is used.6. the output signals are all off regardless of whether processing for power failures is enabled. Assignment of I/O signal In the group I/O. NOTE The number of the signal allocated to 1 group is from 2 to 16 points. The screen change menu is displayed.3. SETTING UP THE ARC SYSTEM B--81464EN--3/01 Execution of simulated I/O Simulating I/O allows you to test a program that uses I/O. 4 Select Group. Simulating I/O does not actually send output signals or receive input signals.CONFIG. 79 . [ TYPE ] MONITOR IN/OUT F2 7 To configure the I/O. press F2. press F2. The screen menu is displayed. Group I/O list screen 4 ALARM 5 I/O 6 SETUP I/O Group Out JOINT 30 % # SIM VALUE GO[ 1] * 0 [ ] GO[ 2] * 0 [ ] GO[ 3] * 0 [ ] GO[ 4] * 0 [ ] GO[ 5] * 0 [ ] GO[ 6] * 0 [ ] GO[ 7] * 0 [ ] GO[ 8] * 0 [ ] GO[ 9] * 0 [ ] GO[ 10] * 0 [ ] [ TYPE ] CONFIG IN/OUT SIMULATE UNSIM MENUS Group [TYPE] F1 5 To switch the input screen to the output screen. 3 Press F1 [TYPE].3.1 “Specifying test execution”) Procedure 3--16 Step Configuring group I/O 1 Press the MENUS key.MONITOR. IN/OUT. [ TYPE ] CONFIG IN/OUT F3 6 To allocate I/O.(See Section 6. Group I/O list screen is displayed. Group I/O configuration screen [ TYPE ] CONFIG IN/OUT F2 I/O Group Out JOINT 30 % GO # RACK SLOT START PT NUM PTS 1 0 0 0 0 2 0 0 0 0 3 0 0 0 0 4 0 0 0 0 5 0 0 0 0 6 0 0 0 0 7 0 0 0 0 8 0 0 0 0 9 0 0 0 0 [ TYPE ] MONITOR IN/OUT DETAIL HELP > To return to the list screen. or vice versa.move the cursor to each item and type the value. 2 Select 5 [I/O]. press the F3 key. press NEXT key of the selection screen and press F4. move the cursor to the setting column. the current setting information would be lost when it is changed. press the ENTER key. 8 To set the attribute of I/O. the setting information should be saved in external storage (floppy disk. 10 To set the item. for example) in case the information needs to be re--loaded. Group I/O detail screen IN/OUT DETAIL HELP > I/O Group Out Port Detail F4 JOINT Group Output: [ 10 % 1/1 1] 1 Comment : [ [ TYPE ] PRV-PT ] NXT-PT To return to the selection screen.and select the function key menu. CAUTION In the first power--up after I/O re--allocation. Turn on the controller so it can use the new information. 11 When you are finished.DETAIL of the next page. CAUTION After all I/O signals are set. c Press the appropriate function keys to add the comment. WARNING Power should be turned on again to make a new setting valid. press PREV key. 80 . injury or property damage would occur. PREV 9 To add a comment: a Move the cursor to the comment line and press the ENTER key. press the PREV key to return to the selection screen. power recovery would not be executed even if it is enabled. JOINT 1 [ 30 % ] ENTER b Select the method of naming the comment. d When you are finished. 12 Turn off the controller.3. SETTING UP THE ARC SYSTEM B--81464EN--3/01 NOTE The physical number to which the logical number of group I/O is assigned can be the same to which the digital I/O is assigned. Otherwise. Otherwise. NOTE A physical number specifies the pin of an input/output line on the I/O module.0 = process I/O printed circuit board -. 81 . injury or property damage would occur. When I/O configuration is changed. the use of the signals should be carefully checked.. The slot number for the backplane in the I/O unit--MODEL A serves as the slot number for the module. according to the sequence of connection. CHANNEL Allocates the physical number to the logical number for mapping the signal lines. Otherwise.. To use a different configuration from the standard setting. Execution of output The value of the analog output can be set by executing the program or manual I/O control (Sections 4.3. SLOT Indicates the number for the I/O module parts which compose RACK.4).6 and 6. CAUTION Before the physical numbers are re--defined. RACK Indicates the type of hardware composing the I/O modules. .1 to 16 = I/O unit--MODEL A / B The base unit of the I/O unit--MODEL A and the interface unit of the I/O unit--MODEL B are defined as racks 1. The logical number is allocated to this physical number. Execution of simulated I/O Simulating I/O allows you to test a program that uses I/O.8. This allocation can be altered. -. SETTING UP THE ARC SYSTEM B--81464EN--3/01 3. Configuration of input/output The physical numbers for the analog signal lines can be redefined. 2.3. NOTE The standard configuration is factory--set up. they do not directly correspond to the input/output voltages.3 Analog I/O Analog I/O (AI/AO) signals are sent to and from the arc welding machine and peripheral equipment via the input/output signal lines on the process I/O printed circuit board (or I/O unit). The analog input/output voltages are converted to digital form when they are read or written. turn the controller off and on again to use the new information.. the output signals are all off regardless of whether processing for power failures is enabled. Therefore.1). CAUTION At the first power--on after the I/O assignment is modified. make a reconfiguration. I/O configuration can be done on the I/O configuration screen and I/O detail screen. Simulating I/O does not actually send output signals or receive input signals (Section 6. SETTING UP THE ARC SYSTEM B--81464EN--3/01 Figure 3--27. Analog I/O Interface Printed circuit board for robot control CA process I/O printed circuit board JD1A CRM2A Peripheral unit A1 JD4A CRM2B Peripheral unit A2 JD4B CRW1 CRW1 Peripheral unit CRW2 Peripheral unit Welding interface Analog input interface CRW2 CRW1 01 02 03 04 05 06 07 08 09 10 11 12 aout 1 aout 1--C aout 2 aout 2--C WDI 1 WDI 2 WDI 3 WDI 4 WDI 5 WDI 6 WDI 7 WDI 8 13 14 15 16 17 18 19 20 21 22 ain 1 ain 1--C ain 2 ain 2--C 0V 0V 0V 0V 23 24 25 26 27 28 29 30 31 32 33 34 WDO 1 WDO 2 WDO 3 WDO 4 WDO 5 WDO 6 WDO 7 WDO 8 WDI + WDI -+24V +24V 82 01 02 03 04 05 06 07 08 ain 6 09 ain 6--C 10 11 12 13 14 15 16 17 18 19 20 ain 3 ain 3--C ain 4 ain 4--C ain 5 ain 5--C ain *--C is the common signal line for ain *.3. . 2 Select 5.3. The screen change menu is displayed. press F3. To use a different configuration from the standard setting. Analog I/O list screen 4 ALARM 5 I/O 6 SETUP I/O Analog In # SIM VALUE AI[ 1] U 0 [ AI[ 2] U 0 [ AI[ 3] * 0 [ AI[ 4] * 0 [ AI[ 5] * 0 [ AI[ 6] * 0 [ AI[ 7] * 0 [ AI[ 8] * 0 [ AI[ 9] * 0 [ AI[ 10] * 0 [ MENUS Analog [TYPE] [ TYPE ] CONFIG JOINT 30 % 1/25 ] ] ] ] ] ] ] ] ] ] IN/OUT SIMULATE UNSIM F1 5 To switch the input screen to the output screen. 4 Select Analog. [IN/OUT]. [MONITOR]. Step 1 Press the MENUS key. The screen menu is displayed. [ TYPE ] CONFIG IN/OUT F3 6 To allocate I/O. [I/O]. 83 . reconfigure the I/O. Analog I/O configuration screen [ TYPE ] CONFIG IN/OUT F2 I/O Analog In AI # 1 2 3 4 5 6 7 8 9 RACK 0 0 0 0 0 0 0 0 0 JOINT SLOT 1 1 0 0 0 0 0 0 0 30 % 1/25 CHANNEL 1 2 0 0 0 0 0 0 0 [ TYPE ] MONITOR IN/OUT DETAIL HELP > To return to the list screen. press F2. press F2. 3 Press F1. The analog I/O list screen is displayed. [TYPE]. [CONFIG]. [ TYPE ] MONITOR IN/OUT F2 7 To configure the signals. move the cursor to each item and enter the value. SETTING UP THE ARC SYSTEM B--81464EN--3/01 Procedure 3--17 Setting analog I/O NOTE The standard configuration is factory--set up. press the PREV key to return to the selection screen. injury or property damage would occur. 12 When you are finished. WARNING Power should be turned on again to make a new setting valid. [DETAIL] of the next page. SETTING UP THE ARC SYSTEM B--81464EN--3/01 8 To return to the list screen. [MONITOR]. I/O Analog In JOINT 30 % # SIM VALUE 1/25 AI[ 1] U 0 [analog sign1] AI[ 2] U 0 [analog sign2] AI[ 3] * 0 [ ] AI[ 4] * 0 [ ] [ TYPE ] MONITOR IN/OUT F2 [ TYPE ] CONFIG IN/OUT SIMULATE UNSIM 9 Press NEXT key of the selection screen and press F4. 13 Turn the controller off and on again so that it can use the new information. The analog I/O detail screen is displayed. 84 . c Press the appropriate function keys to add the comment. press the PREV key. JOINT 1 [ 30 % ] ENTER b Select the method of naming the comment. d When you are finished. 11 To specify the signal attribute.3. press F2. and select the function key. Otherwise. power failure recovery would not be executed even if it is enabled. Analog I/O detail screen IN/OUT DETAIL HELP > I/O Analog Out Port Detail F4 JOINT Analog Output: [ 10 % 1/1 1] 1 Comment : [ [ TYPE ] PRV-PT ] NXT-PT To return to the configuration screen. PREV 10 To add a comment: a Move the cursor to the comment line and press the ENTER key. move the cursor to the corresponding field. press the ENTER key. CAUTION In the first power--up after I/O re--allocation. for example) in case the information needs to be re--loaded. SETTING UP THE ARC SYSTEM B--81464EN--3/01 CAUTION After all I/O signals are set. the current setting information would be lost when it is changed.3. the setting information should be saved in external storage (floppy disk. 85 . Otherwise. move the tool to the appropriate position by jog feed. When this signal is turned off. In the normal state. The *ROT input does not appear on the cable terminal of the end effector because it is processed within the mechanical unit of the robot.” Abnormal air pressure input signal. NOTE Hand breakage detection can be disabled on the system setting screen. and the robot is immediately stopped. In the normal state.3. See the item of enabling and disabling hand breakage detection in Section 3. 86 . Hand breakage input signal. While the *HBK or *ROT signal is off. When the *HBK signal goes off. In the normal status. F Other signals are used as the end effector I/O via the robot. the *PPABN signal is set on. No signal numbers can be redefined for these signals. the *PPABN signal goes off. *HBK The *HBK signal is connected to the robot hand and detects a breakage in the tool. an alarm is issued. an alarm occurs and the robot is immediately stopped.9 Robot I/O Robot I/O are signals digital signals Robot to operate the following executions. The end effector I/O consists of eight input and eight output general--purpose signals. are general--purpose input and output signals. NOTE The number of general--purpose input/output signals of the end effector I/O depends on the model of the robot.21. While holding down the shift key. *PPABN input The *PPABN signal detects a drop in the air pressure. the alarm state can temporarily be released by holding down the shift key and pressing the alarm release key. the *ROT signal is on. an alarm is generated and the robot is stopped immediately. “SYSTEM CONFIG MENU. *ROT input The overtravel (robot overtravel) signal indicates an overtravel along each axis of the mechanical unit of the robot. the *HBK signal is set on. The end effector I/O is connected to the connector at the end of the robotic arm to enable its use. SETTING UP THE ARC SYSTEM B--81464EN--3/01 3. RDI [1 to 8] INPUT RDO [1 to 8] OUTPUT The end effector signals. Refer to the mechanical unit maintenance manual. When a drop in air pressure occurs. (RDI [1 to 8] and RDO [1 to 8]. c Press the appropriate function keys to add the comment. [TYPE] IN/OUT F3 6 To set the attribute of I/O. 87 10 % 1/3 [ 1 - 2] . press the F3 key. 2 Select 5 (I/O). 3 Press the F1 key.3. IN/OUT. Robot I/O Detail Screen [TYPE] NUM-SRT CMT-SRT DETAIL HELP > I/O Robot Out Port Detail F2 JOINT Robot Dig. [TYPE]. 4 Select “Robot. The screen change menu is displayed. Items 1: COMMENT Items 2: POLARITY Items 3: COMPLEMENTARY To return to the selection screen.” Robot I/O Selection Screen 4 ALARM 5 I/O 6 SETUP I/O Robot Out # STATUS RDO[1] OFF [ RDO[2] OFF [ RDO[3] OFF [ RDO[4] ON [ RDO[5] ON [ RDO[6] OFF [ RDO[7] OFF [ RDO[8] ON [ RDO[9] ON [ MENUS Robot [TYPE] [TYPE] JOINT 30% 1/24 ] ] ] ] ] ] ] ] ] IN/OUT ON OFF > F1 5 To switch the input screen to the output screen. press ENTER key. DETAIL of the next page. press NEXT key and press F4. d When you are finished. press the PREV key. SETTING UP THE ARC SYSTEM B--81464EN--3/01 Procedure 3--18 Step Setting Robot I/O 1 Press the MENUS key. Output: [ 1] 1 Comment : [ 2 ] Polarity : NORMAL 3 Complementary : FALSE [ TYPE ] PRV-PT NXT-PT NOTE On the detailed robot I/O screen. 7 To add a comment: a Move the cursor to the comment line and press the ENTER key. The screen menu is displayed. b Select the method of naming the comment. see Chapter 6. place the cursor on ON or OFF and press the corresponding function key. Section 6. I/O Robot Out I/O Robot Out RO[1] OFF RO[1] [TYPE] IN/OUT ON JOINT 30% ON [ IN/OUT ] ON OFF OFF F4 For the forced output of a signal. The forced output may adversely affect the security of the system. the current setting information would be lost when it is changed. 9 When you are finished. Check the use of signals in the system before attempting the forced output.press PREV to return to the list screen. injury or property damage would occur. SETTING UP THE ARC SYSTEM B--81464EN--3/01 8 To set the polarity and the complementary pair. CAUTION After all I/O signals are set. Otherwise. for example) in case the information needs to be re--loaded. I/O Robot Out # STATUS RO[ 1] OFF RO[ 2] OFF RO[ 3] OFF RO[ 4] ON [ TYPE ] JOINT 30 % 1/24 ] ] ] ] [ [ [ [ IN/OUT ON OFF 10 Turn off the controller. 11 To perform forced output of a signal.3. move the cursor to the setting column.and select the function key menu. 88 . Turn on the controller so it can use the new information. Otherwise. WARNING The controller uses signals to control the peripheral equipment. the setting information should be saved in external storage (floppy disk. WARNING Power should be turned on again to make a new setting valid.4. 0 : Peripheral device 1 : CRT/KB 2 : Host computer 3 : No remote device A program including a motion (group) can be started only when the remote conditions and the following operation conditions are satisfied: J The ENBL signal of the peripheral I/O is set on.16.ENBL) which has relation to safety is always effective whether the remote condition is satisfied or not.”) J The *SFSPD input of the peripheral device I/O is on. J The teach pendant enable switch is set off. SETTING UP THE ARC SYSTEM B--81464EN--3/01 3. When no process I/O printed circuit board is connected and I/O unit model A/B is connected. J The servo power is on (not in the alarm state).3. 89 . the standard assignment is made at the factory. J The remote signal (SI[2]) is on.the program can be started by using the peripheral I/O.the robot is in the remote state. Configuration of I/O The peripheral device I/O is automatically assigned to the first 18 input and 20 output I/O signal lines on the first process I/O printed circuit board. J A value of 0 (peripheral device) is set for system variable $RMT_MASTER. CAUTION When a process I/O printed circuit board is connected. To enable these signals. Divide the digital input/output signals between the digital I/O and peripheral device I/O and reassign the signals to them. see Figure 3--28. When the following remote conditions are satisfied. “SYSTEM CONFIG MENU. Signals(*HOLD. Remote condition When the robot is in the remote state. The CMDENBL signal indicates whether the above conditions are satisfied. No digital input/output signals are assigned to the peripheral device I/O. NOTE Peripheral I/O signals are disabled in the initial state. see the description of Remote/Local setup in Section 3. all digital input/output signals are assigned to the digital I/O at the factory. J The continuous operation mode is selected (the single step mode is disabled). J The ENBL input of the peripheral device I/O is on. set TRUE at “Enable UI signals” on the system configuration screen. These signals are connected with a remote controller and the peripheral devices via the following interfaces and I/O links and they are used to control the robot from the outside. The signal is output when the following conditions are satisfied: J The remote conditions are satisfied. For the assignment of the peripheral device I/O. NOTE $RMT_MASTER Specifies the kind of remote device.10 Peripheral I/O Peripheral I/O signals (UI/UO) are a group of specialized signals whose usage is decided by the system. (For how to turn the remote signal on and off. J Not alarm status. confirm whether emergency stop can work to prevent from connecting incorrectly. Peripheral I/O Interface Process I/O printed circuit board Main CPU printed circuit board JD1A JD4A CRM2A Peripheral device A1 CRM2B Peripheral device A2 JD4B Peripheral device A1 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 Physical number in 1 in 2 in 3 in 4 in 5 in 6 in 7 in 8 in 9 in 10 in 11 in 12 in 13 in 14 in 15 in 16 CRM2A 19 20 21 22 23 24 25 26 27 28 29 30 31 32 out 13 out 14 out 15 out 16 out 17 out 18 out 19 out 20 in 17 in 18 in 19 in 20 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 out 1 out 2 out 3 out 4 out 5 out 6 out 7 out 8 out 9 out 10 out 11 out 12 Standard peripheral device I/O settings Physical number in 1 in 2 in 3 in 4 in 5 in 6 in 7 in 8 in 9 in 10 in 11 in 12 in 13 in 14 in 15 in 16 in 17 in 18 in 19 in 20 Logical number UI 1 UI 2 UI 3 UI 4 UI 5 UI 6 UI 7 UI 8 UI 9 UI 10 UI 11 UI 12 UI 13 UI 14 UI 15 UI 16 UI 17 UI 18 Peripheral device input *IMSTP *HOLD *SFSPD CSTOPI FAULT RESET START HOME ENBL RSR1/PNS1 RSR2/PNS2 RSR3/PNS3 RSR4/PNS4 RSR5/PNS5 RSR6/PNS6 RSR7/PNS7 RSR8/PNS8 PNSTROBE PROD_START Physical number out 1 out 2 out 3 out 4 out 5 out 6 out 7 out 8 out 9 out 10 out 11 out 12 out 13 out 14 out 15 out 16 out 17 out 18 out 19 out 20 Logical number UO 1 UO 2 UO 3 UO 4 UO 5 UO 6 UO 7 UO 8 UO 9 UO 10 UO 11 UO 12 UO 13 UO 14 UO 15 UO 16 UO 17 UO 18 UO 19 UO 20 Peripheral device input CMDENBL SYSRDY PROGRUN PAUSED HELD FAULT ATPERCH TPENBL BATALM BUSY ACK1/SNO1 ACK2/SNO2 ACK3/SNO3 ACK4/SNO4 ACK5/SNO5 ACK6/SNO6 ACK7/SNO7 ACK8/SNO8 SNACK RESERVED WARNING When connecting the peripheral equipments related to the emergency stop function (for example Protective Fence) to each signal of a robot (for example external emergency stop. fence. servo.3. 90 .). SETTING UP THE ARC SYSTEM B--81464EN--3/01 Figure 3--28. etc. 91 . and the servo power is turned off. The *HOLD input is on in the normal status. To stop the robot immediately for safety purposes. use this signal together with the FENCE1 or FENCE2 signal on the operator’s panel printed circuit board. F If ENABLED is specified at “Break on hold” on the general item setting screen. CSTOPI input UI [4] (Always enabled. When *SFSPD is off. *HOLD. then the program execution is halted. the feedrate override cannot exceed these values. and execution of the program is also stopped. SETTING UP THE ARC SYSTEM B--81464EN--3/01 *IMSTP input UI [1] (Always enabled.) The temporary stop signal specifies a temporary stop from an external device. For details of these signals. WARNING The *IMSTP signal is controlled by software. the feedrate override is reduced to the value specified for $SCR. WARNING When FALSE is selected for CSTOPI for ABORT on the Config system setting screen. F When FALSE is selected for CSTOPI for ABORT on the Config system setting screen. When this signal is turned off. the feedrate override is reduced to the value specified for $SCR. the following processing is performed: F The robot is decelerated until its stops. refer to the “Maintenance Manual.) The immediate stop signal specifies an emergency stop by the software. It also releases (Clear) programs from the wait state by RSR. For details of these signals. The use of this signal for safety--critical processing is not recommended. At this time. this signal terminates the program currently being executed as soon as execution of the program completes.3. WARNING The *SFSPD signal controls deceleration and stop by software. The *IMSTP input is on in the normal status. the RESET signal turns on the servo power. the following processing is performed: F The operation being executed is decelerated and stopped.$SFJOGOVLIM. this signal immediately terminates the program currently being executed. UI [5] The RESET signal cancels an alarm. To link this signal with the emergency stop. When jog feed is executed. *SFSPD input UI [3] (Always enabled. Execution of the program is also stopped. F When the *SFSPD input is off and a program is started from the teach pendant. the following processing is performed: F An alarm is generated and the servo power is turned off.$SFRUNOVLIM. It also releases (Clear) programs from the wait state by RSR.” NOTE When the *IMSTP. refer to the “Maintenance Manual. It also releases programs from the wait state by RSR. the feedrate override is reduced to the value specified for $SCR. an alarm is generated. jumper these signal lines. Fault reset input signal.) The cycle stop signal terminates the program currently being executed. The *SFSPD input is on in the normal status. If the servo power is off. When this signal is turned off. F The robot operation is stopped immediately.$FENCEOVRD. (Default) F When TRUE is selected for CSTOPI for ABORT on the Config system setting screen. RESET.) The safety speed signal temporarily stops the robot when the safety fence door is opened. The alarm output is not canceled until the servo power is turned on. This signal is normally connected to the safety plug of the safety fence door. use this signal together with the EMGIN1 or EMGIN2 signal on the operator’s panel printed circuit board. CSTOPI does not stop the program being executed until the execution is complete. and *SFSPD signals are not used. When this signal is turned off.” *HOLD input UI [2] (Always enabled. the robot is stopped. The alarm is canceled at the instant this signal falls in default setting. 3. “Program number select”) When the remote conditions are satisfied. PROD_START input UI [18] (Enabled in the remote state. this signal is ignored. When the program is not temporarily stopped. The robot enters the operation enable state when the following operation enable conditions are satisfied: J The ENBL input of the peripheral device I/O is on.) The automatic operation start (production start) signal starts the currently selected program from line 1. the selected program is added to the queue and is started once the program being executed terminates. When this signal is used together with no PNS signal.) [Option = external program selection] These are program number select signals and a PN strobe signal. PROGRUN output UO [3] PROGRUN is output while a program is being executed. SYSRDY output UO [2] SYSRDY is output while the servo power is on. the program selected using the teach pendant is executed from the line to which the cursor is positioned. it cannot be started. the following processing is performed: F When FALSE is selected for START for CONTINUE only on the Config system setting screen. When another program is being executed or temporarily stopped. RSR1 to RSR8 inputs UI [9--16] (Enabled in the remote state. CMDENBL input UO [1] The input accept enable (command enable) signal is output when the following conditions are satisfied. J The operation enable conditions are satisfied. When one of these signals is received. When another program is being executed or is stopped temporarily. NOTE To start a program from a peripheral device. SETTING UP THE ARC SYSTEM B--81464EN--3/01 Enable input signal. ENBL.2) START input UI [6] (Enabled in the remote state. (! Section 3. NOTE When the ENBL signal is not monitored. it executes the program selected by the PNS signal starting from line 1. “Robot service request”) PNS1 to PNS8 UI [9--16] PNSTROBE UI [17] (Enabled in the remote state. When this signal is received.2. strap the signal with the ground. This signal indicates that a program including an operation (group) can be started from the remote control units.) This is an external start signal. the RSR program corresponding to the signal is selected and started to perform automatic operation.14. In the operation enable state. UI [8] The ENBL signal allows the robot to be moved and places the robot in the ready state. J The remote conditions are satisfied. J The servo power is on (not in the alarm state). To start a temporarily stopped program. (! Section 3. it executes the program selected using the teach pendant starting from line 1. This signal functions at its falling edge when turned off after being turned on. jog feed can be executed and a program involving an operation (group) can be started. J The mode is continuous operation (single step disable).1. 92 . This signal functions at its falling edge when turned off after being turned on.) These are robot service request signals. It is not output while a program is temporarily stopped. When this signal is used together with a PNS signal.14. the RSR or PROD_START input is used. the system inhibits a jog feed of the robot and activation of a program including a motion (group). A temporarily stopped program is also continued. A program which is being executed is halted when the ENBL signal is set off. these signals are ignored. This signal places the robot in the operation enable state. When the ENBL signal is off. When another program is being executed or temporarily stopped. program selection using the teach pendant is disabled while PNSTROBE is on.14. the START input is used. (Program number select Section 3. the PNS1 to PNS8 inputs are read to select a program to be executed. When the PNSTROBE input is received. (Default) F When TRUEis selected for START for CONTINUE only on the Config system setting screen. a temporarily stopped program is continued. The pulse width can be specified. When an RSR input is accepted.14. ACK1 to ACK4 are used together with the function. SNACK is used together with the function. (! Section 3. BUSY output UO [10] BUSY is output while a program is being executed or while processing using the teach pendant is being performed. ATPERCH output UO [7] ATPERCH is output when the robot is in a previously defined reference position. The selection of another program changes SNO1 to SNO8. This signal is output only when the robot is in the first reference position. Turn the power to the control unit on and replace the battery. HELD output UO [5] HELD is output when the hold button is pressed or the HOLD signal is input. The currently selected program number (signal corresponding to the PNS1 to PNS8 inputs) is always output. BATALM output UO [9] BATALM indicates a low--voltage alarm for the backup battery of the control unit or robot pulse coder.14.2.1. ACK1 to ACK8 outputs UO [11--18] When the RSR function is enabled.3. general--purpose signals are assigned. When the PNS inputs are accepted.14. For any other reference positions. The pulse width can be specified. The alarm state is released by the FAULT_RESET input. “Robot service request”) SNO1 to SNO8 outputs UO [11--18] [Option = external program selection] When the PNS function is enabled. in binary code. “Program number select”) SNACK output UO [19] [Option = external program selection] When the PNS function is enabled. It is not output while a program is temporarily stopped. SNO1 to SNO8 are used together with the function.2. a pulse of this signal is output as an acknowledgment. (! Section 3. FAULT output UO [6] FAULT is output when an alarm occurs in the system. FAULT is not output when a warning (WARN alarm) occurs. SETTING UP THE ARC SYSTEM B--81464EN--3/01 PAUSED output UO [4] PAUSED is output when a program is temporarily stopped and waits for restart. It is not output when the hold button is released. “Program number selection”) 93 . as confirmation. Up to three reference positions can be defined. (! Section 3. a pulse of the corresponding signal is output as an acknowledgment. TPENBL output UO [8] TPENBL is output when the enable switch of the teach pendant is set to on. press F2. abbreviation “INVAL” is displayed in “Status.MONITOR 7 Manipulating the I/O assignment screen a) Place the cursor on “Range.” If any entered value is invalid. [ TYPE ] DETAIL IN/OUT F3 6 To allocate I/O. c) Enter appropriate values for “Rack.” and specify the range of signals to be assigned. press F2.8] UI[ 9. Step 1 Press the MENUS key. press the F3 key. IN/OUT. or vice versa. the standard assignment is made at the factory. When no process I/O printed circuit board is connected and I/O unit model A/B is connected. 1 ACTIV 9 ACTIV 17 ACTIV DELETE HELP To return to the list screen.” and “Start point. Divide the digital input/output signals between the digital I/O and peripheral device I/O and reassign the signals to them.” 94 . The screen change menu is displayed. [I/O]. b) Line division is performed automatically according to the specified range. abbreviation “PEND” is displayed in “Status. [TYPE].18] JOINT RACK 0 0 0 [ TYPE ] MONITOR IN/OUT SLOT 1 1 1 10 % 1/3 START STAT.” d) When the entered values are valid. The screen menu is displayed.CONFIG. 4 Select UOP. SETTING UP THE ARC SYSTEM Procedure 3--19 B--81464EN--3/01 Configurating Peripheral I/O 1 CAUTION When a process I/O printed circuit board is connected. all digital input/output signals are assigned to the digital I/O at the factory and no digital input/output signals are assigned to the peripheral device I/O.” “Slot.3. 3 Press the F1 key. 2 Select 5. Peripheral I/O configuration screen [ TYPE ] DETAIL IN/OUT I/O UOP In F2 # 1 2 3 RANGE UI[ 1. Peripheral I/O Selection Screen 4 ALARM 5 I/O 6 SETUP I/O UOP Out # UO[1] UO[2] UO[3] UO[4] UO[5] UO[6] UO[7] UO[8] UO[9] MENUS UOP [TYPE] JOINT 30% STATUS ON [*HOLD OFF [FAULT reset OFF [Start ON [Enable OFF [PNS1 OFF [PNS2 OFF [PNS3 OFF [PNS4 * [ [ TYPE ] DETAIL IN/OUT ON ] ] ] ] ] ] ] ] ] OFF F1 5 To switch the input screen to the output screen.16] UI[ 17. and select the function key menu.press the PREV key. 8 To set the attribute of I/O. 11 When you are finished. power failure recovery would not be executed even if it is enabled. DETAIL of the next page. d When you are finished. WARNING Power should be turned on again to make a new setting valid. NOTE In default setting. Peripheral I/O detail screen DETAIL HELP > I/O UOP In Port Detail F4 JOINT User Opr. UNASG: No assignment has been made. the setting information should be saved in external storage (floppy disk. SETTING UP THE ARC SYSTEM B--81464EN--3/01 Unnecessary lines can be deleted by pressing F4 (Delete). Turning the power off and on again causes the ACTIV status to be entered. PEND: Assignment is normal. 12 Turn off the controller. Turn on the controller so it can use the new information. c Press the appropriate function keys to add the comment. The abbreviations that will appear in “Status” mean the following: ACTIV: This assignment is now in use. CAUTION After all I/O signals are set. for example) in case the information needs to be re--loaded. 10 To set the item. Panel Input: [ 10 % 1/1 1] 1 Comment : [*IMSTP [ TYPE ] PRV-PT ] NXT-PT To return to the configuration screen. Even if the comment is rewritten. the function is not changed. injury or property damage would occur. 95 . input pins 1 to 18 and output pins 1 to 20 is assigned to the peripheral I/O. CAUTION In the first power--up after I/O re--allocation. INVAL: A specified value is invalid. Otherwise. 9 To add a comment: a Move the cursor to the comment line and press the ENTER key. press the PREV key to return to the selection screen. Otherwise. the current setting information would be lost when it is changed. JOINT 1 [ 30 % ] ENTER b Select the method of naming the comment. NOTE The comment of peripheral equipment I/O is written by the tool software and can be changed. press NEXT key of the selection screen and press F4. move the cursor to the setting column.3. press the ENTER key. The temporary stop (hold) signal specifies temporary stop of the program. J The *SFSPD input of the peripheral device I/O is on. SETTING UP THE ARC SYSTEM B--81464EN--3/01 3. the operator’s panel I/O can be used to start a program. additional functions can be assigned to user keys (SI[4] and SI[5]) on the operator’s panel by setting macro instructions [option functions] (See Section 9. any signals which have a significant effect on safety are always enabled. the following conditions must be satisfied: J The ENBL input of the peripheral device I/O is on. To start a program involving operation (group). Operator’s Panel I/O Main CPU printed circuit board Operator’s box Logical number SI 0 SI 1 SI 2 SI 3 SI 4 SI 5 SI 6 SI 7 Table 3--11. Figure 3--29. see Fig. 96 . J The remote switch on the operator’s panel is set to the local position. Each output signal is used to turn the corresponding LED lamp on the operator’s panel on or off. When this signal is turned off: F The robot operation being executed is decelerated. this signal turns on the servo power. When the operator’s panel is enabled. The alarm release (fault reset) signal releases the alarm state.1. FAULT_RESET SI [2] Always enabled. then stopped. The status of each input signal depends on whether the corresponding button on the operator’s panel is on or off. the alarm state is not released until the servo power is turned on. J The servo power is on (not in the alarm state). 3--29.11 Operator’s Panel I/O The operator’s panel I/O includes dedicated digital signals for passing data indicating the status of the buttons and LEDs on the operator’s panel/box. For the operator’s panel on the B cabinet control unit. The operator’s panel is enabled when the following operator’s panel enable conditions are satisfied: J The enable switch on the teach pendant is set to off. For the definition of the signals of the operator’s panel I/O. In this case. For the operator’s panel I/O. “Macro Instructions”). However. The *HOLD signal is on in the normal status. the signal numbers cannot be mapped (redefined). Sixteen input and sixteen output signals are defined as standard. When the servo power is off. F The program being executed is temporarily stopped.3. Operator’s panel input Logical number SO 0 SO 1 SO 2 SO 3 SO 4 SO 5 SO 6 SO 7 FAULT_RESET REMOTE *HOLD USER#1 USER#2 START Operator’s panel output REMOTE LED CYCLE START HOLD FAULT LED BATTERY ALARM USER#1 USER#2 TPENBL Operator’s Panel Input Signals Input signal Description *HOLD SI [3] Always enabled. when the remote conditions are satisfied. This signal is not output when a warning (WARN alarm) occurs. In local mode. The teach pendant enable (TP enable) signal is output when the enable switch on the teach pendant is on. Table 3--12. SETTING UP THE ARC SYSTEM B--81464EN--3/01 Table 3--11. In remote mode. The hold signal is output when the hold button is pressed or the HOLD signal is input. replace the battery. BUSY SO [1] Not provided for the operator’s box.3. a program can be started using the peripheral device I/O. when the operator’s panel enable conditions are satisfied. (Cont’d) Operator’s Panel Input Signals Input signal REMOTE SI [2] Always enabled. turned on. The alarm state is released by the FAULT_RESET input. While keeping the power to the control unit on. a program can be started from the operator’s panel. TPENBL output SO [7] Not provided for the operator’s box. This signal functions at its falling edge when turned off after being state. It is not output when a program is temporarily stopped. Description The remote signal switches between system remote and local mode. BATAL output SO [4] Not provided for the operator’s box. The abnormal battery (battery alarm) signal indicates a low--voltage alarm for the battery in the control unit. HELD SO [2] Not provided for the operator’s box. “Peripheral Device I/O”). The busy signal is output while processing such as program execution or file transfer is being performed. 97 . START The start signal starts the currently selected program using the teach pendant SI [6] from the line to which the cursor is positioned or restarts a temporarily stopped Enabled in the operator’s panel enable program. FAULT SO [3] The alarm (fault) signal is output when an alarm occurs in the system. Operator’s Panel Output Signals Output signal Description REMOTE SO [0] The remote signal is output when the remote conditions are satisfied (See remote conditions Section 3.3. Values cannot be changed forcibly. Step 1 Press MENU to display the screen menu. 4 Select “SOP.” Operator’s panel I/O list screen 4 ALARM 5 I/O 6 SETUP I/O Sop Out # SO[0] SO[1] SO[2] SO[3] SO[4] SO[5] SO[6] SO[7] SO[8] SO[9] MENUS SOP TYPE JOINT 30% STATUS ON [Remote LED OFF [Cycle start OFF [Hold ON [Fault LED ON [Butt alarm OFF [User LED#1 OFF [User LED#2 ON [TP enabled OFF [ OFF [ ] ] ] ] ] ] ] ] ] ] F1 5 Press F3 (IN/OUT) to switch the display between the input and output screens. SETTING UP THE ARC SYSTEM Procedure 3--20 B--81464EN--3/01 Displaying the operator’s panel I/O NOTE For the operator’s panel I/O. 2 Select “5 I/O. 98 .” 3 Press F1 (TYPE) to display the screen switching menu. [ TYPE ] IN/OUT NOTE The input signal status can only be checked. the signal numbers cannot be redefined.3. Slave Mode Weld Interface Board Other I/O devices except above devices When F3 (DETAIL) is pressed. then select “5 I/O. one unit of I/O unit MODEL B. Word on TP Device PrcI/O AA PrcI/O AB PrcI/O BA PrcI/O BB PrcI/O CA PrcI/O CB Process I/O Board AA Process I/O Board AB Process I/O Board BA Process I/O Board BB Process I/O Board CA Process I/O Board CB PrcI/O DA PrcI/O EA PrcI/O EB PrcI/O FA PrcI/O GA PrcI/O HA R--J2 Mate Weld I/F Others Process I/O Board DA Process I/O Board EA Process I/O Board EB Process I/O Board FA Process I/O Board GA Process I/O Board HA R--J2 Mate. The following figure is an example of the I/O link list screen when process I/O board CA. SETTING UP THE ARC SYSTEM B--81464EN--3/01 3. and two units of I/O unit MODEL A are connected to the robot control unit. I/O Link Device 1 2 3 4 Device name PrcI/O CA Model B Model A Model A [TYPE] JOINT 100% Comment [ [ [ [ ] ] ] ] DETAIL Rack 0 1 2 3 Slot 1 0 0 0 CLR_ASG To display this screen. The following table lists the device names displayed on the screen and the corresponding actual device names.12 I/O Link Screen The I/O link screen can be used to make settings related to FANUC I/O unit MODEL B and to display the configuration of the I/O link units. For I/O unit MODEL A/B. no screen change occurs. a value of 0 is displayed for the rack number.3. When F3 (DETAIL) is pressed for the following units. It also displays the rack and slot numbers of each unit. press F1 (TYPE) to display the screen switching menu. The I/O link screen consists of the following screens: F I/O link list screen F MODEL B unit list screen F Signal count setting screen 3. only the interface units are displayed. When F3 (DETAIL) is pressed for other units.” Then. The names of the I/O units are displayed in the order in which the units are connected to the robot control unit. MODEL B screen or Number of Ports Setting Screen is displayed according to the type of the unit. the detail screen is displayed. Word on TP Model B 90--30 PLC I/O adptr R--J2 Mate Unknown Detail Screen Model B Number of Ports Number of Ports Number of Ports Number of Ports 99 .12.1 I/O Link list screen The I/O link list screen displays a list of I/O units in slave mode that are connected to the I/O link. then select Link Device. Each detail screen is described later. first press MENUS to display the screen menu. In this case. 3. When no unit is set.2 MODEL B unit list screen The MODEL B unit list screen displays a list of units of FANUC I/O unit MODEL B. 1 ******* ******* 2 ******* ******* 3 ******* ******* : : : 30 ******* ******* [TYPE] LIST [ [ [ [ JOINT 100% Rack 1 1/30 Comment ] ] ] : ] [CHOICE] CLR_ASG At first. SETTING UP THE ARC SYSTEM B--81464EN--3/01 On this screen. 1 BOD16A1 ******* 2 ******* ******* 3 ******* ******* : : : 30 ******* ******* [TYPE] LIST [ [ [ [ JOINT 100% Rack 1 1/30 Comment ] ] ] : ] [CHOICE] CLR_ASG When the cursor is positioned to column Base and F4 [CHOICE] is pressed. “*******” is displayed. F BMD88A1 F BID16A1 F BOD16A1 F BOA12A1 When the cursor is positioned to column Exp. This screen can also be used to specify whether to connect an additional unit and the type of additional unit. set the types of the DI/DO units. FANUC I/O unit MODEL B does not automatically recognize the connected DI/DO units. 3. Options are displayed as shown below: 1 2 3 4 ******* BID16A1 BOD16A1 BMD88A1 Slot 1 2 3 : 30 Base ******* ******* ******* : ******* [TYPE] 5 BOA12A1 6 BIA16P1 7 BMD88Q1 Exp. a menu appears. nothing is set. a menu appears. “*******” indicates that no unit is connected. set the unit as shown below. and F4 [CHOICE] is pressed. The screen enters comment input mode. “*******” indicates that no unit is connected. “*******” is displayed.12. This menu contains the following items. On this screen. a comment can be specified for each I/O unit. One additional unit can be connected to each DI/DO unit. F MBD88P1 100 . When the cursor is positioned to a “MODEL B” item on the I/O link list screen. The address set using the DIP switch of each DI/DO unit is used as the line number on this screen. press F3 (DETAIL) to display MODEL B screen as shown below: I/O Link Device Model B Slot Base Exp. as shown above. To use MODEL B. Position the cursor to the position shown above (Base column on line 1). When DI/DO unit BOD16A1 is connected to the interface unit and the address is set to 1. When no unit is set. This menu contains the following items. ******* ******* ******* : ******* LIST Comment [ [ [ ] ] ] : [ ] [CHOICE] CLR_ASG Select BOD16A1 on this screen. set the types of the units on this screen. The unit is set as shown below: I/O Link Device Model B Slot Base Exp. F5 (CLR_ASG) is described later. then press F4 [CHOICE]. Move the cursor to Comment and press the enter key. perform the following operation. Then. 101 . press ENTER with the cursor positioned to the Comment column.12. comment. SETTING UP THE ARC SYSTEM B--81464EN--3/01 F F F F BID16P1 BOD16P1 BIA16A1 BMD88Q1 After a unit is set on this screen. then on again after the number of signals is set on this screen. comments. and other information. When SAVE is selected on this screen while the auxiliary key is held down. press the F3 (DETAIL) key. * When the unit is used with non--standard settings. the assignment is set to the standard settings. To enter a comment. The following message appears. Number of ports setting screen appears as shown below. This file contains the contents set on the I/O link screen. When the power to the control unit is turned off. The comment is displayed following PRIO--100 MODEL B comm fault. When the number of signals is changed. The target I/O unit can be used by turning the power off. processing for I/O power failures is not performed at the next power--on. processing for I/O power failures is not performed at the next power--on.IO is saved. then on again. displayed when the DI/DO unit is disconnected from the interface unit. this operation deletes the assignment information. even when processing for power failures is enabled. Such information can be saved in this file from other I/O and file screens in the same way as normal. The following operation can set all I/O assignment to the standard settings. and other information. set the number of signals on this screen.IO is saved. the I/O assignment may differ from the standard assignment according to the setting procedure. When setting the number of signals for a MODEL--B unit or I/O unit for the first time. This file contains the contents set on the I/O link screen. It also contains the I/O assignment. Clear all assignments? YES NO F4 F5 Press F4 (YES) to delete all assignment information. Explanation of F5 (CLR_ASG) When the number of signals is set for a MODEL--B unit or I/O unit on the I/O link screen. It also contains the I/O assignment. When SAVE is selected on this screen while the auxiliary key is held down.3. 3. Such information can be saved in this file from other I/O and file screens in the same way as normal. When the setting of a unit is changed. the unit I/O can be used by turning the power off. then on again.3 Signal count setting screen For I/O units such as the I/O link connection unit and 90--30PLC that cannot be used without setting the number of signals. When the cursor is positioned to “90--30PLC” on the I/O link list screen. I/O Link Device 90-30 PLC JOINT 100% Rack 1 Slot 1 Pore name 1 Digital Input: 2 Digital Output: [TYPE] Points 0 0 LIST CLR_ASG Move the cursor to the number indicating the number of signals and enter a numeric value to set the number of signals. a file named DIOCFGSV. even when processing for power failures is enabled. a file named DIOCFGSV. Press F5 (CLR_ASG). F5 (CLR_ASG) is described later. ) 102 . if the contents of SDO[j] are changed using the TP or a program. Example) When “ENABLE DI[2] ! RO[3] ! RDO[ 3]” is set. when the status of RDI[1] is ON and the status of RDI[2] is OFF. 0<=nnn<=256 ) F SDI[iii] ! RDO[jjj]. DI DO connection setting screen (SDI ! RDO) Assign SDI signal numbers to RDO1 to RDO8. NOTE Whether to enable or disable each assignment can be changed only on the setting screen. For example. (SDO[1] alternately indicates ON and OFF in practice.13 I/O Connection Function The I/O connection function enables the RDI/SDI status to be output to SDO/RDO to report the signal input status to external devices. NOTE When SDI[i] ! SDO[j] is set and this assignment is enabled. NOTE When different multiple input signals are assigned to the same output signal. ( 0<=kkk<=256. ( 1<=mmm<=8. the status of SDI[2] is output to RDO[3]. ( 0<=iii<=256. the change is not reflected. the SDO[1] output will be unpredictable. Therefore. the status of SDI[i] is output to SDO[j] at regular intervals. 1<=jjj<=8 ) F SDI[kkk] ! SDO[lll]. SETTING UP THE ARC SYSTEM B--81464EN--3/01 3. 0<=lll<=256 ) Explanation of the function/settings Assign signals and enable or disable each assignment on Interconnect. described above. the status of each input signal is output. The following three types of screens are available: F DI DO connection setting screen (RDI ! SDO) F DI DO connection setting screen (SDI ! RDO) F DI DO connection setting screen (SDI ! SDO) DI DO connection setting screen (RDI ! SDO) DI DO connection setting screen (SDI ! RDO) Assign SDI signal numbers to RDO1 to RDO8. Whether to enable or disable each assignment can also be set.3. assume that the following settings are made: ENABLE DI[1] ! DO[1] ! SDO[ 1] ENABLE DI[2] ! DO[1] ! SDO[ 1] In this case. DI DO connection setting screen (SDI ! SDO) Assign an SDO signal number to each SDI number. The standard input/output ranges are shown below: F RDI[mmm] ! SDO[nnn]. Whether to enable or disable each assignment can also be set. Whether to enable or disable each assignment can also be set. DI RO connection setting screen (SDI RDO) 1 RI!DO 2 DI!RO 3 DI!DO [ TYPE ] SELECT INTERCONNECT No. SETTING UP THE ARC SYSTEM B--81464EN--3/01 Procedure 3--21 Step Setting the I/O connection function 1 Press MENU to display the screen menu.” 3 Press F1 (TYPE) to display the screen switching menu. 4 Select Interconnect. 6 Position the cursor on the screen to be displayed and press the ENTER key or specify the item number of the screen to be displayed using a numeric key. 1 2 3 4 5 6 7 8 [TYPE] Enb/Disabl ENABLE DISABLE DISABLE DISABLE DISABLE DISABLE DISABLE DISABLE INPUT DI [0] DI [0] DI [0] DI [0] DI [0] DI [0] DI [0] DI [0] [SELECT] 103 JOINT 100% 1/8 OUTPUT ! RO [1] ! RO [2] ! RO [3] ! RO [4] ! RO [5] ! RO [6] ! RO [7] ! RO [8] ENABLE DISABLE . 2 Select “5 I/O. DI DO connection setting screen (RDI SDO) 4 ALARM 5 I/O 6 SETUP INTERCONNECT No. The DI DO connection setting screen appears.3. 1 2 3 4 5 6 7 8 MENUS Interconnect TYPE Enb/Disabl ENABLE DISABLE DISABLE DISABLE DISABLE DISABLE DISABLE DISABLE [TYPE] INPUT RI [1] RI [2] RI [3] RI [4] RI [5] RI [6] RI [7] RI [8] [SELECT] JOINT 100% 1/8 OUTPUT ! DO [0] ! DO [0] ! DO [0] ! DO [0] ! DO [0] ! DO [0] ! DO [0] ! DO [0] ENABLE DISABLE F1 5 Press SELECT. F The cycle stop signal (CSTOPI input) is used to terminate the program currently being executed. this signal terminates the program currently being executed once the execution is complete. 104 . J System variable $RMT_MASTER is set to 0 (peripheral equipment). F The program number selection (PNS) function selects or examines a program. using the program number selection signals (PNS1 to PNS8 PNSTROBF) and the START signal. this signal is ignored. F The external start signal (START input) is used to start a program that is temporarily stopped. this signal is ignored. J The continuous operation mode is selected (the single step mode is disabled). 1 (CRT/KB). NOTE If TRUE is specified at “START for CONTINUE only” on the system configuration screen. A program can be started by entering the peripheral I/O only when the robot is in the remote state. J The ready conditions are satisfied. Automatic operation includes the following functions: F The robot service request (RSR) function selects and starts a program according to the robot service request signals (RSR1 to RSR4 inputs). -.14 Setting Automatic Operation Automatic operation is the function with which the remote controller starts a program. (For how to turn the remote signal (SI[2]) on and off. the START signal is effective for only a program on hold. these signals are ignored. While a program is temporarily stopped or being executed. SETTING UP THE ARC SYSTEM B--81464EN--3/01 3. “SYSTEM CONFIG MENU. The remote state is established when the following remote conditions are satisfied: J The teach pendant enable switch is set off. this signal starts only a temporarily stopped program. the selected program enters the wait state and is started once the program currently being executed terminates. 2 (host computer).When FALSE is selected for CSTOPI for ABORT on the system setting menu. J The ENBL signal of the peripheral I/O is set on. When another program is being executed or is temporarily stopped. NOTE The value of $RMT_MASTER can be set to 0 (peripheral equipment. see the description of Remote/Local setup in Section 3. F The automatic operation start signal (PROD_START input) starts the currently selected program from line 1.When TRUE is selected for START for CONTINUE only on the system setting menu.16. When another program is temporarily stopped or is being executed. J The remote signal (SI[2]) is on. It also releases programs from the wait state by RSR. The CMDENBL signal indicates whether the above conditions are satisfied.When TRUE is selected for CSTOPI for ABORT on the system setting menu. or 3 (no remote equipment). When no program is temporarily stopped. this signal starts the currently selected program from the current line.3. A program including a motion (group) can be started when the following ready conditions are satisfied: J The ENBL input signal of the peripheral I/O is set on. -.”) J The *SFSPD signal of the peripheral I/O is set on. (Default) -. (Default) -. The CMDENBL signal is output when the following conditions are satisfied: J The remote conditions are satisfied. this signal forcibly terminates the program currently being executed immediately. J The servo power is turned on (not in the alarm state). This signal also starts a temporarily stopped program. It also releases (Clear) programs from the wait state by RSR.When FALSE is selected for START for CONTINUE only on the system setting menu. using the peripheral I/O. when RSR2 is input. 105 . When the ACK1 to ACK8 signal is output. Enter a 4--digit number such as RSR0121m. When another program is being executed or is temporarily stopped. Jobs (RSR programs) are executed in the order in which they are entered into the queue.$JOB_BASE 100 RSR registration numbers RSR 1 RSR 2 On RSR 1 12 RSR 2 21 RSR 3 RSR 3 33 RSR 4 RSR 4 48 1 2 3 RSR program number 0121 RSR program RSR 0121 Inputs the RSR2 signal. The four robot service request signals (RSR1 to RSR4) are used for this function. 1 The control unit uses the RSR1 to RSR4 inputs to determine whether the input RSR signal is enabled. 5 Waiting programs are canceled (cleared) by the cycle stop signal (CSTOPI input) or upon forced program termination. Whether to enable or disable RSR1 to RSR4 is set in system variables $RSR1 to $RSR4 and can be changed on the RSR setting screen or by using the program RSR instruction.$JOB_BASE and can be changed using Base number on the RSR setting screen or a program parameter instruction. For example. When the signal is disabled. 2 Eight RSR registration numbers can be registered for RSR. select TRUE for Enable UI signals on the system setting screen. 3 A pulse of the RSR acknowledgment output (ACK1 to ACK4) corresponding to the RSR1 to RSR8 input is output. it is ignored.14. not RSR121. Starting a program involving operation (group) by RSR is enabled when the operation enable conditions as well as the remote conditions are satisfied. the peripheral device input signal (UI) is disabled. 4 When a program is in the terminated state. NOTE In the initial status. the following value is used as the program number: (Program number) = (RSR2 registration number) + (base number) The selected program is named as follows: RSR + (program number) NOTE Specify the name of a program for automatic operation in “RSR” + (program number) format. To enable the signal. SETTING UP THE ARC SYSTEM B--81464EN--3/01 3.3. The base number is set in $SHELL_CFG. the selected program is started. Robot Service Request Whether to enable or disable RSR $RSR 1 Enabled $RSR 2 Enabled Base number $RSR 3 Enabled $RSR 4 Enabled $SHELL_CFG. The CMDENBL output is provided to indicate whether the above conditions are satisfied. Checks whether RSR2 is enabled or disabled. the robot will not operate. Starting a program by RSR is enabled in the remote state. The value obtained by adding a base number to an RSR registration number is used as the program number (four digits). Figure 3--30. the control unit accepts another RSR input. the request (job) is entered into the queue and the selected program is started when the program being executed terminates. If not. Starts the RSR program having the selected RSR program number.1 Robot service request (RSR) The robot service request (RSR) starts a program from an external device. Both functions cannot be used simultaneously. SETTING UP THE ARC SYSTEM B--81464EN--3/01 Figure 3--31. 106 . When an RSR signal is disabled and the specified signal is input.) RSR2 ( I ) ACK2 ( O ) Set RSR for SETUP RSR/PNS on the RSR setting screen.) (The program is started at the rising edge. RSR1 to 4 program number Specifies whether to enable or disable RSR1 to RSR8 and the RSR registration numbers.3. After changing this setting. to enable the change. Acknowledge pulse width Sets the pulse output period (unit: msec) when the output of each RSR acknowledgment signal (ACK1 to ACK8) is enabled.) RSR1 ( I ) Within 32 msec ACK1 ( O ) (The pulse width is set using a parameter.) Within 35 msec PROGRUN ( O ) (When an RSR signal is being input or an ACK signal is being output. Sequence of Automatic Operation by RSR CMDENBL ( O ) (The remote conditions are satisfied. then on again. the program is not started. Setting whether to enable or disable each RSR is stored in system variable $RSR1 to $RSR8. Base number Added to the RSR registration number to obtain the RSR program number. RSR Setting Items Item RSR or PNS Description Select either the RSR or PNS automatic operation function. Acknowledge function Sets whether to output RSR acknowledgment signals (ACK1 to ACK8). turn the power off. another RSR signal can also be accepted. Table 3--13. ” The RSR/PNS setting screen appears. then press F3 DETAIL. 5 Position the carsor to “Program select mode”. WARNING After the type of automatic operation function is changed. the power to the control unit must be turned off. Press F4 [CHOICE] and select RSR. 3 Press F1 (TYPE) to display the screen switching menu. 4 Select “RSR/PNS. the setting is not accepted. then on again. RSR 5 I/O 6 SETUP 7 FILE RSR/PNS 1 2 3 4 5 6 7 8 9 10 11 MENUS RSR/PNS TYPE F1 JOINT 30% 1/11 RSR [ RSR] RSR1 program number [ENABLE] [ 12] RSR2 program number [ENABLE] [ 21] RSR3 program number [ENABLE] [ 33] RSR4 program number [ENABLE] [ 49] RSR5 program number [ENABLE] [ 50] RSR6 program number [ENABLE] [ 60] RSR7 program number [ENABLE] [ 70] RSR8 program number [ENABLE] [ 80] Base number [ 100] Acknowledge function [TRUE] Acknowledge pulse width (msec) [ 200] [TYPE] 6 Position the cursor to the target item and enter a value. SETTING UP THE ARC SYSTEM B--81464EN--3/01 Procedure 3--22 Step Setting RSR 1 Press MENUS to display the screen menu.3. 7 After changing PNS to RSR. to enable the change. turn the power off. then on again to enable the change. 107 . 2 Select SETUP. If not. SNO1 to SNO8 output a zero. NOTE In the initial status. select TRUE for Enable UI signals on the system setting screen. An SNACK pulse is output simultaneously. PNS1 to PNS8. The sum of the PNS number and the reference number is a PNS program number (four digits). The base number is set in $SHELL_CFG. 5 The control unit receives the PROD_START input and starts the program. Enter a 4--digit number such as PNS0138. the system enters the status in which no program is selected on the teach pendant. (Program number)=(PNS number)+(Base number) The specified PNS+(Program number) program number is named as follows.14. and sends the automatic operation start input (PROD_START). The CMDENBL output is provided to indicate whether the above conditions are satisfied. Starting a program involving an operation (group) is enabled when the operation enable conditions as well as the remote conditions are satisfied. Starting a program by PNS is enabled in the remote state. the selection of a program from the teach pendant is disabled. not PNS138.2 Program number selection (PNS) The remote controller uses the program number selection (PNS) function to select or collate a program. 2 The data of signals PNS1 to PNS8 is converted into a decimal PNS number. the peripheral device input signal (UI) is disabled. 4 The remote control unit checks that the SNO1 to SNO8 output value is the same as the PNS1 to PNS8 input value when SNACK is output. SETTING UP THE ARC SYSTEM B--81464EN--3/01 3. NOTE Specify the name of a program for automatic operation in “PNS” + (program number) format.$JOB_BASE and can be changed using Base number on the PNS setting screen or a program parameter instruction. Step 1 The control unit reads the PNS1 to PNS8 input signals as a binary number by the PNSTROBE pulse input. the robot will not operate. Specify a desired PNS program number with the input signals. 3 SNO1 to SNO8 are output to indicate a PNS number as a binary code as confirmation. When a program is being executed or is temporarily stopped. When the PNSTROBE pulse input is on. If not.3. If the PNS number cannot be represented as an 8--bit numeric value. 108 . To enable the signal. these signals are ignored. When a zero is input by the PNS1 to PNS8 inputs. 3. SETTING UP THE ARC SYSTEM B--81464EN--3/01 Figure 3--32. 2. the selected PNS program is started. Sequence of Automatic Operation by PNS CMDENBL ( O ) (The remote conditions are satisfied. Program Number Selection PNSTROBE BASE number $SHELL_CFG. but after the SNOs rise.) Within 35 msec PROGRUN ( O ) 109 . When the PROD--START signal goes low.) PNS read (internal processing) Within 130 msec SNO 1 to 8 ( O ) SNACK ( O ) (SNACK rises at almost the same time as SNOs rise.$JOB_BASE 100 PNS1 PNS2 On PNS3 On PNS4 00100110 PNS5 PNS program number PNS number Binary 38 Decimal 0138 PNS program PNS 0138 PNS6 On PNS7 PNS8 SNACK PROD_START 1. Figure 3--33. 3.) PNS 1 to 8 ( I ) At least 0 msec PNSTROBE ( I ) About 30 msec (After detecting the rising edge of PNSTROBE. the control unit reads the PNS value two or more times at intervals of about 15 msec to confirm that the signals are stable. 4. Keep this signal on for at least 100 msec. Signals PNS1 to PNS8 are read and the value is converted into a decimal number. The PNSTROBE signal is input. The pulse width is set using a parameter. This signal cannot be used when it is always on. however. The PNS program having the specified PNS program number is selected. then selects a program.) At least 0 msec PROD_START ( I ) At least 100 msec (The program is started at the falling edge. ” 3 Press the F1 key. turn the power off. 4 Select RSR/PNS. the power to the control unit must be turned off. then on again to enable the change.3. WARNING After the type of automatic operation function is changed. After changing this setting. Table 3--14. The screen change menu is displayed. The screen menu is displayed. PNS Setting Screen 5 I/O 6 SETUP 7 FILE RSR/PNS JOINT 30% 1/3 PNS 1 Base number [ 100] 2 Acknowledge pulse width (msec) [ 200] MENUS RSR/PNS [TYPE] [TYPE] F1 PNS RSR F4 6 Place the cursor on a desired field and enter a value. RSR/PNS]. Setting the PNS function ITEMS DESCRIPTIONS RSR or PNS Select either the RSR or PNS automatic operation function. The PNS setting screen appears. 110 . 2 Select “6 (SETUP). These functions cannot be used simultaneously. If not. Acknowledge pulse width (msec) Sets the pulse output period (unit: msec) of the PNS acknowledgment signal (SNACK). then on again. RSR/PNS Setting screen is displayed. to enable the change. to enable the change. TYPE. 5 Position the cursor to “RSR or PNS” and press F4 (PNS). SETTING UP THE ARC SYSTEM B--81464EN--3/01 Setting the PNS function Set the PNS function on the PNS setting screen [6 (SETUP). Procedure 3--23 Step Setting the PNS function 1 Press the MENUS key. 7 After changing RSR to PNS. the setting is not accepted. Base number The reference number is added to the PNS number to obtain a PNS program number. turn the power off. then on again. Y--. use a corresponding Cartesian coordinate system. A joint coordinate system and a Cartesian coordinate system are used. and z from the origin of the space Cartesian coordinate system to the origin (tool tip point) of the tool Cartesian coordinate system and angular displacements w. y. Figure 3--35.3. The system is defined for the robot or in a work space. and r of the tool Cartesian coordinate system against the X--. The position and attitude of the robot are defined by angular displacements with regard to the joint coordinate system of the joint base. Zu Xt. p. p. Yt. p. SETTING UP THE ARC SYSTEM B--81464EN--3/01 3. Cartesian coordinate system The position and attitude of the robot in the Cartesian coordinate system are defined by coordinates x. Yu. r) is shown below. Meaning of (w.15 Setting coordinate systems A coordinate system defines the position and attitude of the robot. Joint coordinate system The joint coordinate system is defined for robot joints. Joint Coordinate System The coordinate system for each axis in the figure on the right is in the status in which all axes are 0 . r) Zu Zu Zt Zt w Zu p W R Yt Xu w Yt Xu Yu P p Xu r Yu r Yu Xt Xt Zu Zt Yt Xu. and Z--axis rotations of the space Cartesian coordinate system. Zt Coordinate system defined in the work space Coordinate system defined for the tool Xu Yu Xt To operate the robot in a user--specified environment. The following five coordinate systems are available: 111 . Figure 3--34. The meaning of (w. On the basis of the coordinate system. If the coordinate system is not defined. The coordinate system is fixed at a position determined by the robot. the mechanical interface coordinate system substitutes for it. the equipment could be damaged. The tool coordinate system must be specified. the world coordinate system substitutes for it. If the coordinate system is not defined.3. execute the corresponding position register instruction and position compensation instruction. Refer to the Appendix B. World and Tool Coordinate Systems Z World coordinate sysyem Z Y X Y Tool coordinate system X User coordinate system A Cartesian coordinate system defined by the user in each work space. Tool coordinate system A coordinate system that defines the position of the tool center point (TCP) and the attitude of the tool. 112 . the world coordinate system substitutes for it. WARNING If the tool or user coordinate system is changed after program teaching. a tool coordinate system is specified. Figure 3--36. The coordinate system is fixed at a position determined by the robot. The world coordinate system is used for specifying position data and executing the corresponding instruction. Jog coordinate system A coordinate system defined by the user. It is used to specify a position register. You need consider the jog frame origin. On the basis of the coordinate system. a user coordinate system and a jog coordinate system are specified. World coordinate system ( Coordinate system fixed in the work space ) A standard Cartesian coordinate system fixed in a work space. The jog coordinate system is used to efficiently move the robot by jog feed.6 “World Frame Origin” for the origin of the world frame. Otherwise. SETTING UP THE ARC SYSTEM B--81464EN--3/01 Mechanical interface coordinate system ( Coordinate system fixed to the tool ) A standard Cartesian coordinate system defined for the mechanical interface of the robot (the surface of wrist flange). the programmed points and ranges should be reset. If the coordinate system is not defined. since it is used only when the jog frame is selected as the manual--feed coordinate systems. etc. Coordinates w. only the tool center point (x. The tool orientation should be defined by the six point method or the direct list method after the location is set. P.z) can be set. Tool coordinates include (x. F $MNUTOOL [ 1. and z indicate the position of TCP on the mechanical interface coordinate system.15.0). Three Point Method (TCP auto set) [Optional function] Use the three point method to define the tool center point(TCP). and r indicate the attitude of the tool and the angular displacement around the X--. Figure 3--38. TCP auto set by the three point method Reference point 2 Reference point 1 Reference point 3 113 . The tool frame can be set by three following methods. V) is the standard value(0. The tool center point is used to specify the position data.y. In the three point method. the mechanical interface coordinate system substitutes for it. the location of the TCP is automatically calculated. the zero point usually represents the TCP and the Z--axis usually represents the tool axis.1 Setting a tool coordinate system A tool coordinate system is a Cartesian coordinate system that defines the position of the tool center point (TCP) and the attitude of the tool. the three approach directions should differ as much as possible.3. p. and (w. i ] (Frame number i = 1 to 10) is set the value. The setting value of the tool orientation (W. F $MNUTOOLNUM [ 1 ] is set the used tool frame number. Ten tool coordinate systems can be defined. y.The three approach points must be taught with the tool touching a common point from three different approach directions. p. r) indicating the attitude of the tool. SETTING UP THE ARC SYSTEM B--81464EN--3/01 3. Y--.0. y. The attitude of the tool is required to perform tool attitude control. Tool Coordinate System X Z Y Mechanical interface coordinate system Z Tool coordinate system Y X Tool center point The tool coordinate system is defined by using the frame setup screen or changing the following system variables. and Z--axes of the mechanical interface coordinate system. On the tool coordinate system. As a result. z) indicating the position of the tool center point (TCP). Figure 3--37. Coordinates x. The desired one can be selected. To set the TCP accurately. When the tool coordinate system is not defined. The other is the rotating angle (w. Six point method Positive direction of the Z--axis Z Origin Y Positive direction of the X--axis Coodinate system which is parallel to the tool coodinate system X Direct list method The following values can be entered directly. Xt Xt Xm Xm Xt p r W Ym w w Yt Xm.3. r). SETTING UP THE ARC SYSTEM B--81464EN--3/01 Six Point Method The tool center point can be set in the same method as the three point method. and a point on the XZ plane.p. Also. Ym. p. and r indicate a given point in space. Zm Xt.r). Zt Zm R Zt p Zt Ym. teach the robot using Cartesian or tool jog so that the tilt of the tool does not change. set the tool attitude (w. around the x--. Yt. a point in the positive direction of the X--axis parallel to the tool coordinate system. p. p. Teach the robot so that w. Meaning of (w. Yt P Mechanical interface coordinate system Tool coordinate system 114 Ym Zm r Yt Zm . Figure 3--39. Figure 3--40.y--.z) of the TCP position. which specifies the tool frame orientation.and z--axis of the mechanical interface frame. One is the value (x.y. Then. r) used in direct teaching method Xm. 0 ************* 3: 0.0 ************* Active TOOL $MNUTOOLNUM[1]=1 [ TYPE ] DETAIL [OTHER ] CLEAR SETIND MENUS Frames [TYPE] F1 1 Tool Frame 2 Jog Frame 3 User Frame [ TYPE ] DETAIL OTHER F3 6 Move the cursor to the line of the tool frame number you want to set. 4 Select Frames.0 ************* 5: 0.0 R: 0.0 P: 0.0 ************* 2: 0.3.0 Comment: TOOL 1 Approach point 1: UNINIT Approach point 2: UNINIT Approach point 3: UNINIT Active TOOL $MNUTOOLNUM[1]=1 [ TYPE ][METHOD] FRAME 115 .0 0. SETTING UP THE ARC SYSTEM B--81464EN--3/01 Procedure 3--24 Step TCP auto set (Three Point Method) 1 Press the MENUS key. OTHER and then select Tool Frame. 7 Press F2. 5 Press F3. The screen menu is displayed. TYPE.0 0. [ TYPE ] DETAIL [OTHER ] F2 8 Press F2.0 Z: 0.0 0. Tool frame list screen is displayed.0 Y: 0.0 0.0 0. Tool frame setup screen (Three Point Method) 1 Three Point 2 Six Point 3 Direct Entry [ TYPE ] METHOD FRAME F2 SETUP Frames JOINT 30 % Tool Frame Setup/ Three Point 1/4 Frame Number: 1 X: 0.METHOD and then select Three Point. 2 Select “6 (SETUP). Tool frame list screen 5 I/O 6 SETUP 7 FILE SETUP Frames JOINT 30 % Tool Frame Setup/ Direct Entry 1/5 X Y Z Comment 1: 0.0 ************* 4: 0.0 0. The screen change menu is displayed.” 3 Press the F1 key.0 0.The tool frame setup screen of the selected frame number is displayed.0 0.0 0.0 W: 0.0 0.DETAIL. NOTE Move the tool in three different directions to bring the tool tip to an identical point.3. Then. RECORDED is displayed. b Jog the robot to the position you want to record. record the three reference points. SETUP Frames JOINT 30 % Tool Frame Setup/ Three Point 4/4 Frame Number: 1 X: 100. Approach point 3: SETUP Frames FRAME MOVE_TO RECORD F5 SHIFT JOINT Approach point 1: Approach point 2: Approach point 3: [ TYPE ][METHOD] FRAME 30 % RECORDED RECORDED UNINIT MOVE_TO RECORD d When all the reference points are taught. 10 Record each approach point: a Move the cursor to each approach point. press and hold the SHIFT key and press F4. JOINT 1 [ 30 % ] ENTER b Select the method of naming the comment. d When you are finished.0 P: 0. SETTING UP THE ARC SYSTEM B--81464EN--3/01 9 To add a comment: a Move the cursor to the comment line and press the ENTER key.0 W: 0. press the ENTER key. move the cursor to each reference position item and press the ENTER key. c Press and hold the SHIFT key and press F5. To return to the previous screen.0 Comment: TOOL 1 Approach point 1: USED Approach point 2: USED Approach point 3: USED [ TYPE ][METHOD] FRAME MOVE_TO RECORD 11 To move the robot to a recorded position. c Press the appropriate function keys to add the comment. USED is displayed. The position detail screen of each position data is displayed.0 Y: 0.0 Z: 120. press the PREV key.MOVE_TO.RECORD to record the data of the current position as the reference position. The tool frame has been set. As for the taught reference point. FRAME SHIFT MOVE_TO RECORD F4 12 To see the data of each recorded position. 116 .0 R: 0. 0 0.0 0.0 0.3. press the PREV key.0 [ TYPE ] DETAIL [OTHER ] Comment TOOL1 ************* ************* ************* ************* CLEAR SETIND 14 To use the set tool frame as an effective tool frame now.0 0.2. 15 To delete the data of the set frame. FRAME MOVE_TO RECORD F5 CAUTION To make the set frame effective.0 Z 120.y.0 0. See Section 5. move the cursor to the desired frame and press F5.SETIND. move the cursor to the desired frame and press F4. the current setting information will be lost when it is changed.0 0.z. [OTHER ] CLEAR SETIND F4 117 .SETIND.” CAUTION After all coordinate systems are set.0 0. the jog menu can also be used.0 Y 0.CLEAR. NOTE To select the number of a coordinate system to be used. SETTING UP THE ARC SYSTEM B--81464EN--3/01 13 To display the tool frame list screen.0 0.0 0.2 “Moving the robot jog feed. You can see the settings(x. Otherwise.and comment) for all tool frames.0 0. the setting information should be saved in external storage (floppy disk. press F5. for example) in case the information needs to be re--loaded.0 0. PREV SETUP Frames JOINT 30 % Tool Frame Setup/ Direct Entry 1/5 1: 2: 3: 4: 5: X 100.0 0. 0 0.0 W: 0.0 0. SETTING UP THE ARC SYSTEM Procedure 3--25 Step B--81464EN--3/01 Setting Up Tool Frame Using the Six Point Method 1 Display the tool frame list screen (Refer to the three point method).0 P: 0. FRAME SHIFT MOVE_TO RECORD F5 SETUP Frames JOINT 30 % Approach point 1: RECORDED Approach point 2: RECORDED Approach point 3: RECORDED Orient Origin Point: RECORDED X Direction Point: UNINIT Z Direction Point: UNINIT Active TOOL $MNUTOOLNUM[1]=1 [ TYPE ][METHOD] FRAME MOVE_TO RECORD 118 . SETUP Frames JOINT 30 % Tool Frame Setup/ Direct Entry 2/5 X Y Z Comment 1: 100.0 ************* 4: 0.0 ************* 3: 0.0 0. a Press and hold the SHIFT key and press F5.0 ************* 5: 0.METHOD.0 Z: 0. 3 Press F2. The tool frame setup / six point screen is displayed.0 120. refer to TCP auto set (Three Point Method). For details. Tool frame setup screen (Six Point Method) [ TYPE ] DETAIL [OTHER ] F2 1 Three Point 2 Six Point 3 Direct Entry [ TYPE ] METHOD FRAME SETUP Frames JOINT 30 % Tool Frame Setup/ Six Point 1/7 Frame Number: 2 X: 0.0 0. 4 Press F2.0 Comment:******************** Approach point 1: UNINIT Approach point 2: UNINIT Approach point 3: UNINIT Orient Origin Point: UNINIT X Direction Point: UNINIT Z Direction Point: UNINIT Active TOOL $MNUTOOLNUM[1]=1 [ TYPE ][METHOD] FRAME F2 6 Add a comment and teach the reference point.0 0.3.0 R: 0.0 TOOL1 2: 0. RECORDED is displayed.0 0.RECORD to record the data of the current position as the reference position. As for the taught reference point.0 0.0 Y: 0. 5 Select Six Point.0 0.0 0.0 ************* Active TOOL $MNUTOOLNUM[1]=1 [ TYPE ] DETAIL [OTHER ] CLEAR SETIND 2 Move the cursor to the tool frame number line you want to set. The tool frame setup screen of the selected frame number is displayed.DETAIL. ” CAUTION After all coordinate systems are set.0 TOOL2 3: 0.0 P: 0. SETTING UP THE ARC SYSTEM B--81464EN--3/01 b When all the reference points are taught.0 ************* 5: 0.0 30. [OTHER ] CLEAR SETIND F4 119 .0 0.0 0.3.SETIND. NOTE To select the number of a coordinate system to be used. the setting information should be saved in external storage (floppy disk. [OTHER ] CLEAR SETIND F5 CAUTION To make the set frame effective.2 “Moving the robot jog feed.0 TOOL1 2: 200.0 0.0 120. SETUP Frames JOINT 30 % Tool Frame Setup/ Six Point 1/7 Frame Number: 2 X: 200. press F5 (SETIND).0 R: 180.0 Comment: TOOL2 Approach point 1: USED Approach point 2: USED Approach point 3: USED Orient Origin Point: USED X Direction Point: USED Z Direction Point: USED Active TOOL $MNUTOOLNUM[1]=1 [ TYPE ][METHOD] FRAME 7 Press the PREV key. You can see all the tool frame settings. move the cursor to the desired frame and press F4.5 W: -90. Otherwise. See Section 5.0 0. for example) in case the information needs to be re--loaded.0 0. PREV SETUP Frames JOINT 30 % Tool Frame Setup/ Direct Entry 2/5 X Y Z Comment 1: 100.0 Y: 0. the jog menu can also be used. The tool frame list screen is displayed.0 0.0 255. To delete the data of the set frame.0 ************* 4: 0.2.0 0. then enter the frame number. The tool frame has been set.0 Z: 255.0 ************* Active TOOL $MNUTOOLNUM[1]=1 [ TYPE ] DETAIL [OTHER ] CLEAR SETIND 8 To make the set tool frame effective. move the cursor to the desired frame and press F5.CLEAR. the current setting information will be lost when it is changed. USED is displayed. 0 0.0 120. Tool Frame Setup / Direct Entry screen is displayed.0 ************* Active TOOL $MNUTOOLNUM[1]=1 [ TYPE ] DETAIL [OTHER ] CLEAR SETIND 2 Move the cursor to the tool frame number line you want to set. 4 Press F2. JOINT 1 [ 30 % ] ENTER 120 . 0 Active TOOL $MNUTOOLNUM[1]=1 [ TYPE ][METHOD] FRAME F2 6 Add a comment. SETUP Frames JOINT 30 % Tool Frame Setup/ Direct Entry 3/5 X Y Z Comment 1: 100. SETTING UP THE ARC SYSTEM Procedure 3--26 Step B--81464EN--3/01 Setting Up Tool Frame Using the Direct List Method 1 Display the tool frame list screen (Refer to the three point method).0 255. Tool frame setup screen (Direct List Method) [ TYPE ] DETAIL [OTHER ] F2 1 Three Point 2 Six Point 3 Direct Entry [ TYPE ] METHOD FRAME SETUP Frames JOINT 30 % User Frame Setup/ Direct Entry 1/7 Frame Number: 3 1 Comment: ******************** 2 X: 0.0 30.0 TOOL1 2: 200.000 7 R: 0.DETAIL or press the ENTER key.0 0. 5 Select Direct Entry.000 5 W: 0.0 0.0 ************* 5: 0.0 ************* 4: 0.3.000 3 Y: 0.0 0. .000 4 Z: 0. The tool frame setup screen of the selected frame number is displayed.0 0.0 0. Refer to TCP auto set (Three Point Method) for details.0 TOOL2 3: 0. 3 Press F2.METHOD.000 Configuration: N D B.0 0.000 6 P: 0. then enter the frame number.000 6 P: 0.0 30.0 0. To delete the data of the set frame. a Move the cursor to each component.3.0 350. the setting information should be saved in external storage (floppy disk. [OTHER ] CLEAR SETIND F4 121 . . c Press the ENTER key.0 255.0 0. SETTING UP THE ARC SYSTEM B--81464EN--3/01 7 Enter the coordinate values of the tool frame. press F5 (SETIND). press the PREV key. Otherwise. A new numerical value is set. 0 Active TOOL $MNUTOOLNUM[1]=1 [ TYPE ][METHOD] FRAME 8 To display the tool frame list screen. NOTE To select the number of a coordinate system to be used. You can see the settings of all the tool frame. move the cursor to the desired frame and press F5.0 0.SETIND. JOINT 30 % 0. b Enter a new numerical value by using the numerical keys. [OTHER ] CLEAR SETIND F5 CAUTION To make the set frame effective. the current setting information will be lost when it is changed.CLEAR.0 120.0 0.000 4 Z: 350.0 TOOL2 3: 0. See Section 5.0 ************* 5: 0.0 3 5 0 SETUP Frames JOINT 30 % User Frame Setup/ Direct Entry 4/7 Frame Number: 3 1 Comment: TOOL3 2 X: 0.000 5 W: 180.000 3 Y: 0.2.0 0.3 “Moving the robot jog feed.0 ************* Active TOOL $MNUTOOLNUM[1]=1 [ TYPE ] DETAIL [OTHER ] CLEAR SETIND 9 To make the set tool frame effective.” CAUTION After all coordinate systems are set.0 TOOL1 2: 200.000 8 Configuration: N D B.0 0. move the cursor to the desired frame and press F4. PREV SETUP Frames JOINT 30 % Tool Frame Setup/ Direct Entry 3/5 X Y Z Comment 1: 100. for example) in case the information needs to be re--loaded.000 7 R: 0.0 TOOL3 4: 0. the jog menu can also be used. Y--. and Z--axes on the world coordinate system. Note that both position variables and registers are affected by the user coordinate systems in other cases. Define the user coordinate system by (x. The desired one can be selected F $MNUFRAME [ 1. “Position Data.3. see Section 4. Figure 3--41. World and User Coordinate Systems Z -- + World coodinate system -- Y + Z -Y + Z X User coordinate system 1 Y User coordinate system 2 X X The following system variables are changed by defining the user frame with the frame setup screen. Nine user coordinate systems can be defined.” For the execution of the position compensation instruction. SETTING UP THE ARC SYSTEM B--81464EN--3/01 3. “Position Register. F $MNUFRAMENUM [ 1 ] is set the user frame number you want to use. changing the user coordinate system does not affect the position variables and position registers. r) indicating the angular displacement around the X--.2. The user frame can be defined by the following three methods. the position variables are not affected by the user coordinate systems.3.3. p. For the specification of the position register. i ] (Frame number i = 1 to 9 ) is set the value. When the robot is taught in the Cartesian format and the user coordinate system input option is not used.” CAUTION If teaching is made by joint coordinates. 122 .15.2 Setting a user coordinate system A user coordinate system is a Cartesian coordinate system defined for each work space by the user. “Additional Motion Instruction. z) indicating the position of the zero point and (w. If the coordinate system is not defined. The user coordinate system is used to specify a position register and execute the corresponding position register instruction and position compensation instruction.6.4. see Section 7.” For the execution of the position register instruction. see Section 4. y. the world coordinate system substitutes for it. Xu Xw Yw p Xu Xw.z) which specifies the origin of the user frame and is the coordinate values of the world frame and the rotating angle (w. Figure 3--44.y. Zw World coordinate system Xu. the point which specifies the positive direction of the x--axis. Yw.r) used in direct list method Zw Zw Zu Zu w Zw.p.r) around the x--. Yu r Xu r Yu Yw . and the origin of the frame.3. The origin of the x--axis is used as the origin of the frame.and z--axis of the world frame. Meaning of (w. Four Point Method Z Y Origin Origin of the X axis X Positive direction of the Y axis Positive direction of the X axis Direct List Method Enter the following values directly: the value (x.y--. a point on the x--y plane.p. Three Point Method Z Origin Positive direction of the Y axis Y X Positive direction of the X axis Four Point Method Teach the following four points:the origin of the x--axis parallel to the frame. Yu. and the point on the x--y plane. Figure 3--43. Zu p W R Yu w Xw. SETTING UP THE ARC SYSTEM B--81464EN--3/01 Three Point Method Teach the following three points: the origin of the x--axis. Figure 3--42.the point which specifies the positive direction of the x--axis. Zu User coordinate system 123 P Xw Yw. 0 ************* 5: 0.0 Y: 0.0 ************* Active UFRAME $MNUFRAMNUM[1]=0 [ TYPE ] DETAIL [OTHER ] CLEAR SETIND Frames [TYPE] F1 1 Tool Frame 2 Jog Frame 3 User Frame [ TYPE ] DETAIL OTHER F3 6 Move the cursor to the line of the user frame number you want to set.” 3 Press the F1 key. User frame list screen 5 I/O 6 SETUP 7 FILE SETUP Frames JOINT User Frame Setup/ Direct Entry MENUS 30 % 1/5 X Y Z Comment 1: 0.0 W: 0. The user frame list screen is displayed. The user frame setup screen of the selected frame number is displayed. The screen change menu is displayed. 2 Select “6 (SETUP). 7 Press F2. OTHER and then select User Frame.0 ************* 4: 0. [ TYPE ] DETAIL [OTHER ] F2 8 Press F2.0 0.3.0 R: 0.0 ************* 3: 0.0 0. SETTING UP THE ARC SYSTEM Procedure 3--27 Step B--81464EN--3/01 Setting Up the User Frame Using the Three Point Method 1 Press the MENUS key. User frame setup screen (Three Point Method) 1 Three Point 2 Four Point 3 Direct Entry [ TYPE ] METHOD FRAME F2 SETUP Frames JOINT 30 % User Frame Setup/ Three Point 1/4 Frame Number: 1 X: 0.0 0.0 0.0 0.0 Comment:******************** Orient Origin Point: UNINIT X Direction Point: UNINIT Y Direction Point: UNINIT Active UFRAME $MNUFRAMNUM[1]=0 [ TYPE ][METHOD] FRAME 124 . The screen menu is displayed.0 P: 0.0 0. 5 Press F3. TYPE. 4 Select Frames.0 Z: 0.0 0.0 ************* 2: 0.METHOD and then select Three Point.0 0.DETAIL.0 0.0 0. c Press and hold the SHIFT key and press F5. RECORD to record the current position as the approach point. press the PREV key.3 R: 3. move the cursor to each reference position item and press the ENTER key.0 Z: 10. The user frame has been set. SETTING UP THE ARC SYSTEM B--81464EN--3/01 9 To add a comment: a Move the cursor to the comment line and press the ENTER key. b Jog the robot to the position you want to record. SETUP Frames JOINT 30 % User Frame Setup/ Three Point 4/4 Frame Number: 1 X: 1243. X Direction Point: FRAME MOVE_TO RECORD SETUP Frames JOINT 30 % Orient Origin Point: RECORDED X Direction Point: RECORDED Y Direction Point: UNINIT Active UFRAME $MNUFRAMNUM[1]=0 [ TYPE ][METHOD] FRAME MOVE_TO RECORD F5 SHIFT d When all the reference points are taught.1 P: 2.2 Comment: REFERENCE FRAME Orient Origin Point: USED X Direction Point: USED Y Direction Point: USED Active UFRAME $MNUFRAMNUM[1]=0 [ TYPE ][METHOD] FRAME MOVE_TO RECORD 11 To move to a recorded position. 125 .6 Y: 0. c Press the appropriate function keys to add the comment. RECORDED is displayed. JOINT [ 30 % ] ENTER b Select the method of naming the comment. press ENTER key. press and hold the SHIFT key and press F4. USED is displayed. SETUP Frames Comment: JOINT 30 % REFERENCE FRAME [ TYPE ][METHOD] FRAME 10 Record each approach point: a Move the cursor to each approach point. d When you are finished.0 W: 0. The position detail screen of each position data is displayed. FRAME SHIFT MOVE_TO RECORD F4 12 To see the data of each recorded position. As for the taught reference point.MOVE_TO.3. To return to the previous screen. 0 0.0 ************* 3: 0. [OTHER ] CLEAR SETIND F5 CAUTION To make the set frame effective.3 “Moving the robot jog feed. SETTING UP THE ARC SYSTEM B--81464EN--3/01 13 To display the user frame list screen.0 0.3.0 0. You can see the settings for all user frames. [OTHER ] CLEAR SETIND F4 126 .2.0 43.0 ************* Active UFRAME $MNUFRAMNUM[1]=0 [ TYPE ] DETAIL [OTHER ] CLEAR SETIND 14 To make the set user frame effective. then enter the frame number.SETIND.0 0.0 ************* 4: 0. press F5 (SETIND).CLEAR.” CAUTION After all coordinate systems are set. 15 To delete the data of the set frame.0 0.0 0. the setting information should be saved in external storage (floppy disk. NOTE To select the number of a coordinate system to be used. move the cursor to the desired frame and press F5. move the cursor to the desired frame and press F4. PREV SETUP Frames JOINT 30 % User Frame Setup/ Three Point 1/5 X Y Z Comment 1: 1243.0 0. press the PREV key.0 ************* 5: 0. for example) in case the information needs to be re--loaded. the jog menu can also be used.8 REFERENCE FR> 2: 0.6 0. See Section 5. Otherwise. the current setting information will be lost when it is changed.0 0. 2 Comment: RIGHT FRME Orient Origin Point: USED X Direction Point: USED Y Direction Point: USED System Origin: USED Active UFRAME $MNUFRAMNUM[1]=0 [ TYPE ][METHOD] FRAME MOVE_TO RECORD 127 .0 0.0 Y: 0.0 W: 0.0 0.0 Comment:******************** Orient Origin Point: UNINIT X Direction Point: UNINIT Y Direction Point: UNINIT System Origin: UNINIT Active UFRAME $MNUFRAMNUM[1]=0 [ TYPE ][METHOD] FRAME 6 Add a comment and teach the reference point. For details.34 R: 3.8 REFERENCE FR> 2: 0. The user frame setup screen of the selected frame number is displayed. SETTING UP THE ARC SYSTEM B--81464EN--3/01 Procedure 3--28 Step Setting the User Frame Using the Four Point Method 1 Display the user frame list screen (Refer to the three point method) SETUP Frames JOINT 30 % User Frame Setup/ Three Point 2/5 X Y Z Comment 1: 1243.0 ************* 5: 0. User frame setup screen (Four Point Method) 1 Three Point 2 Four Point 3 Direct Entry [ TYPE ] METHOD FRAME F2 SETUP Frames JOINT 30% User Frame Setup/ Four Point 1/5 Frame Number: 2 X: 0. [ TYPE ] DETAIL [OTHER ] F2 4 Press F2.0 Z: 0.0 0.2 Z: 43.9 W: 0. refer to TCP auto set ( Three Point Method ).0 0.123 P: 2.0 0.0 P: 0.DETAIL.3.0 ************* 4: 0. SETUP Frames JOINT 30% User Frame Setup/ Four Point 5/5 Frame Number: 2 X: 1243.0 R: 0. 3 Press F2.0 0.METHOD 5 Select Four Point.6 0.0 0.0 ************* 3: 0.0 0.0 ************* Active UFRAME $MNUFRAMNUM[1]=0 [ TYPE ] DETAIL [OTHER ] CLEAR SETIND 2 Move the cursor to the user frame number line you want to set. The user frame setup / four point screen is displayed.0 43.6 Y: 525. move the cursor to the desired frame and press F4.” CAUTION After all coordinate systems are set.2 43. NOTE To select the number of a coordinate system to be used. then enter the frame number.6 0. for example) in case the information needs to be re--loaded.8 REFERENCE FR> 2: 1243.CLEAR.0 43.8 RIGHT FRAME 3: 0. move the cursor to the desired frame and press F5. SETTING UP THE ARC SYSTEM B--81464EN--3/01 7 Press the PREV key. You can see all the user frame settings. See Section 5. [OTHER ] CLEAR SETIND F5 CAUTION To make the set frame effective.SETIND.0 0.0 0.0 ************* Active UFRAME $MNUFRAMNUM[1]=0 [ TYPE ] DETAIL [OTHER ] CLEAR SETIND 8 To make the set user frame effective.2. 9 To delete the data of the set frame. the setting information should be saved in external storage (floppy disk. PREV SETUP Frames JOINT 30 % User Frame Setup/ Four Point 2/5 X Y Z Comment 1: 1243. [OTHER ] CLEAR SETIND F4 128 . The user frame list screen is displayed.0 0.0 ************* 5: 0.0 ************* 4: 0. the jog menu can also be used. the current setting information will be lost when it is changed.3 “Moving the robot jog feed.3.0 0.6 525. Otherwise.0 0.0 0. press F5 (SETIND). .8 RIGHT FRAME 3: 0.6 0.0 0.0 0. refer to tool frame (Direct Entry Method). 0 Active UFRAME $MNUFRAMNUM[1]=0 [ TYPE ][METHOD] FRAME MOVE_TO RECORD F2 6 Add a comment and enter the coordinate values. The user frame setup / direct list is displayed. 0 Active UFRAME $MNUFRAMNUM[1]=0 [ TYPE ][METHOD] FRAME MOVE_TO RECORD 129 .2 43.9 5 W: 0.0 ************* Active UFRAME $MNUFRAMNUM[1]=0 [ TYPE ] DETAIL [OTHER ] CLEAR SETIND 2 Move the cursor to the user frame number line you want to set.0 ************* 4: 0.000 5 W: 0. The user frame setup screen of the selected frame number is displayed. SETTING UP THE ARC SYSTEM B--81464EN--3/01 Procedure 3--29 Step Setting the User Frame Using the Direct Entry Method 1 Display the user frame list screen (Refer to the three point method).000 3 Y: 0.8 REFERENCE FR> 2: 1243.2 4 Z: 43. For details. SETUP Frames JOINT 30 % User Frame Setup/ Direct Entry 4/7 Frame Number: 3 1 Comment: LEFT FRAME 2 X: 1243.000 7 R: 0.3.0 0.000 Configuration: N D B. 3 Press F2.0 ************* 5: 0.0 0.DETAIL or press the ENTER key. 4 Press F2.6 3 Y: -525.6 525. User frame setup screen (Direct Entry Method) [ TYPE ] DETAIL [OTHER ] F2 1 Three Point 2 Four Point 3 Direct Entry [ TYPE ] METHOD FRAME SETUP Frames JOINT 30 % User Frame Setup/ Direct Entry 1/7 Frame Number: 3 1 Comment: ******************** 2 X: 0.000 6 P: 0. 5 Select Direct Entry.123 6 P: 2. SETUP Frames JOINT 30 % User Frame Setup/ Four Point 3/5 X Y Z Comment 1: 1243.METHOD.0 0.0 0.34 7 R: 3.0 43. .2 Configuration: N D B.000 4 Z: 0. See Section 5. move the cursor to the desired frame and press F4.6 525.0 0. press the PREV key.0 ************* 5: 0. Otherwise. the jog menu can also be used. move the cursor to the desired frame and press F5.2.0 0. 9 To delete the data of the set frame.8 REFERENCE FR> 2: 1243.” CAUTION After all coordinate systems are set. [OTHER ] CLEAR SETIND F4 130 . for example) in case the information needs to be re--loaded.CLEAR. SETTING UP THE ARC SYSTEM B--81464EN--3/01 7 To display the user frame list screen.0 43. You can see the settings of all the user frame.6 -525.6 0.8 RIGHT FRAME 3: 1243. [OTHER ] CLEAR SETIND F5 CAUTION To make the set frame effective.3.SETIND.0 0. PREV SETUP Frames JOINT 30 % User Frame Setup/ Three Point 3/5 X Y Z Comment 1: 1243.3 “Moving the robot jog feed.0 ************* Active UFRAME $MNUFRAMNUM[1]=0 [ TYPE ] DETAIL [OTHER ] CLEAR SETIND 8 To make the set user frame as effective.SETIND.2 43.8 LEFT FRAME 4: 0.2 43. the current setting information will be lost when it is changed. press F5. NOTE To select the number of a coordinate system to be used. the setting information should be saved in external storage (floppy disk.0 0. The zero point of the jog coordinate system has no special meaning. r) indicating the angular displacement around the X--. (See Section 5. y. NOTE You need not consider the jog frame origin.3. and (w.y--. p. Five jog frames can be set and they can be switched according to the situation.the positive direction of the x--axis.) The jog coordinate system is defined by (x. Refer to Figure 3--44. $JOGFRAME is set the jog frame you want to used. Direct List Method The origin position x. Jog frame can be set by two methods. 131 .2. The start point of the x--axis is used as the origin of the frame. It is used to efficiently move the robot by Cartesian jog in the work space.3. it is not affected by changes of the user frame or the execution of the program. since it is used only when the jog frame is selected as the manual--feed coordinate systems. the world frame substitutes for them. F $JOG_GROUP [ 1 ] . and z--axis of the world frame can be input directly.15.y and z of the jog frame in the world frame and the rotating angle w. Select any convenient position for defining the jog coordinate system.and one point on the x--y plane. They are the start point of the x--axis. Figure 3--45. Jog Coordinate System Z Y X The following system variables are changed by setting the jog frame with the frame setup screen. When they are undefined. Y--. Moreover. and r around the x--.3 Setting a jog coordinate system A jog coordinate system is a Cartesian coordinate system defined in a work space by the user. Refer to Figure 3--42. z) indicating the position of the zero point. SETTING UP THE ARC SYSTEM B--81464EN--3/01 3.p. Three Point Method Three reference points need be taught. and Z--axes on the world coordinate system. Jog frame list screen 5 I/O 6 SETUP 7 FILE SETUP Frames JOINT 30 % Jog Frame Setup / Three Point 1/5 X Y Z Comment 1: 0. Jog frame entry screen is displayed.0 0.0 ************* MENUS Frames [ TYPE ] DETAIL [OTHER ] CLEAR JGFRM TYPE 1 Tool Frame 2 Jog Frame 3 User Frame F1 [ TYPE ] DETAIL OTHER F3 7 Move the cursor to the line of the jog frame number you want to set. Jog frame setup screen ( Three Point Method) 1 Three Point 2 Direct Entry [ TYPE ] METHOD FRAME F2 SETUP Frames JOINT 30 % Jog Frame Setup / Three Point 1/4 Frame Number: 1 X: 0.0 0.0 P: 0. TYPE. 3 Press the F1 key.0 0.3.0 W: 0. 2 Select 6 (SETUP).0 Y: 0.0 ************* 4: 0. The screen menu is displayed.0 0.0 0.0 0.0 Comment:******************** Orient Origin Point: UNINIT X Direction Point: UNINIT Y Direction Point: UNINIT [ TYPE ][METHOD] FRAME 132 .0 0. 4 Select Frames.0 ************* 2: 0.0 0. 10 Select Three Point. 8 Press F2. SETTING UP THE ARC SYSTEM Procedure 3--30 Step B--81464EN--3/01 Setting Up the Jog Frame Using the Three Point Method 1 Press the MENUS key.DETAIL.METHOD. The jog frame setup screen of the selected frame number is displayed.0 0. OTHER 6 Select Jog Frame.0 0.0 Z: 0. The screen change menu is displayed. [ TYPE ] DETAIL [OTHER ] F2 9 Press F2. 5 Press F3.0 ************* 3: 0.0 R: 0.0 ************* 5: 0. 3. Otherwise.0 WORK AREA 1 2: 0. press the PREV key. You can see the settings for all user frames.2 60. SETUP Frames JOINT 30 % Jog Frame Setup / Three Point 4/4 Frame Number: 1 X: 1243. You can see all the jog frame settings. move the cursor to the desired frame and press F5. the setting information should be saved in external storage (floppy disk.0 ************* [ TYPE ] DETAIL [OTHER ] CLEAR JGFRM 14 To make the set jog frame effective.0 0.CLEAR. 13 To display the user frame list screen.0 0. PREV SETUP Frames JOINT 30 % Jog Frame Setup / Three Point 1/5 X Y Z Comment 1: 1243. SETTING UP THE ARC SYSTEM B--81464EN--3/01 11 Add a comment and teach the reference point.2. for example) in case the information needs to be re--loaded.JGFRM.0 ************* 3: 0. NOTE To select the number of a coordinate system to be used.6 Y: 0.3 R: 3.0 0. See Section 5. the jog menu can also be used. 15 To delete the data of the set frame.0 Z: 10. For details.3 “Moving the robot jog feed. The jog frame list screen is displayed. press F5 (JGFRM).0 ************* 5: 0.0 0. [OTHER ] CLEAR JGFRM F5 CAUTION To make the set frame effective.0 ************* 4: 0.2 Comment: WORK AREA 1 Orient Origin Point: RECORDED X Direction Point: RECORDED Y Direction Point: UNINIT [ TYPE ][METHOD] FRAME MOVE_TO RECORD 12 Press the PREV key. the current setting information will be lost when it is changed.” CAUTION After all coordinate systems are set.0 0.0 0. move the cursor to the desired frame and press F4.1 P: 2.0 W: 0. [OTHER ] CLEAR JGFRM F4 133 .0 0.0 0.6 525. then enter the frame number. refer to TCP auto set (Three Point Method). 0 0.0 0. Jog Frame Setup Screen (Direct Entry Method) [ TYPE ] DETAIL [OTHER ] F2 1 Three Point 2 Direct Entry [ TYPE ] METHOD FRAME SETUP Frames JOINT 30 % Jog Frame Setup / Direct Entry 1/7 Frame Number: 2 1 Comment: ******************** 2 X: 0.0 0. refer to TCP auto set (Three Point Method).0 0.2 60. 0 [ TYPE ][METHOD] FRAME 134 MOVE_TO RECORD .000 4 Z: 90.0 ************* [ TYPE ] DETAIL [OTHER ] CLEAR JGFRM 2 Move the cursor to the jog frame number line you want to set.000 5 W: 0. SETTING UP THE ARC SYSTEM Procedure 3--31 Step B--81464EN--3/01 Setting Up Jog Frame Using the Direct List Method 1 Display the jog frame list screen (Refer to the three point method). 5 Select Direct Entry.000 Configuration: N D B.000 3 Y: 0. .0 0.000 6 P: 0.000 3 Y: -236.0 0.6 525. .000 7 R: 0. For details.0 ************* 4: 0.0 WORK AREA 1 2: 0.0 ************* 3: 0. 0 [ TYPE ][METHOD] FRAME MOVE_TO RECORD F2 6 Add a comment and teach the reference point.000 Configuration: N D B. 3 Press F2.METHOD. 4 Press F2.0 0.3.0 0.000 6 P: 0. SETUP Frames JOINT 30 % Jog Frame Setup / Three Point 2/5 X Y Z Comment 1: 1243.0 ************* 5: 0. The jog frame setup screen of the selected frame number is displayed.000 7 R: 0.000 4 Z: 0.DETAIL or press the ENTER key. SETUP Frames JOINT 30 % Jog Frame Setup / Direct Entry 4/7 Frame Number: 2 1 Comment: WORK AREA 2 2 X: 1003.000 5 W: 0. move the cursor to the desired frame and press F4. the set frame will not be effective.0-236.CLEAR. NOTE To select the number of a coordinate system to be used.0 0.JGFRM.6 525.0 0.2 60. press F5 (JGFRM).2. SETTING UP THE ARC SYSTEM B--81464EN--3/01 7 Press the PREV key.0 0.0 ************* [ TYPE ] DETAIL [OTHER ] CLEAR JGFRM 8 To make the set jog frame effective.0 0. the jog menu can also be used.0 0. [OTHER ] CLEAR JGFRM F5 CAUTION If you don’t press F5. the current setting information will be lost when it is changed. 9 To delete the data of the set frame.0 0.” CAUTION After all coordinate systems are set. the setting information should be saved in external storage (floppy disk. then enter the frame number. Otherwise.3. The jog frame list screen is displayed.0 ************* 4: 0. See Section 5.0 WORK AREA 1 2: 1003. PREV SETUP Frames JOINT 30 % Jog Frame Setup / Three Point 2/5 X Y Z Comment 1: 1243. for example) in case the information needs to be re--loaded.3 “Moving the robot jog feed.0 WORK AREA 2 3: 0. You can see all the jog frame settings. [OTHER ] CLEAR JGFRM F4 135 .0 90.0 ************* 5: 0. For this function. create a program which specifies the return path and execute this program. Reference Position When the robot is at the reference position. SETTING UP THE ARC SYSTEM B--81464EN--3/01 3.(See Section 9. Three reference positions can be specified. Procedure 3--32 Step Setting a reference position 1 Press the MENUS key. The reference position is a safe position.1. TYPE. When the robot is at reference position 1. Reference Position Selection Screen 5 I/O 6 SETUP 7 FILE MENUS REF Position REF POSN NO 1 2 3 [TYPE] End/Dsbl DISABLE DISABLE DISABLE JOINT 30% 1/3 @Pos FALSE FALSE FALSE DETAIL TYPE F1 136 Comment [ [ [ ] ] ] ENABLE DISABLE .16 Setting a Reference Position A reference position is a fixed (predetermined) position that is frequently used in a program or when the robot is moved by jog feed. the reference position output signal (ATPERCH) of the peripheral device I/O is output. Ref Position]. the reference position settings can be disabled so that the signal is not output. 2 Select SETUP. SDO.” The reference position selection screen is displayed. To make the robot move to the reference position. the DO signal is not output.3. Figure 3--46. At this time. 4 Select “Ref Position. is output. “Macro instruction”) Specify the reference position on the reference position setting screen [6 (SETUP). It is convenient to set the return program as a macro instruction. If the reference position is invalidated. which is usually distant from the operating area of the machine tool or peripheral equipment. a predetermined digital signal. also specify the order in which axes return to the reference position in the program. 3 Press the F1 key. 0 [TYPE] JOINT 30% 1/12 1 [**********] DISABLE DO[ 0] +/0.0 5 J2 0. RECORD.0 +/0.0 7 J4 0.0 +/0. JOINT 30% [ ] ENTER REF POSN Reference Position 1 Comment: JOINT 30% 1/12 [Refpos1***] [TYPE] 7 In the “Signal definition” line.Position Number: 1 Comment: 2 Enable/Disable: 3 Sinal definition: 4 J1 0. specify the digital output signal to be output when the tool is at the reference position. alphabetic characters. place the cursor on the setting fields J1 to J9.0 +/0.3. d After entering the comment. JOINT 30% 3/12 REF POSN 3 DO[ 0] DO RO JOINT 30% Signal definition: RO[ 0] [TYPE] DO RO F5 JOINT 30% 3/12 RO[ 0] REF POSN 3 1 ENTER JOINT 30% Signal definition: RO[ 1] [TYPE] RECORD 8 To teach the reference position.0 9 J6 0. Detailed Reference Position Screen DETAIL ENABLE DISABLE F3 REF POSN Reference Position Ref. c Press the corresponding function key and enter the desired comment.0 RECORD 137 . The detailed reference position screen is displayed. follow these steps: a Place the cursor on the comment line and press the ENTER key.0 8 J5 0. The current position is recorded as the reference position.0 6 J3 0. SETTING UP THE ARC SYSTEM B--81464EN--3/01 5 Press the F3 key.0 +/0.0 RECORD 6 To enter a comment. or katakana. While pressing the SHIFT key. DETAIL. press the ENTER key. RECORD REF POSN SHIFT F5 4 J1 JOINT 30% 0.0 +/- [TYPE] 0.0 +/0. press the F5 key. b Determine whether the comment is entered by words. Any value entered in the setting field which specifies a nonexistent axis is ignored. place the cursor on the setting fields J1 to J9 and enter the coordinates of the reference position. The reference position selection screen is displayed again. Then. After setting a provisional allowable error. place the cursor on the ENABLE/DISABLE field and press the corresponding function key. specify such an allowable error that the reference position signal is always output.000 5 J2 -31. * Avoid setting an allowable error to 0.000 2. medium. Enter the coordinates in the left column and allowable errors in the right column.000 2. press the PREV key.620 9 J6 33.240 8 J5 1. The allowable error of an additional axis is related to gear ratio and other factors. REF POSN Reference Position Ref.000 RECORD 10 After the reference position is specified.000 [ TYPE ] JOINT 30% 1/12 1 [Refpos1 ENABLE RO[ 1] +/+/+/+/+/+/- ] 2.000 2.Position Number: 1 Comment: 2 Enable/Disable: 3 Sinal definition: 4 J1 129.000 2.3. SETTING UP THE ARC SYSTEM B--81464EN--3/01 9 To enter the numeric value of the reference position directly. carry out operations at various speeds (low. REF POSN NO 1 REF POSN Enb/Dsbl DISABLE ENABLE @Pos FALSE DISABLE NO 1 [TYPE] Enb/Dsbl ENABLE JOINT 30% 1/3 @Pos FALSE DETAIL F4 138 Comment [Refpos1 ENABLE ] DISABLE .000 2. Specify 0. and high).560 6 J3 3. PREV REF POSN NO 1 2 3 Enb/Dsbl DISABLE DISABLE DISABLE [TYPE] JOINT 30% 1/3 @Pos FALSE FALSE FALSE DETAIL Comment [Refpos1 [ [ ENABLE ] ] ] DISABLE 11 To enable or disable the reference position output signal.320 7 J4 179.1 or a greater value. SETTING UP THE ARC SYSTEM B--81464EN--3/01 3. WARNING The mechanical stoppers should be adjusted to the software settings. For example.3. which is the limit of the motion in the positive direction. Otherwise. Before the joint moving range is changed. Otherwise. WARNING The robot operating area should not be controlled only by the joint moving range function.17 Joint Operating Area The software restricts the operating area of the robot according to a specified joint operating area. Enabling the new setting After a new joint operating area is specified. LOWER Specifies the lower limit of the joint operating area. The standard operating area of the robot can be changed by specifying the joint operating area. injury or property damage could occur. CAUTION Changing the joint moving range will affect the robot operating area. Specify the joint operating area at [6 SYSTEM Axis Limits] on the joint operating area setting screen. Otherwise. the change could produce unpredictable results. injury or property damage could occur. which is the limit of the motion in the negative direction. UPPER Specifies the upper limit of the joint operating area. the expected effect of the change should be carefully studied in order to prevent possible trouble. an alarm might occur at a position programmed earlier. turn the controller off and on again to enable the new setting. Limit switches and mechanical stoppers should be used together with the function. 139 . 00 150.00 0. NOTE Value 0.1).00 JOINT 30 % UPPER 2/16 100. The joint operating area setting screen is displayed. and enter a new value from the teach pendant. 140 . The screen change menu is displayed.2. Limit switches and mechanical stoppers should be used together with the function.00 0. Joint operating area setting screen 5 POSITION 6 SYSTEM 7 SYSTEM Axis Limits AXIS GROUP LOWER 1 2 3 4 5 6 7 8 9 MENUS Axis Limits TYPE 1 1 1 1 1 0 0 0 0 -160. SYSTEM Axis Limits AXIS GROUP LOWER 2 1 -30. injury or property damage could occur.00 206. 7 To make the set information effective.00 dg [ TYPE ] -- 5 0 ENTER 6 Repeat the above step for all the axes.00 SYSTEM Axis Limits AXIS GROUP LOWER 2 1 -50. SETTING UP THE ARC SYSTEM Procedure 3--33 Step B--81464EN--3/01 Setting the joint operating area 1 Press the MENUS key.00 0.00 0.00 0. 5 Place the cursor on the target axis limits field.00 200. Otherwise.00 JOINT 30 % UPPER 1/16 160. Otherwise. turn the controller off and on again in cold start mode (See Section 5.00 -156.00 -200.00 0.00 0. The screen menu is displayed.3. 2 Select 6 (SYSTEM). injury or property damage could occur.00 -30.00 dg dg dg dg dg mm mm mm mm [ TYPE ] F1 WARNING The robot operating area should not be controlled only by the joint moving range function.50 -120.10 120. WARNING Power should be turned on again to make a new setting valid.000 means that the robot does not have the corresponding axis.00 0. 4 Select Axis Limits. 3 Press F1 (TYPE). 4 Select User Alarm. User Message [1]: [ [2]: [ [3]: [WORK Old Value: ABCDEF GHIJKL MNOPQR STUVWX YZ_@* % ] ] ] 6 When you are finished defining the message of the user alarm. SETTING UP THE ARC SYSTEM B--81464EN--3/01 3. Procedure 3--34 Step Setting Up the User Alarm 1 Select the MENUS key. User Message [1]: [ ] [2]: [ ] [3]: [NO WORK ] [4]: [ ] [5]: [ ] [6]: [ ] [7]: [ ] [8]: [ ] [9]: [ ] [ TYPE ] 141 .2 “User alarm instruction”) Settings for user alarm are done in the user alarm setup screen [6 SETUP. The user alarm is the alarm which is generated when the user alarm instruction is executed. The screen menu is displayed. TYPE. [1]: [2]: [3]: [4]: [5]: [6]: [7]: [8]: [9]: [ TYPE ] MENUS User Alarm TYPE [ [ [ [ [ [ [ [ [ JOINT 30 % 1/200 User Message ] ] ] ] ] ] ] ] ] F1 5 Move the cursor to the line of the user alarm number you want to set and press the ENTER KEY. press the ENTER key. 2 Select 6(SETUP).3. (See Section 4. The screen change menu is displayed. The user alarm setup screen is displayed. Setting/User Alarm JOINT 30 % 3/200 Alarm No. 3 Press the F1 key.14. [2]: [3]: [4]: [ [ [ ENTER Setting/User Alarm JOINT 30 1 Upper Case 2 Lower Case 3 Punctuation 4 Options Setting/User Alarm Alarm No. Enter the message with the function keys.User Alarm]. The user alarm message has been set. User Alarm Setup Screen 5 I/O 6 SETUP 7 FILE Setting/User Alarm Alarm No.18 User Alarm The user alarm setup screen allows you to set the message that is displayed when the user alarm is generated. F To switch from one motion group to another. SETTING UP THE ARC SYSTEM B--81464EN--3/01 3.17.0 deg Stroke limit Active limit: & MRR_GRP[1]. 4 Select Stroke limit. To avoid problems. CAUTION Changing a joint operating area affects the operating area of the robot. a cold start is automatically performed. 2 Select SETUP. it is necessary to thoroughly consider the effect of a change in the joint operating area before making the change. * This function is offered by the FANUC Robot S--430i series only.0 deg 3: 0.0 0. Variable Axis Area Setting Screen 5 I/O 6 SETUP 7 FILE Stroke limit setup GROUP:1 No. Upper limit Indicates the upper limit for a joint operating area. multiple (up to three) sets of stroke limits can be set for the J1 axis and an additional axis. press the F3 key (axis #) to switch to the additional axis setting screen.0 deg 180. the new upper or lower limit takes effect and the selected joint operating area is returned to the standard value ($PARAM_GROUP. Lower>-180. 6 To make the settings effective. turn off the power and then back on. Operating area in the minus direction.$SLMT_**_NUM). Enter new values using the numeric keys on the teach pendant.19 Variable Axis Areas On the variable axis area setting screen.0 deg Default 0: -180.0 deg 0. After changing an upper or lower limit. F The upper and lower limits must be within the stroke limits of the system. With a cold start. Procedure 3--35 Step Setting a variable axis area 1 Press MENUS. If an attempt is made to set a value outside the limits.” The screen switching menu appears. the upper or lower limit is fixed to the system default value. 142 . $SLMT_J1_NUM=0 TYPE [TYPE] GROOP# AXIS# F1 5 Position the cursor on the desired axis area. F To set an additional axis. 3 Press F1 “TYPE. The screen menu appears.0 deg MENUS JOINT 30% AXIS:J1 UPPER<180.0 deg 2: 0. The variable axis area setting screen appears. When the power is turned on for the first time after the settings have been changed. (See Section 3. “Joint Operating Area”). The variable axis area function allows the user to switch from one set of stroke limits to another during program execution. Lower limit Indicates the lower limit for a joint operating area.0 deg 0. use the F2 key (group #).0 1: 0.3. turn off the power to the control unit and then turn it on with a cold start. Operating area in the plus direction. For example. after the following program has been executed PRG1 1: 2: JOINT 30% $MRR_GRP[1]. $SLMT_J1_NUM=2 $PARAM_GROUP[1].3. $SLMT_J1_NUM=2 [INST] [EDCMD] 143 . use the following command: PRG1 3: 4: JOINT 30% $MRR_GRP[1]. To switch to another joint operating area for the additional axis.7.1 is used for the joint operating area for the J1 axis. SETTING UP THE ARC SYSTEM B--81464EN--3/01 Procedure 3--36 Condition Step Using a variable axis area H A proper axis area has been set and is effective. $SLMT_J1_NUM=1 [INST] [EDCMD] Value No. 1 To switch to the joint operating area that has been set on the variable axis area setting screen during program execution. $SLMT_J1_NUM=1 $PARAM_GROUP[1].14. “Parameter instruction”). use the parameter instruction (See Section 4. One set of interlock signals is allocated to one interference area. It is on when it is located outside the area. If another robot or peripheral device is located in that interference area and. the robot enters the hold state. SETTING UP THE ARC SYSTEM B--81464EN--3/01 3. so that the robot actually stops at a position inside the interference area. to ensure that a sufficiently large interference area is set. Consider this and other factors. the robot is released from the hold state. Communication between a robot and a peripheral device is accomplished with a set of interlock signals (one signal for each of input and output).20 Special Area Function The special area function (option) is a function that automatically stops the robot when a move instruction that causes the robot to enter the preset interference area is issued. 144 . When the input signal is turned on. The faster the operating speed of the robot. Output signal The output signal is off when the tool endpoint is located inside the interference area. and the robot attempts to enter the interference area. use the special area function. Up to three interference areas can be defined. automatically releases the robot from the stopped state to restart its operation.3. automatically restarting its operation. after confirming that the other robot or peripheral device has moved out of the interference area. State Safe (tool endpoint located outside the interference area) Dangerous (tool endpoint located inside the interference area) Output signal On Off Input signal When the input signal is off. CAUTION The robot decelerates to stop at the point where the tool endpoint enters the interference area. To set up the special area function. such as the tool size. the deeper the robot enters the interference area. The relationship between the interlock signals and the robot is as described below. becomes an interference area. Driority NOTE If High or Low is set for both robots. 4 Move either robot out of the interference area. Y. 145 . Table 3--16. perform the recovery operation described below and check that the settings are correct. Sets up the output signal. If SIDE LENGTH is selected. and Z axes in the user coordinate system. 1 Perform an emergency stop on both robots. 2 Check that there are no objects or bystanders that a robot could hit. When the robot completes its operation and moves out of the interference area. WARNING If an emergency stop is not performed on both robots. and the robots attempt to enter the interference area at the same time. one robot will automatically start its operation when the other moves out of the interference area.3. Allows the user to enter a comment of up to 10 characters. this item specifies which robot is to enter the interference area first if the two robots attempt to enter the interference area at the same time. Items of the Special Area Function (Area Setting Screen) Item BASIS VERTEX SIDE LENGTH/SECOND VERTEX Description Position of the vertex of a rectangular that is to become the reference. the robot for which Low is set enters the interference area. Items of the Special Area Function (Area Details Screen) Item Enable/disable Comment Output signal Input signal Description Enables and disables this function. To change the settings of the other items. Sets up the input signal. (The sides of the rectangular must be parallel to the respective axes of the user coordinate system. SETTING UP THE ARC SYSTEM B--81464EN--3/01 To set up the following items. 3 Disable this function. When two robots use this function. use the Rectangular Space/SPACE SETUP screen. This is very dangerous. use the Rectangular Space/DETAILED SCREEN screen. specify the lengths of the sides of a rectangular parallelepiped from the reference vertex along the X. this function must be disabled for the area for which the settings of the items are to be changed. using a jog operation. inside/outside Specifies whether the inside or outside of a rectangular is to be an interference area.) If SECOND VERTEX is selected. the rectangular having the reference vertex and the diagonal vertex. The robot for which High is set enters the interference area first. If this occurs. The setting for one robot must be different from that for the other. Table 3--15. specified here. they both enter the stopped (deadlock) state. To set up the following items. The details screen appears. The area list screen appears. 4 Select Space fnct. When the comment is entered. b. Rectangular Space LIST SCREEN No. DETAIL ENABLE DISABLE Rectangular Space DETAILED SCREEN SPACE:1 GROUP:1 USAGE: Common Space 1 Enable/Disable: ENABLE 2 Comment: [**********] 3 Output Signal: DO[0] 4 Input Signal: DI[0] 5 Priority: High 6 Inside/Outside: Inside [TYPE] SPACE ENABLE DISABLE 7 Position the cursor to the desired item. End/Dsbl Comment 1 ENABLE [ 2 DISABLE [ 3 DISABLE [ MENUS JOINT 30% Usage ] Common Space ] Common Space ] Common Space Space fnct.. The screen menu appears.3.” The screen switching menu appears. TYPE [TYPE] DETAIL ENABLE DISABLE F1 5 The area list screen allows the user to enable and disable each interface area with the appropriate function key. Enb/Dsbl 1 ENABLE [ 2 DISABLE [ 3 DISABLE [ ENTER 6 To set up an item other than Enb/Dsbl or Comment. 3 Press F1 “TYPE. 2 Select SETUP. Change the setting of the item using the function or numeric keys. press F3 (DETAIL). SETTING UP THE ARC SYSTEM Procedure 3--37 Step B--81464EN--3/01 Setting up the special area function 1 Press MENUS. Specify which alphabetic or katakana characters are to be used to enter a comment. Area List Screen 5 I/O 6 SETUP 7 FILE Rectangular Space LIST SCREEN No. use the procedure below: a. 146 . To enter a comment. Press the appropriate function key to enter a comment. d. press the Enter key. c. Move the cursor to the desired comment line and press the Enter key. 10 After setting the area. [TYPE] Rectangular Space SPACE SETUP SPACE:1 UFRAME:0 1:BASIS VERTEX 2:X 0. To return to the area list screen. Move the robot to a vertex of a rectangular. SETTING UP THE ARC SYSTEM B--81464EN--3/01 8 To set an area. press PREV. press SPACE. PREV 147 . the spatial position of the interference area does not change. RE10RD F5 SHIFT NOTE If UF or UT is to be changed. then read the current position of the robot with SHIFT key +F5 RECORD. When the user coordinate system values have been changed and an interference area is to be defined in the new user coordinate system. press PREV again.0 mm 0.0 mm 4:Z 0. The area details screen reappears. use SHIFT key +F5 RECORD to set an interference area again.0 mm SPACE [TYPE] OTHER JOINT 30% 1/4 GROUP:1 UTOOL:1 [SIDE LENGTH] 0.0 mm 3:Y 0.0 mm 0. This operation selects the current UF or UT value. NOTE When the user coordinate system values are changed.0 mm RE10RD 9 The reference vertex and the side lengths or diagonal vertex can be set in either of two ways: a. b. perform operation b first.3. and Z coordinate fields and enter the desired coordinates directly using the numeric keys. Y. Position the cursor to the X. The area setting screen appears. F Use HOT START (Hot Start) F I/O power fail recovery F Autoexec program for Cold start Autoexec program for Hot start F HOT START done signal F Restore selected program F Disable UI signals F START for CONTINUE only F CSTOPI for ABORT F Abort all programs by CSTOPI F PROD--START depend on PHSTROBE F Detect FAULT_RESET signal F Use PPABN signal F WAIT timeout F RECEIVE timeout F Return to top of program F Original program name (F1 to F5) F Default logical command F Maximum of ACC instruction F Minimum of ACC instruction F WJNT for default motion F Auto display of alarm menu F Force Message F Hand broken F Reset CHAIN FAILURE detection F Remote / Local setup F External I/O (ON : Remote) F Allow force I/O in AUTO mode F Allow chg.the following items can be referred or set.21 System Config Menu The System Config Menu includes some important components which should be set when the system is established.3. in AUTO mode F Signal to set in AUTO mode F Signal to set in T1 mode F Signal to set in T2 mode F Signal to set if E--STOP 148 . SETTING UP THE ARC SYSTEM B--81464EN--3/01 3. ovrd. In the system config menu. See Section 3. CAUTION Even if power failure handling is enabled. Autoexec program for Cold start Autoexec program for Hot start Specifies the name of the auto--start program for the hot start. System config menu ITEMS DESCRIPTIONS Use HOT START (Hot Start) When the hot start is set to TRUE. those programs that are currently running are forcibly terminated immediately upon the input of CSTOPI.the program selected at power off is selected after the power on again. or when an I/O unit is turned off.RECOVER SIM Simulated--state recovery is performed regardless of whether the hot start function is enabled. If it does not end within 15 seconds.initializes I/O. SETTING UP THE ARC SYSTEM B--81464EN--3/01 Table 3--17. RECOVER ALL is equivalent to RECOVER SIM. START for CONTINUE only If this item is enabled..the peripheral input signals (UI[1 to 8]) are disabled.UNSIMULATE I/O power failure recovery is performed. Disable UI signals Selects whether a UI signal is valid or invalid.the program is not selected after power is turned on again. -. -. This function is disabled if 0 is specified. the external start signal (START) starts only those programs that have been paused. but all the simulated states are reset. -. When this is set to TRUE. All outputs are turned off. When this is set to FALSE. it will be aborted. but all actual outputs and simulated inputs/outputs are turned off.the attributes should be set as the following with the program detail screen. Moreover. The specified program is executed immediately after the power is turned on. and the simulated state is reset.*] Ignore pause: [ON] HOT START done signal Specifies the digital signal (SDO) that is to be output at the hot start. CAUTION The program automatically executed at turning on the controller is executed just before the servo power is turned on.*. hot start is done at turning on the controller. and the simulated state is reset. If the hot start function is disabled. See Section 3. See Section 3. the output signal is turned off without being recovered in the following cases: F When the I/O allocation is changed before the power is turned off. This is set to TRUE in standard setting. because the output states are not recovered.3. There are four power failure recovery modes. F When the fuse of an I/O unit blows. The output and simulated states are recovered to the states that existed immediately before the power is turned off. because the output states are not recovered. the digital signal is turned off.3 “Peripheral I/O”. F When the I/O unit configuration is changed. If the hot start is not performed. (Default setting = FALSE) I/O power fail recovery Specifies whether or how to perform I/O power failure recovery if the hot start function is enabled and how to perform simulated recovery if the hot start function is disabled.. CSTOPI for ABORT If this item is enabled. Restore selected program Specifies whether the program selected when the controller is turned off is selected after turning on the controller when the cold start is done. This is equivalent to NOT RECOVER if the hot start function is disabled. You should set the name of program which sets up the system. When this is set to FALSE.10 “Peripheral I/O”. Set the program which initializes the condition of setup and I/O of the system. -.*.*.etc.3 “Peripheral I/O”. Therefore the robot can not be moved by this program.NOT RECOVER I/O power failure recovery is not performed regardless of whether the hot start function is enabled.RECOVER ALL I/O power failure recovery is performed if the hot start function is enabled. 149 . as described below. Group Mask: [*. ] (can be specified only when the sensor interface option is specified).. set the limit time for register receive instruction RCV R[. PNS yes Is program selected? The selected program is forcibly terminated. It is convenient to set the words used many times as the program name to this. the CSTOPI input signal functions as follows: F If RSR is selected for the RSR/PNS item.). The setup screen for each motion group is displayed. Maximum of ACC instruction Specifies the maximum override value used in the acceleration override motion option(ACC . Move the cursor to this line and press ENTER key. (Cont’d) System config menu ITEMS Abort all programs by CSTOPI DESCRIPTIONS Specifies whether all programs are to be forcibly terminated with the CSTOPI signal in a multitasking environment. Return to top of program After a program has terminated.. (Corresponding system variable : $WAITTMOUT) The period of time is 30 second.(Up to 7 characters) -. yes RSR RSR / PNS ? All programs are forcibly terminated. this item specifies whether the cursor is positioned at the start of the program upon termination of that program. Use PPABN signal Specifies if the pneumatic pressure alarm(*PPABN) is detected for each motion group. When this setting is changed.. however. F If PNS is selected for the RSR/PNS item. If this item is set to TRUE. When *PPABN signal is not used. set this invalid. The default logical command up to four can be registered in one function key..Pressing the F5 (DELETE) key deletes the Wjnt motion option from all the linear and circular default motion instructions and changes the screen display from “ADD” (or ******) to “DELETE. The falling edge is detected by standard setting.. The default value is 150. -.. all programs are forcibly terminated. turn the controller off and on again to use the new information.).” -... WAIT timeout Specifies the period of time used in the conditional wait instruction(WAIT .. RECEIVE timeout For this item... it is possible to prevent a program that should not be started from being started accidentally due to noise or a sequence error when that program is displayed on the teach pendant.” 150 .the function of teaching the default logical command is invalid. SETTING UP THE ARC SYSTEM B--81464EN--3/01 Table 3--17.Lines Specifies the number of the logic command registered in on function key.3. When the Lines is set to 0. all programs are forcibly terminated. When this item is enabled. WJNT for default motion Adds the Wjnt motion option to all linear and circular default motion instructions or deletes it from them. At this time the cold start is done automatically. When this setting is changed. Minimum of ACC instruction Specifies the minimum override value used in the acceleration override motion option(ACC .. (Default setting) PROD--START depend on PHSTROBE If this item is enabled. the selected program is forcibly terminated. Start no Is Abort all programs by CSTOPI enabled? The selected program is forcibly terminated. turn off the controller. At this time the cold start is done automatically. By enabling this item. -. Original program name (F1 to F5) Specifies the words which is displayed as the soft key at registering a program.] LBL[. If no program is selected. Detect FAULT_RESET signal Specifies whether the reset signal is detected the instant it rises or falls. the cursor remains positioned at the end of the program (not positioned at the start of the program) upon termination of the program. TIMEOUT LBL[. the CSTOPI input signal causes only the currently selected program to be forcibly terminated. no Forcibly terminate all programs End If this item is set to FALSE.Name Specifies the name which is displayed as the function key title.] ). and turn on the controller to use the new information.Pressing the F4 (ADD) key adds the Wjnt motion option to all the linear and circular default motion instructions and changes the screen display from “DELETE” (or ******) to “ADD.. Default logical command It is possible to enter the screen to which standard instruction function key is set by pushing the input key from the condition that there is a cursor in setting a standard instruction. the PROD_START input is enabled only when the PNSTROBE input is on. The default setting is FALSE. <Reset procedure> 1) Check for any hardware problem.No: Disables signal setting.Remote : Keeps SI[2] on (remote mode) at all times. By default.Yes: Enables signal setting. Enable hand breakage detection. When the setting has been changed. When hand breakage detection is disabled although a hand is installed. in AUTO mode Enables or disables override change from TP when AUTO mode is set. then press the F4 (TURE) key. (Cont’d) System config menu ITEMS DESCRIPTIONS Auto display of alarm menu Toggles the function for automatically displaying the alarm screen between FALSE and TRUE.External I/O : Reflects the external signal status on SI[2]. and UO. By default. 5) Press the reset button on the teach pendant.No: Disables override change. and this signal is not to be used. 2) Press the emergency stop button on the teach pendant.” and release the alarm. -. F TRUE: Displays the alarm screen automatically. -.Local : Keeps SI[2] off (local mode) at all times. disable the hand breakage detection. SETTING UP THE ARC SYSTEM B--81464EN--3/01 Table 3--17. When multiple robots are used. specify an external signal for External I/O (ON : Remote) on the next line. External I/O (ON : Remote) When External I/O (ON : Remote) is selected in Remote / Local setup above. Force Message Specifies whether the user screen is to appear automatically when a message instruction is executed in a program. this function is disabled. If the setting of this item is changed. Allow chg. Press the Enter key with the cursor positioned on this line. See Appendix D--2. setting is enabled. -. “SRVO 302 Set hand broken to ENABLE” is displayed if the *HBK signal is on. Allow force I/O in AUTO mode Enables or disables signal setting from TP when AUTO mode is set. specify an external signal to be used here. By default. RDI. When the *HBK signal is off. hand breakage detection is enabled. move the cursor to ENABLE or DISABLE. When selecting this item. Choose from SDI. “RECOVERY FROM THE HAND BREAKAGE ALARM. -. When 0 (default) is set. this item cannot be selected. a specified SDO is turned on. On this screen. In this case. then press the ENABLE (F4) or DISABLE (F5) key to enable or disable hand breakage detection. hand breakage detection can be enabled and disabled for two robots. -. SDO.) 3) Turn the emergency stop button on the teach pendant to release the emergency stop condition. (Input an emergency stop signal other than the emergency stop signal currently generated. Remote / Local setup Select the method for setting the remote signal (SI[2]) that switches between remote mode and local mode of the system. Then. “SRVO 300 Hand broken / HBK disabled” is issued. When hand breakage detection is enabled. Signal to set in AUTO mode If the three--mode switch is set to AUTO mode. For details on the chain abnormality alarm and for how to make hardware checks. RDO. this alarm can be released by pressing the reset key. the power must be turned off then back on. alarm “--SRVO--006 Hand broken” is issued. and the *HBK signal is off. Reset CHAIN FAILURE detection Resets a chain abnormality alarm (servo 230 or 231) when it is issued. ovrd. change is enabled. the screen for enabling or disabling hand breakage detection for each robot appears.OP panel key: When the R--J3i MODEL B controller is used. -. -.3. -. Hand broken Enables and disables hand breakage (*HBK) detection. the power must be turned off and then back on. F FALSE: Does not display the alarm screen automatically. 151 . UI. refer to the maintenance manual. 4) Move the cursor to this line. If the *HBK signal is turned off when hand breakage detection is disabled. and the *HBK signal is used.Yes: Enables override change. (Cont’d) System config menu ITEMS DESCRIPTIONS Signal to set in T1 mode If the three--mode switch is set to T1 mode. the power must be turned off then back on. this function is disabled. this function is disabled. Signal to set in T2 mode When the three--mode switch is set to T2 mode. When the setting has been changed. When the setting has been changed. a specified SDO is turned on. When 0 (default) is set. operator’s panel) is applied. this function is disabled. a specified SDO is output. Signal to set if E--STOP When an emergency stop (TP external emergency stop. SETTING UP THE ARC SYSTEM B--81464EN--3/01 Table 3--17. When 0 (default) is set. When the setting has been changed. When 0 (default) is set. the power must be turned off then back on. 152 . a specified SDO is turned on. the power must be turned off then back on.3. 4 Select Config.00 sec 30. NOTE To set the “Use PPABN signal:” or “Default logical command:”. in AUTO mode : TRUE Signal to set in AUTO mode DOUT [ 0] Signal to set in T1 mode DOUT [ 0] Signal to set in T2 mode DOUT [ 0] Signal to set if E-STOP DOUT [ 0] Hand broken : <*GROUPS*> Remote / Local setup : Remote External I/O (ON : Remote) : DI [ 0] [TYPE] [CHOICE] 5 Move the cursor to the field you want to set and enter the new value by using the numerical key or the function key on the teach pendant. Then the character input becomes possible.000 sec Return to top of program : TRUE Original program name (F1) : [PRG ] Original program name (F2) : [MAIN ] Original program name (F3) : [SUB ] Original program name (F4) : [TEST ] Original program name (F5) : [*******] Default logical command : <*DETAIL*> Muximum of ACC instruction : 150 Minimum of ACC instruction : 0 WJNT for default motion : ****** Auto display of alarm menu : FALSE Force Message : ENABLE Reset CHAIN FAILURE detection : FALSE Allow Force I/O in AUTO mode : TRUE Allow chg.3. SETTING UP THE ARC SYSTEM B--81464EN--3/01 Procedure 3--38 Step Setting The System 1 Select the MENUS key. 2 Select 6(SYSTEM) in the next page. As for the field which should be set character string. [TYPE]. System Configuration Screen 5 I/O 6 SETUP 7 FILE System/Config 1 2 3 MENUS 4 Config 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 32 33 34 35 36 37 TYPE JOINT 30% 1/37 Use HOT START: FALSE I/O power fail recovery: RECOVER ALL Autoexec program [********] for Cold start: Autoexec program [********] for Hot start: HOT START done signal: DO[0] Restore selected program: TRUE Enable UI signals : TRUE START for CONTINUE only : FALSE CSTOPI for ABORT : FALSE Abort all programs by CSTOPI : FALSE PROD_START depend on PNSTROBE :FALSE Detect FAULT_RESET signal : FALL Use PPABN signal : <*GROUPS*> WAIT timeout : 30. Press the PREV key to get out of these screens. 13 Use PPABN signal: 14 WAIT timeout: 15 RECEIVE timeout: <********> 30. Each setting screen will be displayed. The system configuration screen is displayed. 3 Press the F1 key. move the cursor to “<*GROUPS*>” or “<*DETAIL*>” and press the ENTER key. The screen change menu is displayed. The screen menu is displayed. ovrd. move the cursor to it and press the ENTER key.00 sec ENTER 153 .00 sec RECEIVE timeout : 30. (See Section 5. do the cold start. In case of that.“Turning on the Power and Jog Feed”) Please power on again [ TYPE ] 154 . SETTING UP THE ARC SYSTEM B--81464EN--3/01 6 When you change the setting that the cold start need to be done after the setting is changed. the message to inform it is displayed at changing it.3.2. Usually. the robot moves to the position for which the offset command has been executed (standard setting). -. injury could occur. Setting the general items ITEMS Break on hold DESCRIPTIONS Specifies whether to issue an alarm and turn off the servo alarm when the HOLD key is pressed.If the function is DISABLED.If the function is DISABLED. the robot moves to the taught position (for which the tool offset command has not been executed). WARNING Not all axes are equipped with a brake.6 “Additional motion instructions”). -. Current language The current language is set to “DEFAULT” by standard setting.If the function is ENABLED.If the function is ENABLED.6 “Additional motion instructions” for details of the Offset command. Before the brake on hold function is enabled. the robot moves to the position for which the tool offset command has been executed (standard setting). -. the robot moves to the taught position (for which the offset command has not been executed). See Section 4. -.6 “Additional motion instructions”). when the operation is halted by the HOLD key. an alarm is issued and the servo power is turned off.If the function is DISABLED. no alarm is issued when the operation is halted by the HOLD key (standard setting).$BRKHOLD_ENB.22 Setting Up General Items [6 SETUP General] has the following items. F Brake on hold F Current language F Ignore Offset command F Ignore Tool--offset Table 3--18.3. 155 . Changing the current language requires special work.3. Ignore Offset command Specifies whether to ignore the offset command (See Section 4.6 “Additional motion instructions” for details of the Tool--offset command. -. This setting is recorded in system variable $SCR. -. it should be checked which axis has a brake. See Section 4.3.3. the standard setting should be used. Ignore Tool--offset Specifies whether to ignore the tool offset command (See Section 4. Otherwise. SETTING UP THE ARC SYSTEM B--81464EN--3/01 3. The brake on hold function has no effect on an axis without a brake even if the function is enabled.If the function is ENABLED.3. General item setting screen 5 I/O 6 SETUP 7 FILE MENUS SETUP General 1 2 3 4 JOINT Break on hold: Current language: Ignore Offset command: Ignore Tool_offset: [ TYPE ] 30 % 1/4 DISABLED DEFAULT DISABLED DISABLED ENABLED DISABLED General [TYPE] F1 5 Place the cursor on the target field. [TYPE]. and select the function key menu. turn the controller off and on again in cold start mode. SETTING UP THE ARC SYSTEM Procedure 3--39 Step B--81464EN--3/01 Setting the general items 1 Press the MENUS key. 3 Press F1.3. The screen change menu is displayed. The setting of the other functions is made effective immediately when they are re--set. 6 If the value for the brake on hold function is re--set. 4 Select General. The screen menu is displayed. 156 . 2 Select 6 (SYSTEM). to make the new setting effective. Other items are set up on the system variable screen. 157 .23 Other Settings The other settings are specified at [6 SYSTEM Variables] on the system variable screen. SETTING UP THE ARC SYSTEM B--81464EN--3/01 3.3. J The speed override is not changed while the safety fence is open.) J The system is in remote control state. (A control start is required. F Override restore function Override restore function The override restore function is a function that decreases the speed override to a prescribed value when a safety fence is opened and the *SFSPD input is turned off. [6 SYSTEM Variables]. see the appropriate appendix (See Appendix D. but restores the speed override immediately when the safety fence is closed. This function is effective under the following conditions: J $SCR. “System Variables”).$RECOV_OVRD = TRUE. To specify system variables. 4.5 Register Instructions 4.4 Arc Instructions 4.13 Program Control Instructions 4.2 Line Number. and Argument 4.1 Program Detail Information 4.8 Wait Instructions 4.16 Operation Group Instructions 158 . j Contents of this chapter 4.11 Tool Offset Condition Instructions 4.7 Branch Instructions 4.3 Motion Instructions 4.6 I/O Instructions 4.9 Skip Condition Instruction 4. PROGRAM STRUCTURE B--81464EN--3/01 4. Program End Symbol.10 Offset Condition Instruction 4.12 Frame Instructions 4.14 Other Instructions 4.15 Multiaxis Control Instructions 4. PROGRAM STRUCTURE This chapter describes the program structure and program instructions. a copy source file name. and program data size.*. Program Selection Screen Memory available capacity Select JOINT 30 % 58740 bytes free 1/7 No. presence/absence of position data. Program name Comment 1 SAMPLE1 [SAMPLE PROGRAM 1] 2 SAMPLE2 [SAMPLE PROGRAM 2] 3 SAMPLE3 [SAMPLE PROGRAM 3] 4 PROG001 [PROGRAM001 ] 5 PROG002 [PROGRAM001 ] 6 CLAMP1 [CLAMP OPEN ] 7 CLAMP2 [CLAMP CLOSE ] Attribute Program name [ TYPE ] CREATE DELETE MONITOR [ATTR ]> COPY SAVE DETAIL LOAD PRINT > Figure 4--3. group mask. 75A. modification date. Program Information Screen Program detail JOINT 30 % 1/6 Creation Date: 10-MAR-1994 Modification Date: 11-MAR-1994 Copy Source: [****************] Positions: FALSE Size: 312 Byte 1 Program name: [SAMPLE3 ] 2 Sub Type: [ None] 3 Comment: [SAMPLE PROGRAM 3] 4 Group Mask: [1. PROGRAM STRUCTURE B--81464EN--3/01 A arc welding application program consists of user--coded instructions for performing arc welding work. and other associated information. F Information items related to an execution environment such as a program name. write protection and interruption disable. subtype. Figure 4--1.*. A program contains program information specifying how arc welding work is to be performed. 0. comment. Figure 4--2.1s] Weave End J P [1] 100% FINE [End] POINT 159 ARCSTRT WELD_PT ARCEND TOUCHUP> . and also contains program detail information defining program attributes.*.4. Program Edit Screen Program name SAMPLE1 Line number 1: 2: 3: : 4: 5: 6: : 7: 8: Motion instruction Program instructions Arc welding instruction Weaving instruction Program end symbol JOINT 10% 1/9 J P [1] 100% FINE J P [2] 70% CNT50 L P [3] 500mm/s FINE Arc Start [1] Weave Sine [1] L P [4] 50cm/m CNT80 L P [5] 50cm/m CNT80 Arc End [55V.*] 5 Write protect: [ OFF] 6 Ignore pause: [ OFF] END PREV NEXT Program detail information consists of the following information items: F Attribute--related information items such as a creation date. 4.Weaving instruction for controlling weaving. CALL/END) -. If the signal is received.Arc sensor instruction for controlling arc sensor. (See Sections 5. JMP/LBL.) A program is registered on the program registration screen (See Subsection 5. -.1 and 5.) 160 .) A program is created and changed on the program edit screen.3. -. cancelling the operation.Skip condition instruction for operating the robot until a signal is received.Arc welding instruction for controlling arc welding.Instructions for storing numerical data in registers (register instructions) -.Program comments -. a branch to a specified statement occurs. the next statement is executed.Instructions for storing robot position data in position registers (position register instructions) -. (See Subsection 5.1.Branch instructions for changing the flow of program control when a defined condition is satisfied (IF.3.I/O instructions to output and input signals to and from peripheral devices -. If the signal is not received. -.3 and 5.Wait instructions for suspending program execution -. PROGRAM STRUCTURE B--81464EN--3/01 A program consists of the following information: F Line number assigned to each program statement F Motion instructions specifying how and where the robot is to move F Program instructions including the following: -.5.4. -.Other instructions F Program end symbol indicating that the program contains no more instructions Program detail information is set on the program information screen. a modification date.1. Program detail information consists of the following items: F Attribute--related information items such as a creation date.5) To enter a program comment. where nnnn is a 4--digit number. press F5. (For program detail information setting. subtype. presence/absence of position data. The program name is used to distinguish the program from the other programs stored in the memory of the controller. the program will not run.*] MENUS END PREV JOINT NEXT 4. or a copy source. a unique program name must be assigned to the program. a copy source file name. 1 SELECT 2 EDIT Program detail 30 % 1/6 Creation Date: 10-MAR-xxxx Modification Date: 11-MAR-xxxx Copy Source: [****************] Positions: FALSE Size: 312 Byte 1 Program name: [SAMPLE3 ] 2 Sub Type: [ None] 3 Comment: [SAMPLE PROGRAM 3] 4 Group Mask: [1. NOTE Observe the following when writing a program for automatic operation using RSR or PNS. comment. Symbol: Underscore (_) only. see Subsection 5. Example: RSR0001. write protection and interruption disable.1 Program name Program name is used to assign a name to a program. Informative name A program should be named so that purpose or function of the program can be known from its name.*. and select the desired item from a pull up menu.3. Usable characters Character: Alphabetic characters. Number: 0 to 9.1 Program Detail Information Program detail information names a program and defines the attributes of the program.1 WELD_1. 161 . The program information screen is displayed by selecting F2 (DETAIL) on the program selection screen. Length A program name must consist of one to eight characters. for example. set write protection. When a new program is created.[ATTR] to display the selection screen. where nnnn is a 4--digit number.*. Otherwise. group mask.*. F A program using PNS must be named PNSnnnn. A unique name must be assigned to each program.4. The at mark (@) and asterisk (*) cannot be used. memory size of the program.1 and 5. F A program using RSR must be named RSRnnnn. Naming the arc--welding program for workpiece No. The program information screen is used to set program detail information. allows anyone to guess the contents of the program. and program data size. F Information items related to an execution environment such as a program name. PROGRAM STRUCTURE B--81464EN--3/01 4. No program name can start with a number. modification date. Example: PNS0001. a program comment can be added to the program name. The subtype of a program registered on the macro instruction setting screen is automatically set to MR. and asterisk (*) Informative comment A program comment should describe the purpose or function of the program. 4.1.3 Subtype Subtype is used to set a type of program.4. 162 . Usable characters Character: Alphabetic characters. PROGRAM STRUCTURE B--81464EN--3/01 4. at mark (@). Length A program comment must consist of one to sixteen characters.2 Program comment When a new program is created. The following subtypes are available: F Job (JB): This represents a main program that can be started using a device such as a teach pendant.1. F State: Specify this when creating a conditional program with the state monitoring function (option). Process programs are called in a main program for execution. Number: 0 to 9 Symbol: Underscore (_). F Process (PR): This represents a subprogram that is called by a job program for execution of a particular job. F Macro (MR): This represents a program for executing a macro instruction. A program comment is used to describe additional information to be displayed on the selection screen together with the program name. is on (With the servo power is on). *). SYSRDY output. (See Subsection 4. ENBL input. The system is ready for operation when the following ready conditions are satisfied: J The peripheral I/O. When these signals are to be ignored. and the program cannot be modified. If this is not observed.2. *. 163 . programs should not execute motion instructions. no data can be added to the program.1. a program being executed cannot be interrupted by pressing the emergency stop or halt button on the teach pendant or operator’s panel. PROGRAM STRUCTURE B--81464EN--3/01 4. program instructions can be added to the program. or halt. J The peripheral I/O. A program that has no motion group can be started even when the system is not ready for operation. When a program has been created.13.4 Group mask A motion group sets up an operation group of a program. The robot control unit can divide up to 16 axes (when a multifunction board is inserted) into up to three operation groups and control those groups simultaneously. Ignore pause) cannot be changed. positioning tables. NOTE When this item is set to ON. other items in the program detail information (Program name. and other jigs. Sub Type. and its operation is confirmed.5 Write protection Write protection specifies whether the program can be modified. this item is to be specified as (*. *.) WARNING When interruption disable is set to ON. 4. If the system has only one operation group. a program involving no robot motion). Group Mask. is on. F When this item is set to ON. Write protection is normally set to OFF as standard. *. injury or property damage could occur. For a program that has no motion group (that is. Comment. emergency stop. 4. set interruption disable to ON. An operation group represents a group of different axes (motors) used for independent robots.4. the default motion group is group 1 (1.6 Interruption disable Interruption disable (ignore pause) prevents a program being executed and not having the motion group from being interrupted by an alarm (with a severity of SERVO or lower). When interruption disable is set to ON.1. *. the user can set this item to ON to prevent the program from being modified by the user or someone else. A single group can control up to nine axes (multimotion function). WARNING While the interruption disable setting is enabled. NOTE A motion group must be set before it is used. that is. *. a program being executed can only be interrupted by an abort instruction in the program or an alarm with a severity higher than SERVO. *). and existing instructions can be modified. F When this item is set to OFF. that is. the program can be modified.1. *. the program is write protected. -.Job : Only job programs are displayed. -.Size : The number of the line and the program size are displayed.Protection : The setting of the write protection is displayed.[TYPE] and select the sub type of the program you want to display as follows: -. press F1. -.Program : All the programs except macro programs are displayed. -.Process : Only process programs are displayed.All : All the programs are displayed. 1 2 3 4 5 Comment Protection Last Modified Size Copy Source ATTR Select JOINT 30 % 58740 bytes free 1/2 No.4. -. PROGRAM STRUCTURE Procedure 4--1 Step B--81464EN--3/01 Program Detail Information 1 Press the MENUS key.Macro : Only macro programs are displayed.[ATTR] and select the attribute type of the program you want to display as follows: -. The screen menu is displayed.press F5. -. The program selection screen can also be displayed by pressing the SELECT key without using steps 1 and 2 above. 2 Select 1(SELECT). Program name Comment 1 SAMPLE1 [SAMPLE PROGRAM 1] 2 SAMPLE2 [SAMPLE PROGRAM 2] 3 SAMPLE3 [SAMPLE PROGRAM 3] 4 PROG001 [PROGRAM001 ] 5 PROG002 [PROGRAM001 ] 6 CLAMP1 [CLAMP OPEN ] 7 CLAMP2 [CLAMP CLOSE ] MENUS [ TYPE ] CREATE DELETE MONITOR [ATTR ]> COPY SAVE DETAIL LOAD PRINT > 3 Switching the screen using sub type To select the program to be displayed for the sub type. The program selection screen is displayed. -. -.Copy Source : The name of the copy source program is displayed.Last Modified : The latest date of the modification is displayed. 1 SELECT 2 EDIT Select JOINT 30 % 58740 bytes free 1/7 No. Program name Size 1 SAMPLE1 [ 32/ 839] 2 SAMPLE2 [ 12/ 1298] [ TYPE ] CREATE DELETE F5 164 MONITOR [ATTR ]> .Comment : The comment is displayed. 1 2 3 4 5 All Jobs Processes TP Programs Macro SAMPLE1 Select 1 2 LINE 1 ABORTED JOINT 30 % 61276 bytes free 1/4 SAMPLE1 [SAMPLE PROGRAM 1] SAMPLE2 [SAMPLE PROGRAM 2] [ TYPE ] CREATE DELETE MONITOR [ATTR ]> TYPE F1 4 Switching the display using the attribute To select the program attribute to be displayed. *.*.4.DETAIL in the next page.> and press F2.END. PROGRAM STRUCTURE B--81464EN--3/01 5 Program Detail Screen Press NEXT. COPY DETAIL LOAD F2 Program detail JOINT 30 % 1/6 Creation Date: 10-MAR-xxxx Modification Date: 11-MAR-xxxx Copy Source: [****************] Positions: FALSE Size: 312 Byte 1 Program name: [SAMPLE3 ] 2 Sub Type: [ None] 3 Comment: [SAMPLE PROGRAM 3] 4 Group Mask: [1. END PREV NEXT F1 165 .*] 5 Write protect: [ OFF] 6 Ignore pause: [ OFF] END PREV NEXT 6 When you finish setting the program header information. The program detail screen is displayed. press F1.*. Format of Argument i Argument i Direct specification : Number. In indirect specification.) A description of the program instructions required to create and change a program follows. Some arguments are specified directly. the first line is numbered as 1. that is. However. Program End Symbol. (For how to create a program.) Argument i Argument i is an index used in teaching control instructions (program instructions other than motion instruction). PROGRAM STRUCTURE B--81464EN--3/01 4. when the setting of “Return to top of program” is FALSE.21 “System Config Menu”. the register number of a register holding a value is specified. the cursor stays on the last line of the program after program execution is completed. The user can make the cursor jump to a desired line number by specifying a line number (with the ITEM key).(Example: R[R[i]]) Register Screen R[i] DATA Registers R [ 1: R [ 2: 166 JOINT 30% ] = ] = 11 0 . When an instruction is deleted. the program end symbol moves downward on the screen.4. When the execution of a program reaches the program end symbol after the last instruction in the program is executed. When a program is to be modified. In direct specification. and so forth.2 Line Number. the lines of the program are renumbered in ascending order. the program execution automatically returns to the first line of the program for termination. As a result.4. others are specified indirectly. Figure 4--4. Whenever a new instruction is added. The range of values used depends on the type of instruction.3. it is always displayed on the last line.(Example: R[i]) Indirect specification : Uses the value of the register with register number i as the argument. an integer from 1 to 32767 is usually specified. or an instruction is moved to another location. see Section 5. the second line is numbered as 2. (See Section 3. see Section 5. and Argument Line number A line number is automatically inserted in front of an instruction when it is added to a program. For how to change a program. the cursor can be used to specify a line or a range of lines for movement or deletion by line number. Program end symbol The program end symbol ([End]) is automatically displayed on the line after the last instruction of a program. The program edit screen is displayed... press the ENTER key. use the arrow keys such as up. To move quickly through the information. [End]Enter value DIRECT INDIRECT[CHOICE] 167 30 % 10/11 . and left.INDIRECT. 4 To select the line number. When you are finished. PROGRAM STRUCTURE B--81464EN--3/01 Procedure 4--2 Condition Step Program Edit Screen H The teach pendant must be enabled.4. 1 ENTER JOINT 30 % 10/11 10: DO[ 1]=. move the cursor to the argument and press the numerical value keys. [End] Enter value DIRECT INDIRECT[CHOICE] 6 To use indirect addressing with the register... PROG2 PROG2 9:L P[5] 100% FINE 10: DO[. DIRECT INDIRECT F3 PROG2 JOINT 10: DO[R[1]]=.. down. 2 Move the cursor to the program you want to edit and press the ENTER key. Program name 1 SAMPLE1 2 SAMPLE2 ENTER 3 SAMPLE3 4 PROG001 1:J 2:J 3:L 4:L 5:J [End] POINT JOINT P[1] P[2] P[3] P[4] P[5] 30 % 1/6 100% FINE 70% CNT50 1000cm/min CNT30 500mm/sec FINE 100% FINE ARCSTRT WELD_PT ARCEND TOUCHUP> 3 Moving the cursor To move the cursor. press the ITEM key and enter the line number to which you want to move the cursor.. 1 Display the program selection screen. ITEM 5 ENTER SMPLE1 JOINT 30 % 5/6 4:L P[4] 500mm/sec FINE 5:J P[5] 100% FINE [End] 5 Entering the numerical value To enter the numerical value.. Select SMPLE1 61276 No..]=. press and hold the SHIFT key and press the down or up arrow keys. press F3. right. F1 (POINT) is used to teach a motion instruction.) POINT ARCSTRT WELD_PT ARCEND TOUCHUP> -. -.000 CONF: N.374 W: 10. see Subsection 5. For changing a motion instruction.2.1 to 200. F Motion format: Specifies how to control the path of motion to a specified position. a standard motion instruction is selected using one of the keys F1. F Feedrate: Specifies the feedrate of the robot.4.3.F5 (TOUCHUP) is used to reteach taught position data. 0 Position data format P 1 to 1500 * PR 1 to 10 J P[ i ] Motion format J L C J% Feedrate 1 to 100% 1 to 2000mm/sec 1 to 12000cm/min 0. For teaching a motion instruction. F5. 168 . F. see Subsection 5. PROGRAM STRUCTURE B--81464EN--3/01 4.F2 (ARCSTRT) is used to teach an arc motion instruction that includes an arc start instruction.0sec CNTk Positioning path FINE CNT 0 to 100 * A position number can be as large as the memory capacity allows.F4 (ARCEND) is used to teach an arc motion instruction that includes an arc end instruction. Figure 4--5.3 Motion Instructions A motion instruction moves a robot tool to a specified point within the operating area at a specified feedrate and in a specified traveling mode.4. -.3.000 Z: 956. -. 0.3. The items listed below must be specified in a motion instruction. (For modifying a standard motion instruction. R. 0.895 R: 40.2.0inch/min 1 to 240deg/sec 1 to 272deg/sec 1 to 3200deg/sec 0. Motion Instructions Position data UF:0 UT:1 X: 1500. -. In teaching a motion instruction.992 P: 20.F3 (WELD_PT) is used to teach a motion instruction that specifies linear motion to a welding passing point. D. F Position data: Teaches a position to which the robot is to move. F Additional motion instruction: Specifies the execution of an additional instruction while the robot is in motion. F Positioning path: Specifies whether to position the robot at a specified point.000 Y: --342. The format of a motion instruction is shown in Figure 4--5.1 to 4724. see Subsection 5. moves at a specified feedrate.4.1 Motion format For the motion format. The attitude of a tool being moved is controlled by distinguishing the attitude at a start point from the attitude at a target point. The attitude of a tool being moved is not controlled. F Joint motion (J) F Linear motion (including the rotation motion)(L) F Circular motion (C) Joint motion J The joint motion mode is the basic mode for moving the robot to a specified position. a desired option must be chosen from mm/sec. the tool center point moves linearly. and inch/min. Joint Motion P2 Destinaiton position P1 Start position Example 1: JP [1] 100% FINE 2: JP [2] 70% FINE Linear motion L The linear motion mode controls the path of tool center point (TCP) motion from a start point to an end point. which does not exercise path/attitude control. cm/min. Figure 4--7. decelerates. A percentage of a maximum feedrate is specified as the feedrate of joint motion. The motion format is specified to teach an end point. The orientation of the tool during travel is controlled by dividing the orientation at the start position and that at the destination position. For linear feedrate specification. and linear motion and circular motion. PROGRAM STRUCTURE B--81464EN--3/01 4. the path of motion to a specified position is specified. The path of motion is usually non--linear. Linear Motion P2 Destination position P1 Start position Example 1: JP [1] 100% FINE 2: LP [2] 500mm/sec FINE Rotary operation is a method of travel in which the tool is rotated about the tool endpoint from the start position to the end position by using linear operation. The focus is controlled linearly (if the tool endpoint moves). Figure 4--6. and stops at the same time. The feedrate is specified in deg/sec. which exercise path/attitude control. The motion format is specified to teach an end point. The robot accelerates along or about all axes. 169 .3. Three options are available: joint motion. For circular feedrate specification. Both a passing point and a target point are taught in one instruction. Circular motion P3 Target point P2 Passing point P1 Start point 170 Example 1: JP [1] 100% FINE 2: CP [2] 2: P [3] 500mm/sec FINE . The attitude of a tool being moved is controlled by distingushing the attitude at a start point from the attitude at a target point. PROGRAM STRUCTURE B--81464EN--3/01 Figure 4--8. cm/min and inch/min.4. a desired option must be chosen from mm/sec. Rotation Motion P2 Destination position P1 Example 1: JP [1] 100% FINE Start position 2: LP [2] 30deg/sec FINE Circular motion The circular motion mode controls the path of tool center point motion from a start point to an end point through a passing point. Figure 4--9. Figure 4--10. A Cartesian coordinate system may be a world coordinate system. Figure 4--11.4. World Coordinate System/User Coordinate System and Tool Coordinate System World coodinate system Z Z Tool coodinate system Y X Y Z Z User coodinate system 1 User coodinate system 2 Y X X Y X 171 . How to select the coordinate systems is explained later in this subsection. PROGRAM STRUCTURE B--81464EN--3/01 4.z) represents the three--dimensional position of the tool center point (origin of the tool coordinate system) in the Cartesian coordinate system. One type consists of joint coordinates in a joint coordinate system. P . and a Cartesian coordinate used.p.3. ( X . Position data is classified into two types. configuration. the inclination of the axis along which the tool moves (tool coordinate system). and Z--axis in the Cartesian coordinate system. position data is written to the program at the same time. Configuration User coordinate system number Position Attitude Configuration Tool coordinate system number Position and attitude F The position (x. Position Data (Cartesian Coordinates) UF . W .2 Position data Position data includes the positions and attitudes of the robot.y. R ) . Y . The other type consists of Cartesian coordinates representing tool positions and attitudes in work space. Cartesian coordinates Position data consisting of Cartesian coordinates is defined by four elements: the position of the tool center point (origin of the tool coordinate system) in a Cartesian coordinate system. Y--axis. UT . F The attitude (w. Standard position data uses Cartesian coordinates.r) represents angular displacements about the X--axis. When a motion instruction is taught. Z . PROGRAM STRUCTURE B--81464EN--3/01 Configuration A configuration represents the attitude of the robot.$TURN_AXIS[3] 172 . When a control point is placed on the control plane. Joint placement Left or right of the arm Up or down of the arm 0) Turn number FRONT { FLIP { LEFT {UP NOFLIP RIGHT DOWN { BACK Flip or no flip of the wrist 0. 0. This specifies which side the control point of the wrist and arm is placed on against the control plane.) To specify such an operation. Each axis returns to the original position after one revolution.$TURN_AXIS[2] Right field : Axis number specified with $SCR_GRP[i]. J6). J5. At the singularity. The turn number and joint placement of each axis must be specified. or to be taking a peculiar attitude.$TURN_AXIS[1] Middle field : Axis number specified with $SCR_GRP[i]. execute a joint motion. T. the tool cannot pass through a singularity point (the joint placement cannot be changed). Configuration Axis specified with $SCR_GRP[group].y. the robot can not move.p. To pass through a singularity point on the wrist axis. U. { Front or back of the arm 1: 180_ to 539_ 0: --1: --179_ to 179_ --539_ to 180_ Joint placement Joint placement specifies the placement of the wrist and arm.4.$TURN_AXIS[1] ( F. The axis number to correspond to each field is specified with system variable $SCR_GRP[i]. since the configuration can not be decided to one by the specified cartesian coordinate values. as follows: Left field : Axis number specified with $SCR_GRP[i]. F During linear or circular motion. the most feasible configuration can be selected. Figure 4--12. Several configurations are available which meet the condition of Cartesian coordinates (x.$TURN_AXIS[2] Axis specified with $SCR_GRP[group].$TURN_AXIS[j] (where i is a group number).$TURN_AXIS[3] Axis specified with $SCR_GRP[group]. define the axial coordinate values. the robot is said to be placed at a singularity. a wrist joint motion (Wjnt) can also be executed.r). F An operation that ends at a singular point cannot be programmed. Joint Placement J5--axis joint placement J3--axis joint placement J1--axis joint placement FLIP NOFLIP UP DOWN BACK FRONT Turn number Turn number represents the number of revolutions of the wrist axis (J4.w. Turn number is 0 when each axis is at an attitude of 0. (In some cases. This specifies how many turns have been made. In this case.z. L. Figure 4--13. The turn numbers can be displayed for up to three axes. PROGRAM STRUCTURE B--81464EN--3/01 When programmed linear motion or circular motion is executed. and an alarm is issued. Thus. F 1 to 9 : The tool coordinate system of a specified tool coordinate system number is used.000 deg 20.O 40. then press the F5 (POSITION) key. the coordinate system of work space is determined. The actual number of revolutions performed at the target point might differ from the number specified in the position data. The system variable is explained. A coordinate system number is written into position data in position teaching. using a specific program as an example. Example 1: UTOOL_NUM = 1 2: JP [1] 100% FINE (specified with P [1] UT = 1) 3: JP [2] 100% FINE (specified with P [2] UT = 2) 173 . position the cursor to the position number. F 0 F 1 to 9 : The tool coordinate system of a specified tool coordinate system number is used. Setting of the system variable $FRM_CHKTYP = --1 $FRM_CHKTYP = --2 $FRM_CHKTYP = 2 Description Disables FWD/BWD execution between two points having different coordinate system numbers. Enables FWD/BWD execution between two points having different numbers. Thus.4.000 deg 10. Detail position data To display the detail position data. and changes the current coordinate system number ($MNUFRAME_NUM or $MNUTOOL_NUM) to the number specified in the position data in the program. The number of revolutions performed at the target point is selected automatically. : The mechanical interface coordinate system is used.992 mm Z: 956. Enables FWD/BWD execution between two points having different numbers.000 deg F5 Switching the coordinate system check function The coordinate system check function allows the user to perform FWD/BWD execution easily between two points with different coordinate system numbers. this function can be switched to one of three specifications. SAMPLE1 1: J 2: J Position Detail P[2] GP:1 UF:0 X: 1500. F 0 : The world coordinate system is used. F F : The coordinate system of the tool coordinate system number currently selected is used. a Cartesian coordinate system reference checks the coordinate system number of a Cartesian coordinate system to be used. If the coordinate system number (a number from 0 to 9) specified in the position data does not match the coordinate system number currently selected.374 mm Y: -242. F F : The coordinate system of the tool coordinate system number currently selected is used. User coordinate system number (UF) The user coordinate system number specifies the coordinate system number of a world coordinate system or user coordinate system. use the tool replacement/coordinate replacement shift function [option]. Tool coordinate system number (UT) The tool coordinate system number specifies the coordinate system number of a mechanical interface coordinate system or tool coordinate system. Cartesian coordinate system reference In playback of position data consisting of Cartesian coordinates. To change a coordinate system number after it has been written.895 mm SAMPLE1 P[1] 100% P[2] 70% COMMENT CHOICE POSITION UT:1 W: P: R: JOINT 30% CONF: N T. the robot tool moves toward the target point while adopting an attitude very similar to that at the start point. the coordinate system of the tool is determined. the program is not executed for safety. By changing the setting of the following system variable. J3 . Position Data (Joint Coordinates) ( J1 . J4 . -. The third line is executed with a tool coordinate system number of 2. Immediately after the start of the operation for the third line. FWD: An alarm is generated if the coordinate system numbers differ on the third line. J5 . Figure 4--14. BWD operation between arcs having different coordinate system numbers result in an alarm. Joint Coordinate System detail position data Detail position data is displayed by pressing F5 (POSITION). the tool coordinate system number of the system is changed to 1.300 deg SAMPLE1 JOINT 30% J4: -95. an alarm is not generated. FWD: An alarm is not generated on the third line.125 deg J2: 23. E1 . Joint coordinates Position data consisting of joint coordinates is defined using angular displacements with respect to the joint coordinate system on the base side of each articulation. Immediately after the start of the operation for the second line. An alarm is not generated in the same way as for $FRM_CHKTYP = --2. -. NOTE Regardless of the value of $FRM_CHKTYP.If $FRM_CHKTYP = --1. E3 ) Main axis Wrist axis Additional axis Figure 4--15. BWD: An alarm is not generated on the second line. The third line is executed with a tool coordinate system number of 2. an alarm is generated when the second line is executed after BWD execution on the third line.000 J5: 0.If $FRM_CHKTYP = --2. J2 .4. SAMPLE1 1: J 2: J P[1] 100% P[2] 70% CHOICE POSITION Position Detail P[2] J1: 0. FWD: An alarm is not generated on the third line. (Operation is performed at the specified position. BWD: If the currently selected tool coordinate system number is 2.) BWD: As with FWD. J6 . E2 .590 deg J3: 30.789 F5 174 deg deg . the tool coordinate system number of the system is changed to 2.If $FRM_CHKTYP = 2. PROGRAM STRUCTURE B--81464EN--3/01 -. However. a position variable is used. (For position teaching using a position register. When a motion instruction is added. To add a comment. it is assigned the position number obtained by incrementing the position number assigned to the motion instruction added immediately before by one.) A comment consisting of up to 16 characters can be described for a position number or position register number. see Section 5. When Cartesian coordinates are taught.4. the position numbers of other taught points remain unchanged. the following Cartesian coordinate system and coordinate system number are used: F Coordinate system of the tool coordinate system number currently selected (UT = 1 to 10) F World coordinate system (UF = 0)(When $USE_UFRAME is FALSE) In playback. However. Figure 4--16. the following Cartesian coordinate system and coordinate system number are used: F Coordinate system of the tool coordinate system number currently selected (UT = F) F Coordinate system of the user coordinate system number currently selected (UF = F) In playback. the second P[2].4.4 “Changing a Program”. see Section 7.press the ENTER key when the cursor is at the position number or position register number. Position Variable and Position Register P[i] PR [GPK: i ] Direct: Position register number(1 to 10) Position number (1 to 1500) Example Group number (1 to 5) 1: J 2: L 3: L Indirect: Register P[12] 30% FINE PR[1] 300mm/s CNT50 PR[R[3]] 300mm/s CNT50 Position variable The position variable is the variable usually used to hold position data.) When Cartesian coordinates are taught. and so on. Usually. the following Cartesian coordinate system and coordinate system number are used: Coordinate system of the user coordinate system number currently selected (UF = 0 to 9) (When $USE_UFRAME is TRUE) NOTE System variable $USE_UFRAME cannot be used if the user coordinate system input function option is not provided. the following Cartesian coordinate system and coordinate system number are used: F F Coordinate system of the tool coordinate system number currently selected (UT = F) Coordinate system of the user coordinate system number currently selected (UF = F) Position number The position number is used to reference a position variable. PROGRAM STRUCTURE B--81464EN--3/01 Position variable and position register In a motion instruction. Example 4: J 5: L P[11: APPROACH POS ] 30% FINE PR[1: WAIT POS ] 300mm/s CNT50 175 . the first position number assigned is P[1]. position data is represented by a position variable (P[i]) or position register (PR[i]). F F F F Coordinate system with the specified tool coordinate system number (UT = 1 to 10) Coordinate system with the specified user coordinate system number (UF = 0 to 9) Position register The position register functions as a general--purpose register for holding position data. When a position is copied. A position number is automatically assigned each time a motion instruction is taught and it is reflected in the program. In motion instruction teaching. this is not the case when a position number is changed. When a position is deleted. (For changing a position number. position data is automatically saved. regardless of where the newly added instruction is placed in the program. this is not the case when a position number is changed. For example. specify the value from 1 to 32000msec as the time took for motion.1 to 3200sec as the time took for motion. When the unit is msec.3 Feedrate The feedrate specifies the speed at which the robot moves. When the unit is inch/min. specify a feedrate from 1 to 12000 cm/min. specify the register value with great care during both teaching and operation. This specification is required. specify an angular displacement as follows: F F F When the unit is deg/sec. specify the value from 0. When the unit is msec. L P[1] 50deg/sec FINE When the mode of motion is rotation about the tool center point. An operation cannot sometimes takes place in a specified time. During program execution.specify the value from 1 to 32000msec as the time took for motion. J P[1] 50% FINE When the motion type is joint. a warning alarm would be issued.specify the value from 0. specify a feedrate from 0. This means that the robot may operate at an unexpected speed depending on the specified register value. When the unit is sec.1 to 3200sec as the time took for motion. PROGRAM STRUCTURE B--81464EN--3/01 4. When the unit is sec. The unit used to specify a feedrate depends on the motion format taught with a motion instruction. When using this function. When the unit is msec. for example.1 to 4724. If a speed exceeding the range is programmed. The feedrate can also be specified externally. L P[1] 100mm/sec FINE If the specified motion format is linear motion or circular motion.3. specify a feedrate from 1 to 2000 mm/sec.1 to 3200sec as the time took for motion. The format in which an operation instruction is displayed when the feedrate is specified with a register F F F F Joint Linear Arc J P[1] R[i]% FINE L P[1] R[i]mm/sec FINE C P[1] P[2] R[i]mm/sec FINE Pallet operation instruction J PAL_1[A_1] R[i]% FINE J PAL_1[BTM] R[i]% FINE J PAL_1[R_1] R[i]% FINE NOTE The pallet operation instruction is a software option of palletizing. F Pallet operation instruction J PAL_1[A_1] R[i]% FINE J PAL_1[BTM] R[i]% FINE J PAL_1[R_1] R[i]% FINE NOTE The pallet operation instruction is a software option of palletizing. This allows the user to specify the feedrate for an operation instruction after calculating the feedrate using a register. When the unit is cm/min. NOTE The programmed travelling speed cannot exceed the allowable range of the robot. When the unit is sec. specify an angular displacement from 1 to 272 deg/sec. specify the value from 0.4. Operation group instruction 176 .specify the value from 1 to 32000msec as the time took for motion.4 inch/min. a feedrate is specified as the following: F F F A percentage from 1% to 100% of the maximum feedrate is to be specified. Specifying the feedrate with a register The feedrate can be specified with a register. A feedrate override value of 1% to 100% can be used.when the time took for motion is important. CAUTION This function allows the user to change the feedrate of a robot freely by setting a register. the feedrate is controlled by feedrate overriding. using group input (GI) or data transfer. specify a feedrate as follows: F F F F F When the unit is mm/sec. 2 1 to 272 Integer (*1) Real/effective up to the first decimal place. -. is used for the operating speed on line 14. Search/replace functions -. *1: System variable $MPR_GRP. it is necessary to take appropriate measures such as interlocking or not changing the value of the register used for the feedrate during program execution. a range check is not performed on the feedrate (register value). = FALSE: Disables read--ahead. Search using register items cannot be performed. 10: R [1] = 100 11:J P[5] R[1]% FINE 12:R[1]=10 14:J P[6] R[1]% FINE If read--ahead is enabled. not 10 on line 12. Replacement using register items cannot be performed.4.$SPPEDLIM/10 *3: System variable $MPR_GRP. NOTE If the read--ahead of the register feedrate is enabled with the above system variable. the read--ahead of execution is stopped. it is possible that the new value is not reflected in the operating speed.1 to 3200. causing the robot to move with the old value.Search function The search function is not supported. The feedrate (register value) is not automatically converted when the feedrate unit is changed. If the feedrate specification for an operation statement is made with a register. an alarm is generated during execution.1 to 4724.0 1 to 32000 1 to 2000 1 to 12000 0. (*1) Integer (*1) Integer (*1) Integer (*2) Real/effective up to the first decimal place.$ROTSPEEDLIM * 180/3. This is described later. or if the value is of a type other than those appropriate to a feedrate (integer/real).Replace function Replacement is possible with the operation statement modification item. The feedrate for a standard operation instruction is also supported.) If the value entered in the register is not within the upper and lower limits. If read--ahead of the register feedrate is enabled. The default is FALSE (read--ahead is stopped). In program editing. (It is possible to specify whether to stop read--ahead using a system variable. 100 on line 10.1415 Read--ahead can be enabled. (*3) Integer The allowable range (maximum value) differs depending on the robot type. PROGRAM STRUCTURE B--81464EN--3/01 Asynchronous operation group GP1 JP[1] R[i]% FINE GP2 JP[1] R[i]% FINE NOTE The operation group instruction is a software option of multimotion. It is possible to specify whether to stop read--ahead using the following system register. If the feedrate specification for an operation statement is made with a register. Allowable range Unit % sec msec mm/sec cm/min inch/min deg/sec 1 to 100 0.$SPPEDLIM *2: System variable $MPR_GRP. The additional axis feedrate for an operation addition instruction is not supported. $RGSPD_PREXE = TRUE: Enables read--ahead. 177 . depending on the timing at which the register value is changed. the read--ahead of execution is stopped. the robot will operate not at the speed specified as a weld schedule but at the standard speed specified from the weld system setup screen. therefore. Sample program 12: 13: 14: 15: L L L L P[10] P[11] P[12] P[13] 500 mm/sec WELD_SPEED WELD_SPEED WELD_SPEED FINE ARCSTART[10] CNT100 CNT100 FINE ARCEND[10] The motion speeds of the 13th. cause the robot to move at an unexpected speed. 1 L P[1] 50 50 cm/min FINE REGISTER WELD 1 L P[1] WELD_SPEED WELD_SPEED SPEED [CHOICE] FINE REGISTER The units can be specified from the weld system setup screen. Before a program is executed to start operation. 178 . and weld speed can all be managed as weld conditions. If the motion speed setting in a motion instruction is changed to WELD_SPEED. however. the robot may move at an unexpected speed. 1: L P[1] 500 mm/sec FINE ARCSTART[10] 2: L P[2] WELD_SPEED CNT100 3: L P[3] WELD_SPEED CNT100 WARNING In the same way as the register speed statement. the robot will operate at the weld speed specified in the ARC START schedule. The units cannot be easily checked by the program. NOTE If the speed specified in the following program is adjusted from the On--The--Fly screen while the second line is being executed.4. the speed should be checked on the weld schedule screen. the units used to specify the speed must be checked on the weld system setup screen. the operation coded in the third line will be executed at the original speed. The weld voltage. and 15th lines are the weld speed specified for ARC START schedule 10. If motion instructions including a weld speed statement are executed without first checking the units used to specify the speed. The weld speed and units need not be coded in the program.4 Weld speed statement This function is used to specify a weld speed as a weld condition. weld current. F Motion instructions including a weld speed statement are executed without execution of the ARC START statement. executed prior to the motion instruction. WARNING The units in which speed is specified in the weld speed statement are specified as the WELD SPEED FUNCTION DEFAULT UNIT on the weld system setup screen. F Backward execution is performed. the weld speed statement is such that the speed cannot be easily checked by a program because the motion speed is set from the weld schedule screen. F Single step mode is selected. PROGRAM STRUCTURE B--81464EN--3/01 4. Before a program is executed to start operation. 14th.3. Failure to make this setting correctly could. Provided the following conditions are satisfied. the power must be briefly turned off. the robot will move at an unexpected speed. even if the specified CNT value is 100. the robot approaches a target point but does not stop at the point and moves to the next point. CNT positioning path J P[i] 50% CNT50 When the CNT positioning path is specified. the robot moves along the farthest path to the target point because the robot does not decelerate near the target point and it starts to move to the next target point soon. If you do not do this. the robot stops at the target point to execute that instruction. in order for the settings to take effect. NOTE Several short--distance. the robot stops at a target point before moving to the next target point. D Motion instructions including a weld speed statement are executed without execution of the ARC START statement. D Single step mode is selected. WARNING After the default speed or units have been modified. high--speed motions that are performed continuously with CNT specified may be decelerated. 179 . How closely the robot must approach a target point can be defined by specifying a value from 0 to 100. the robot may move at an unexpected speed. Two positioning path modes are available: F FINE positioning path F CNT positioning path FINE positioning path J P[i] 50% FINE When the FINE positioning path is specified. If the operator fails to apply the precautions given above.3. PROGRAM STRUCTURE B--81464EN--3/01 WARNING Provided the following conditions are satisfied. 4.5 Positioning path The positioning path defines the method of ending robot operation in a motion instruction. NOTE When an instruction such as a wait instruction is taught. then on again. the execution of motion instructions including a weld speed statement causes the robot to move at the speed specified for WELD SPEED FUNCTION DEFAULT SPEED on the weld system setup screen. When 0 is specified. D Backward execution is performed. When 100 is specified.the robot moves the nearest path to the destination position but moves to the next target point without stopping at the target point.4. Then select a desired additional motion instruction.6 Additional motion instructions An additional motion instruction causes the robot to perform a particular job.LBL[i]) F Offset condition instruction (Offset) F Direct offset condition (Offset.LBL[ ] 7 8 F4 180 . Robot motion path using CNT continuous termination type Next point P3 Target point P2 FINE CNT 0 CNT 50 CNT 100 Start point P1 4.PR[i]) F Tool offset instruction (Tool_Offset) F Direct tool offset instruction (Tool_Offset.8. then press the F4 (CHOICE) to display the list of additional motion instructions.4. JOINT 30% 4/5 500mm/sec CNT10 CHOICE Motion Modify 1 No option 2 Wrist Joint 3 Offset 4 Offset. PR[i]) F Incremental instruction (INC) F Simultaneous EV instruction (EV i%) F Independent EV instruction (Ind. move the cursor after the motion instruction. PROGRAM STRUCTURE B--81464EN--3/01 Figure 4--17. The following additional motion instructions are available: F Wrist joint motion instruction (Wjnt) F Acceleration override instruction (ACC) F Skip instruction (Skip.3.PR[ ] PROGRAM1 JOINT 30% 5 Incremental 6 Skip.EV i%) F Path instruction (PTH) F Pre--execution instruction (pre--execution/post--execution) (!Section 9. “Pre--execution Instruction”) F Arc welding instruction When teaching an additional motion instruction. To perform a potentially dangerous operation such as hot water scooping. The time used for motion from a starting point to a destination point depends on the acceleration override. the attitude of the wrist changes during the motion. When acceleration override is raised. use an ACC value greater than 100%. acceleration time will be long (Acceleration and deceleration are done slowly). the tool center point can move along a programmed path without causing the wrist axis to invert due to a wrist axis singularity point.4. acceleration time will be short (Acceleration and decelerate are done quickly). PROGRAM STRUCTURE B--81464EN--3/01 Wrist joint motion instruction L P[i] 50% FINE Wjnt Motion Modify 1 No option 2 Wrist Joint 3 Offset 4 Offset.) The wrist joint motion instruction is used when a linear motion or circular motion is specified. the attitude of the wrist is controlled until the end of the motion. The acceleration override value ranges from 0 to 150%. 181 . use an ACC value of less than 100%. awkward movement and vibration may occur. However. When the wrist joint motion instruction is used. When the acceleration override is reduced. This may cause a servo alarm. (In the standard mode. Acceleration Override ACC = 100 Acceleration Deceleration Programmed Speed ACC = 50 Deceleration Acceleration CAUTION If the acceleration override value is large. Acceleration override J P[1] 50% FINE ACC200 Motion modify 1 No option 2 Wrist Joint 3 ACC 4 Skip. If this occurs with an operation instruction to which an acceleration/deceleration override instruction is added. either reduce the acceleration/deceleration override value or delete the accelerate/deceleration override instruction. Acceleration override is programmed at the destination position.LBL[] PROGRAM1 This instruction specifies the percentage of the acceleration/deceleration rate during motion.PR[ ] 5 In 6 Sk 7 8 The wrist joint motion instruction specifies a path control operation that does not control the attitude of the wrist. For portions where the operation is felt to be very slow. Figure 4--18. 7. If the skip condition is satisfied while the robot is moving to a target point. PROGRAM STRUCTURE B--81464EN--3/01 Skip instruction SKIP CONDITION [I/O] = [value] J P[1] 50 FINE Skip. There is no need to set system variables. (2) Digital servo control stops the robot quickly by developing the maximum torque of the motor when the robot detects that the skip conditions are met. see Section 4.4. A skip condition once specified is valid until the execution of the program is completed. b) Teaching a high--speed skip instruction (an additional operation instruction) In the same way as the ordinary line skip instruction. or the next skip condition instruction is executed. select the high--speed skip instruction from the additional operation instruction menu. Program teaching a) Teaching skip conditions The skip conditions for the high--speed skip function are taught in the same way as the ordinary skip function. Skip Instruction When DI[1] is not entered P2 P4 P1 When DI[1] is entered Example 1: 2: 3: 4: 5: 6: P3 SKIP CONDITION DI[1] = ON J P[1] 100% FINE L P[2] 1000mm/sec FINE Skip. Before a skip instruction can be executed. program execution skips (jumps) to the line of the branch destination label after completion of the robot motion. see Section 4.LBL[3] JOINT 30% 5 Incremental 6 Skip.9. For the skip condition instruction. in advance. the robot cancels the motion and program execution proceeds to the program statement on the next line. Use method The high--speed skip function can be used in program teaching. a skip condition instruction must be executed.LBL[ ] 7 8 A skip instruction causes a jump to a branch destination label if the skip condition is not satisfied. If the skip condition is not satisfied. (For the branch instructions. LBL[1] L P[3] 50% FINE LBL[1] J P[4] 50% FINE High--speed skip Function outline (1) The position of the robot when the skip conditions are met can be stored in programmed position registers. a skip condition (condition for executing a skip instruction) to be used with it. The skip condition instruction specifies. 182 .) Figure 4--19. 4. In this case. the position read accuracy under skip conditions becomes higher. Limitations and notes <1> Position read error As the programmed operation speed is slower. The error is proportional to the speed. LBL[10]. Skip. LBL[10]. and position storage format. PR 3 Skip. LBL. (As a guideline. the current position is stored in a form of Cartesian coordinates.) 183 . JOINT 30% High--speed skip instruction Ordinary skip instruction c) Specify the label. PROGRAM STRUCTURE B--81464EN--3/01 Motion modify 1 Skip. an error of about 1. no position data is stored in PR[5]. PR[5]=LPOS : : 30: LBL[10] Explanation of the execution example When SDI[3] is turned on during execution of the 11th line. PR[5]=LPOS or JPOS [Sample program] : 8: SKIP CONDITION SDI[3]=ON : 10: LP[2]500mm/sec FINE 11: LP[3]100mm/sec : SKIP.5 mm is generated for 100 mm/sec. LBL. position register. a branch to LBL[10] is made after the execution of the 11th line ends. When SDI[3] is not turned on during execution of the 11th line. the position variable is not influenced by the user coordinate system. you can not teach the positional information subtracted the offset amount. The specified offset condition is available until the program is finished or the next OFFSET CONDITION instruction is executed.(See Section 4. If teaching is performed in orthogonal format. The OFFSET CONDITION instruction has to be specified before the OFFSET instruction is executed. the user frame (UF) being selected now is used. The setting values of the tool frame number (UT) and the configuration (CONF:) are ignored. the shift amount of each axis is applied. When the positional information is expressed in the Cartesian coordinate system. -. F Enter PR index of offset data : -. In other cases.PR[ ] Incremental ---next page--- The OFFSET instruction alters positional information programmed at the destination position by the offset amount specified by a position register.Enter the number of the position register specified in the OFFSET CONDITION instruction. the user frame by which the offset condition is decided should be specified. When you teach or edit the positional information of the motion instruction with the OFFSET option.Enter the number of the user frame which is used when the offset amount is subtracted.Yes The positional information minus the offset data is taught. the following elements should be specified: F F F The position register specifies the shifting direction and the shift amount.12. The robot moves to the offset position at the backward execution. The offset condition is specified by the OFFSET CONDITION instruction.3.this change is reflected in the motion after the program is resumed. When the offset amount is changed after the program is paused while the OFFSET instruction is on progress.(See Section 4.4. this change is not reflected to the motion.22 “Setting the general items”) When “Ignore Offset command” is set to ENABLED. F Enter uframe no of offset data : -.PR[2] (UFRAME [1]) J P[1] 50% FINE Offset 5 6 7 8 JOINT 30 % Offset Offset.“Step test”) This is the same as the following explanation for the direct offset condition instruction. When the positional information is manually edited with the numerical keys.10. (See Section 3. PROGRAM STRUCTURE B--81464EN--3/01 OFFSET instruction Offset. “FRAME INSTRUCTION) When it is not specified. “Ignore Offset command” is set to ENABLED. For an offset condition. Even if the position teaching by which the amount of the correction is subtracted is effective. the current position will be taken in the following cases as it is.2. and the user coordinate system input option is not used. But. the current position is directly taught as the positional information (The prompt message is not displayed) and the robot stops at the teaching position even if the OFFSET instruction is executed.No The positional information is directly taught. the prompt message is displayed to inquire the following element. you can teach the position which is subtracted the offset amount.(See Section 6. The OFFSET CONDITION instruction specifies the offset amount used by the OFFSET instruction in advance. both the position variable and position register are influenced by the user coordinate system. when you change the number of a position register in the OFFSET CONDITION instruction. changing the user coordinate system does not affect the position variables and position registers. When the positional information is expressed in the joint frame. F F The specified position register is non--initialization. When you teach or edit the positional information of the motion instruction with the OFFSET option. “OFFSET CONDITION INSTRUCTION”) CAUTION If teaching is done by joint coordinates. and moves the robot to the altered position. 184 . F Subtract offset data from current pos? -. PR[1] 185 UT:F 0. the current position will be taught as it is in the following cases: F The specified position register is non--initialized. Moreover.000 P: Z: 100. F “Ignore Offset command” is set to ENABLED.000 0. F The position register number used by direct offset condition instruction is non--initialized.PR[2] 5 6 7 8 JOINT 30 % Offset Offset. -.000 W: X: Y: 300.22 “Setting the general items”) When the “Ignore Offset command” is set to ENABLED.000 .(See Section 3.4.the prompt message is displayed to inquire the following elements: F Subtract offset data from current pos? -.000 0. Figure 4--20. When you change or edit the motion instruction with the direct offset condition option. PROGRAM STRUCTURE B--81464EN--3/01 Direct offset condition instruction J P[1] 50% FINE Offset. In other cases. When you teach or edit the motion instruction with the direct offset condition option. changing the user coordinate system does not affect the position variables and position registers. the position variable is not influenced by the user coordinate system. and the user coordinate system input option is not used. you can not teach the positional information subtracted from the offset amount.the current position is directly taught as the positional information (The prompt message is not displayed) and the robot stops at the teaching point even if the offset instruction is executed. both the position variable and position register are influenced by the user coordinate system. The reference frame is specified by the number of the user frame currently selected. Offset Instruction Z PR [1] Y X User frame which is being selected P1 Offset data PR [1] UF: F 0. If teaching is performed in cartesian format.PR[ ] Incremental ---next page--- The direct offset condition instruction alters positional information by the offset amount directly specified in the position register without using the offset condition specified in the OFFSET CONDITION instruction.Yes The positional information subtracted the offset data is taught. even if the position teaching by which the offset amount is subtracted is effective. When the positional information is manually edited with the numerical keys.000 R: P2 Example 1 1: OFFSET CONDITION PR[1] 2: J P[1] 100% FINE 3: L P[2] 500mm/sec FINE Offset Example 2 1: J 2: L P[1] 100% FINE P[2] 500mm/sec FINE Offset. you can teach the positional information by subtracting the offset amount. CAUTION If teaching is done by joint coordinates.No The positional information is directly taught. as well as the amount of shift. Execute a tool offset condition instruction before executing the corresponding tool offset instruction. F When the specified position register has not yet been initialized F When “Ignore Tool--offset” is set to ENABLED. the system prompts the operator to respond to enter data in response to the following messages. described next. it remains effective until the program terminates or the next tool offset condition instruction is executed.Pressing the NO soft key stores the current position as the position data. Even when teaching the position from which the offset is subtracted is enabled.Pressing the YES soft key subtracts the tool offset from the position data and the robot is taught the new position. Once the tool offset condition has been specified. “Step test”).4.3. In backward execution (See Section 6. When a motion statement which includes a tool offset instruction is taught or a certain position is modified.Specify the position--register number specified by the tool offset condition instruction. the current position is taught as position data (no prompt messages are output) and the robot is moved to the taught position. even if a tool offset instruction is executed.) When “Ignore Tool--offset” is set to ENABLED. When a motion statement which includes a tool offset instruction is taught or a certain position is modified. the position to which the offset is not to be applied can be taught.2. When the position data is manually modified with the numeric keys. F Enter PR index of tool offset data? -. by the offset specified in the tool offset conditions. the modified number is not used. F Subtract tool offset data? -. A tool offset condition instruction specifies the offset condition used in a tool offset instruction. the currently selected tool coordinate system is used.22 “Setting the general items”. the robot is moved to the position to which the offset has been applied. 186 . of tool offset data? -. The condition when the offset is applied is specified by a tool offset condition instruction. When a position register number specified by a tool offset condition instruction is modified. F The position register specifies the direction in which the target position shifts. the position is taught without subtracting the offset. the modified distance is used in the resumed movement. -. recorded in the position data.PR[ Incremental ---next page--- A tool offset instruction moves the robot to the position shifted from the target position. F Enter tool no. the current position is stored in the following cases. F The tool coordinate system is used for specifying offset conditions.Specify the number of the tool coordinate system in which the offset is to be specified. When the robot is temporarily stopped during the execution of a tool offset instruction and the shift distance is modified. PROGRAM STRUCTURE B--81464EN--3/01 Tool offset instruction TOOL_OFFSET_CONDITION PR[2] ( UTOOL[1] ) J P[1] 50% FINE Tool_offset 5 6 7 8 JOINT 30 % Tool_Offset Tool_Offset. F When the number of a tool coordinate system is omitted. This also applies to the direct tool offset instruction. (See Section 3. Note the following when specifying tool offset conditions. 4. When teaching the position from which the offset is subtracted is enabled. Figure 4--21. F When the specified position register has not yet been initialized F When the direct tool offset instruction has not specified the number of a position register F When “Ignore Tool--offset” is set to ENABLED.) When “Ignore Tool--offset” is set to ENABLED. When a motion statement which includes a direct tool offset instruction is taught or a certain position is modified. the current position is taught as position data (no prompt messages are output) and the robot is moved to the taught position even if a tool offset instruction is executed. The currently selected tool coordinate system is used.000 10. PROGRAM STRUCTURE B--81464EN--3/01 Direct tool offset instruction J P[1] 50% FINE Tool_Offset.000 P: 0. ignoring the tool offset conditions specified by the tool offset condition instruction. -.000 0.000 R: Example 1 1: TOOL_OFFSET CONDITION PR[1] 2: J P[1] 100% FINE 3: L P[2] 500mm/sec FINE Tool_Offset Example 2 1: J P[1] 100% FINE 2: L P[2] 500mm/sec FINE Tool_Offset.Pressing the YES soft key subtracts the tool offset from the position data and the robot is taught the new position. PR[2] 5 6 7 8 JOINT 30 % Tool_Offset Tool_Offset. When a motion statement which includes a direct tool offset instruction is taught or a certain position is modified. the system prompts the operator to enter data in response to the following messages. (See Section 3. PR[1] 187 .22 “Setting the general items”. When the position data is manually modified with the numeric keys.000 W: 0.000 0. the position to which the offset is not to be applied can be taught.Pressing the NO soft key stores the current position as position data. Tool Offset Instruction Z Y P2 X Z P1 Y Currently selected tool coordinate system OFFSET DATA X X: Y: Z: PR [1] UF: F UT: F 0.PR[ Incremental ---next page--- The robot moves according to the offset stored in the specified position register. F Subtract tool offset data? -. the position is taught without subtracting the offset. the current position is stored in the following cases. When the motion instruction with the INC option is paused and the position data is changed. resume the program from the just previous motion instruction. the reference user frame is specified by the number of the user frame which is specified in the positional data. the incremental amount of each axis is applied.000 Z: 100. F When the motion instruction with the INC option is taught. Incremental instruction Z User frame 2 Y P1 X Position data P [2] UF: X: 500. the frame is verified.000 0.000 Y: 100.(For the cartesian coordinate system reference. the offset amount is used as the offset amount of the specified incremental amount. See Section 4. the reference frame is the user frame being selected now.2) F When the position register is used as the position data.000 P[1] 100% FINE P[2] 500mm/sec FINE INC Note the following when teaching an incremental instruction (See Section 5. F When the positional variable (P[]) is used as the positional data. PROGRAM STRUCTURE B--81464EN--3/01 Incremental instruction J P[1] 50% FINE INC 5 6 7 8 JOINT 30 % Offset Offset.PR[ ] Incremental ---next page--- The incremental instruction uses the positional data in the motion instruction as the incremental amount from the current position.000 0.4. This means that the incremental motion amount from the current position is recorded in the positional data in the motion instruction. 188 .000 Example 1: J 2: L 2 UT: W: P: R: P2 1 0. To move the robot to the changed position. However. F When the INC instruction is used with the OFFSET instruction. Figure 4--22. F Editing the position in the motion instruction with the INC option removes the INC option automatically.3.4. “Teaching a supplementary motion instruction”): F Adding the INC option causes the positional data to be non--initialized. The incremental condition is specified by the following elements: F When the positional data is joint frame value. that change is not immediately reflected. and causes the robot to move to the destination position that the incremental amount is added to the current position. the positional data is set to be non--teaching.3. the type of the positional data in the motion instruction should correspond to the type of the positional register for the offset. In this case. the additional axis operation is synchronized with the robot operation. the robot and the additional axis start moving at the same time. the robot operation is synchronized with the additional axis operation. 189 . the extended axis moves in synchronization with the speed of the robot. the robot and additional axis operations are synchronized as follows: F If the robot operation time is longer than the additional axis operation time. When this instruction is used.EV i%) J P[1] 50% FINE Ind. The extended axis speed is specified as a ratio (1% to 100%) to the maximum travel speed of the extended axis. When this instruction is used. The extended axis speed is specified as a ratio (1% to 100%) to the maximum travel speed of the extended axis. but stop at different times because they are not synchronized.4. F If the additional axis operation time is longer than the robot operation time.EV 50% Motion modify 1 Independent EV 2 Simultaneous EV 3 4 PROGRAM1 The additional axis speed instruction (asynchronous) moves the robot asynchronously with the additional axis. PROGRAM STRUCTURE B--81464EN--3/01 Simultaneous EV instruction J P[1] 50% FINE EV 50% Motion modify 1 Independent EV 2 Simultaneous EV 3 4 PROGRAM1 The additional axis speed instruction (synchronous) moves the robot in sync with the additional axis. If a motion statement is not accompanied with either extended axis speed instruction. Independent EV instruction (Ind. ) By using this instruction. For details of the additional arc motion instructions listed below. delete the PTH motion option. When using this function. f J P[1] 50cm/min FINE Offset Arc Start[1] × J P[1] 50cm/min FINE Arc Start[1] Offset 190 . s] When using an arc welding instruction as an additional motion instruction in combination with an offset instruction or tool compensation instruction. to a motion instruction (additional arc motion instruction). before actual operation. see Chapter 4 (See Section 4. The use of this function enables the following effects in normal operation: F Improvement in cycle time F Improvement in path accuracy This function is more effective as the movement distance is shorter and the Cnt value is smaller (the value n in Cntn is smaller). note the following: In the following cases. CAUTION Some motion instructions that use the PTH switch might cause jerky motion or vibration. F A large Cnt value is specified in a motion statement. use of the PTH instruction may actually incur a longer cycle time: Before using this function. rather than the specified speed. therefore. F Successive Cnt motion statements appear. J J J J P[1] P[1] P[1] P[1] 50% 50% 50% 50% FINE FINE FINE FINE Arc Arc Arc Arc Start[1] Start[V.1). in an operation statement for which the positioning format is “FINE.4. as an additional motion instruction. (Motion planning entails calculating the path along which the robot will travel.” the speed that the robot can actually attain. F A motion statement causes the robot to move through a long distance. For this reason. the robot speed cannot be increased to the speed specified by a motion statement. If the motion that is attached to PTH has a vibration. specify the arc welding instruction after the offset instruction or tool compensation instruction.A] End[1] End[V. In a motion where the robot moves through a short distance. operation planning is performed using the “attainable speed” in a CNT operation. confirm its effect. A. Arc welding instruction J P[1] 50% FINE Arc Start[i] An arc welding instruction is added. PROGRAM STRUCTURE B--81464EN--3/01 Path instruction J P[1] 50% Cnt10 PTH Motion modify 1 Independent EV 2 Simultaneous EV 3 PTH 4 PROGRAM1 This function is designed to improve the performance of continuous motion (the termination type is Cnt1 to Cnt100) when the robot moves through a short distance.” operation planning for such an operation must be based on the “attainable speed.4. PROGRAM STRUCTURE B--81464EN--3/01 4. Arc Start Instruction (Condition Number Specified) Arc Start [ i ] Welding condition number (1 to 32) Example 1: Arc Start [32] 2: Arc Start [R[12]] Welding condition screen Arc Start [ 3 ] Welding condition number DATA Weld Sched Welding voltage 20.0 22.00 Weld 0.Specifies the start of weaving.0 200. A submenu is displayed.15 Weld 30 % 1/32 COMMENT Schedule 1 Schedule 2 Schedule 3 Schedule 4 Example NOTE When the arc start instruction is executed. F Arc start instruction: Instructs the robot to start arc welding. F Arc end instruction: Instructs the robot to stop arc welding.00 Weld 0.Specifies the end of weaving.4. F Weaving end instruction -. INST. press the F2 or F4 key.0 180. A]: Specifies the welding conditions. To teach an arc motion instruction. 191 1 2 . Figure 4--23.4 Arc Instructions Arc instructions are used to direct when and how the robot should execute arc welding.3).0 (Amps) 140.4. select F1.1 Arc start instruction The arc start instruction is used to direct the robot to start arc welding.0 JOINT (sec) 0. Then. The following two types of arc start instructions are supported: F Arc Start [i]: Specifies a welding condition number. the processing time specified as part of the welding conditions is ignored. then select a standard arc instruction (See Sections and 5.0 160. Arc Start [i] The Arc Start [i] instruction starts arc welding according to predetermined welding conditions. F Arc Start [V.0 18.00 Weld 0.5).0Volts Welding current 180.3. select Arc from the submenu (see Section 5. Instruction 1 Registers 2 I/O 3 IF/SELECT 4 WAIT SAMPLE1 5 6 7 8 JOINT 30 % JMP/LBL CALL Arc ---next page--- 4.0Amps 1 2 3 4 (Volts) 16. To specify a single arc instruction.3. F Weaving start instruction -.0 20. 400.0 to 500.0 20.0 22. . 180. set TIME 0 as a welding condition. A. The following two types of arc end instructions are supported: F Arc End [i]: Specifies a welding condition number.0 mm/sec.0V ) Arc Start [ V.15 Weld 30 % 1/32 COMMENT Schedule 1 Schedule 2 Schedule 3 Schedule 4 . according to a predetermined welding condition. F Arc End [V.0 18.0 (Amps) 140..0 160.. inch/min) Example 1: Arc Start [180V. cm/min.0 to 450. Figure 4--24.4.0A] 2: Arc Start [140V.0A ) Welding voltage ( 0.0cm/min] 4. A] The Arc Start [V. mm/sec ] Wire feed speed (0. Figure 4--25. A. The crater prevention function decreases the voltage and current upon the completion of welding so that crater holes are not created by a sudden voltage drop.0 Amps 0. Arc End [i] The Arc End [i] instruction executes crater prevention. To suppress crater prevention. then stops arc welding. A ] Welding current ( 0.2 Arc end instruction The arc end instruction is used to direct the robot to stop arc welding. PROGRAM STRUCTURE B--81464EN--3/01 Arc Start [V. Arc Start Instruction (Condition Values Specified) Arc Start [ V.0 200.4.0 180.00 Weld 0.] instruction starts welding by directly specifying arc welding conditions such as a welding voltage and welding current (or wire feedrate).0 to 50. Arc End Instruction (Condition Number Specified) Arc End [ i ] Welding condition number (1 to 32) Example 1: Arc End [11] 2: Arc End [R[31]] Welding condition screen Arc End [ 4 ] Welding condition number DATA Weld Sched Crater prevention voltage 20.15 sec 1 2 3 4 192 (Volts) 16.0 JOINT (sec) 0. s]: Specifies the welding conditions. The types and number of conditions to be specified depend on the settings of the model of welding power supply and the number of analog input/output signals.00 Weld 0.0 Volts Crater prevention current Crater prevention time 200.00 Weld 0. 0.0 A) Crater prevention voltage (0. cm/min. sec] Wire feed speed (0. The types and number of conditions to be specified depend on the settings of the model of the welding power supply and the number of analog input/output signals.0 V) Arc End [ V.0 to 500. inch/min) Example 1: Arc End [54.0V. Sequence of Crater Prevention Processing Weld start Welding voltage Crater prevention voltage Specified voltage Start--up voltage Postprocessing voltage Postprocessing time Specified current Start--up current Welding current Arc detection Crater prevention current Crater prevention time 193 . PROGRAM STRUCTURE B--81464EN--3/01 Arc End [V. 0. A.0 to 450. and crater processing time. 33.1sec] Figure 4--27. A.0V.0A.0 to 50. A. 5.0mm/sec.4.3sec] 2: Arc End [62.9 sec) Crater prevention current (0.0 to 9. s] The Arc Start [V. sec] instruction performs crater processing at the end of arc welding by directly specifying the conditions of crater processing such as a crater processing voltage.0 mm/sec. Figure 4--26. crater processing current (or wire feedrate). sec ] Crater prevention time (0. mm/sec. Arc End Instruction (Condition Values Specified) Arc End [ V. 5. Soft float. 194 . Weaving is intended to increase the width of beads. sec] instruction F Weave End instruction To teach the weaving instructions to the robot. weaving continues until the weaving end instruction is executed. mm.3. F “Centerise” is disabled. F It is impossible to use TAST. “Teaching of the weaving instruction”).4. and Continuous turn. Weaving Tool coordinate system + Z direction Z Pitch a Welding speed Frequency Weaving plane Y Welding speed Move direction Pitch Amplitude X The weaving instructions include: F Weave (pattern) [i] instruction F Weave (pattern) [Hz. Space check. Once started by the weaving start instruction.4. sec. AVC. Instruction 1 Miscellaneous 2 Weave 3 Skip 4 Payload WELD_1 5 6 7 8 JOINT 10 % Track Offset Offset Frames program control ---next page--- The weaving instructions specify the following weaving patterns: F Weave Sine F Weave Circle F Weave Figure 8 F Weave L NOTE The following restrictions are placed on Weave L. MIG EYE. Figure 4--28. RPM & MPass. click F1 [INST] to display the related submenu. then select [Weave] from the submenu (see Section 5. The term “weaving” refers to arc welding in which the welding torch cyclically sweeps right and left at a certain angle with the direction of welding. thereby intensifying the strength of welding.3 Weaving The weaving instructions direct the robot to perform weaving. PROGRAM STRUCTURE B--81464EN--3/01 4. L--pattern weaving Z Z Travel speed Amplitude Y Y X X 195 . 8--shaped Weaving Y Y Amplitude X X Radius Travel speed Figure 4--32. SIN--type Weaving Y Left end point Y Amplitude X X Travel speed Right end point Figure 4--30.4. PROGRAM STRUCTURE B--81464EN--3/01 Figure 4--29. Circular Weaving Y Y Amplitude X X Travel speed Radius Figure 4--31. 100 . mm.4.0mm. sec.100 7 1.100 .100 2 1. dwell time at the left end.0 .100 . 1.0s] Weave End The Weave End instruction ends weaving in progress.0 4. sec.0Hz.0 4.100 6 1.0 . Weaving Start Instruction Weave (pattern) [ i ] Weaving pattern Example Weaving condition (1 to 16) 1: Weave Sine[1] 2: Weave Circle[2] 3: Weave Figure 8[R[31]] Weaving condition Weave Sine [ 4 ] Weaving condition number Frequency Amplitude Dell time at the left end Dwell time at the right end DATA Weave Sched 10 % 1/10 FREQ(Hz) AMP(mm) R_DW(sec) L_DW(sec) 1 1.0 mm) Dwell time at the right end Dwell time at the left end (0.100 9 2. and dwell time at the right end.100 .100 3 1.100 .100 5 1. Weaving Start Instruction (Condition Description) Weave (pattern) [ Hz.0s] 3: Weave Figure 8[1.0s] 2: Weave Circle[1. 1.0 .0 4.0 4.0 2.0Hz.150 sec [ TYPE ] JOINT DETAIL HELP > Weave (pattern) [Hz. 20. deg ] Frequency (0.0mm.0Hz.150 sec 0.0 to 1.55 Hz 1. sec] instruction starts weaving by directly specifying weaving conditions such as a frequency.0 to 25.0 . sec] The Weave (pattern) [Hz.100 .0 4.9 Hz) Angle for L--pattern weaving (only for L-pattern weaving) Amplitude (0. 2. 1.0 2.0 . PROGRAM STRUCTURE B--81464EN--3/01 Weave (pattern) [i] The Weave (pattern) [i] instruction starts weaving according to a weaving condition and pattern specified beforehand.0 . 1.0 4.0s. sec.100 .0 2.0 .0 . Figure 4--35. amplitude.100 4 1.00 mm 0.0 to 99. 1.100 .100 . sec.100 1. 2.0 .0 sec) Example 1: Weave Sine[5. Figure 4--34. mm.0mm. Figure 4--33. mm. Weave End Instruction Weave End 196 .0s.0s.100 8 1. 1. 0 40.0 25.0 0.0 20.0 0.0 25.0 25. display the submenu by pressing F1 (INST).0 20.5.0 20.0 HELP > .0 20.0 [ TYPE ] Track End The Track End instruction ends sensing using an arc sensor. Figure 4--37.3.0Amps 4. see Section 5.4. (For teaching of the TRACK{Sensor} instruction. Track End Instruction Track End Example Trak End 197 DETAIL JOINT 10 % 1/20 V-Bias(%)-L 0.0 180.0 25.0 20.0 0. Figure 4--36. The TRACK{Sensor} instruction is divided into two types: F Track TAST[i] instruction F Track End instruction To teach the TRACK{Sensor} instruction.4.0 25.0 0.0 0.0 20.5 24.0 0.0 0.) Instruction 1 Miscellaneous 2 Weave 3 Skip 4 Track PROG JOINT 30% 5 Offset 6 7 8 ---next page--- The Track TAST[i] instruction starts sensing using an arc sensor according to an arc sensor condition specified beforehand.0% 1 2 3 4 5 6 7 8 9 V-Gain-L V_Cur(A) 25.0 20.0 0. then select T.0 0.0 20. Track TAST[i] Instruction Trak TAST [ i ] Arc sensor condition number (1 to 32) Example 1: Trak TAST[R[1]] 2: Trak TAST[2] [End] Arc sensor condition list screen Track TAST [ 3 ] Arc sensor condition number Up/down gain Left/right gain Up/down reference voltage Up/down bias Left/right bias DATA Weave Sched 25.0 0.0 0.0 0.0 0. PROGRAM STRUCTURE B--81464EN--3/01 4. The arc sensor function applies compensation to robot operation so that the value of current that flows between the welding wire and workpiece can be maintained at a certain level. this function ensures proper welding even if a workpiece is slightly displaced.0 0.0 0.0 0. So.0 0.0 0.0 0.0 25.0 0.4 TRACK{Sensor} instruction The TRACK{Sensor} instruction specifies sensing using an arc sensor.0 0.0% 1.0 0.0 25.0 25.0 0.0 0.0 20.0 0. polynomial operations such as those shown below are possible: F F Example 1: R[2]=R[3]--R[4]+R[5]--R[6] 2: R[10]=R[2]*[100/R[6] The following restrictions are imposed: F F Up to five operators can be written on a single line. The following register instructions are available: Instruction 1 Registers 2 I/O 3 IF/SELECT 4 WAIT PROGRAM 5 6 7 8 JOINT 30% JMP/LBL CALL Palletizing ---next page--- Register instructions Position register instructions F Position register axis instructions In register operations.3. 1: The timer has overflowed. PROGRAM STRUCTURE B--81464EN--3/01 4.4.5. See Section 7. Figure 4--38. Example 1: R[2]=R[3]+R[4]+R[5]+R[6]+R[7]+R[8] Up to five operators The “+” and “--” operators can be mixed on a single line. R[i] = (value) The instruction. WI [ i ] : WO [ i ] : Welding input signal Welding output signal * The timer overflow flag is cleared with the timer [i] = reset instruction. j ] : Value of position register element [i. A register is a variable for holding an integer or a decimal fraction.5 Register Instructions The register instructions perform arithmetic operations on registers. So can the “*” and “/” operators. be mixed with “*” and “/”.) Two hundreds registers are provided. Instruction R[i] = (value) R [ i ] = (value) Register number(1 to 200) Constant Value of R[i] R[i] : PR [ i. Example 1: R[1] = RDI[3] 2: R[R[4]] = AI[R[1]] 198 . “+” and “--” cannot. however. loads a value into a specified register. (For registers.1 Register instructions A register instruction performs an arithmetic operation on registers. R[i] = (value). j] GI [ i ] : Group input signal GO [ i ] : Group output signal AI [ i ] : Analog input signal AO [ i ] : Analog output signal SDI [ i ] : System digital input signal SDO [ i ] : System digital output signal RDI [ i ] : Robot digital input signal RDO [ i ] : Robot digital output signal SI [ i ] Operation panel input signal SO [ i ] : Operation panel output signal UI [ i ] : Peripheral device input signal UO [ i ] : Peripheral device output signal Timer [ i ] : Value of program timer [i] Timer overflow [ i ] : Overflow flag of program timer [i] 0: The timer has not overflowed. 4. R[i] = (value) -. R[i] = (value) DIV (value). loads the difference between two values into a specified register. WI [ i ] : WO [ i ] : Welding input signal Welding output signal * The timer overflow flag is cleared with the timer [i] = reset instruction.(value) The instruction. PROGRAM STRUCTURE B--81464EN--3/01 R[i] = (value) + (value) The instruction.4. R[i] = (value) -. R[i] = (value) DIV (value) The instruction. j ] : Value of position register element [i. R[i] = (value) * (value). R[i] = (value) MOD (value) The instruction. R[i] = (value) * (value) The instruction. R[i] = (value) MOD (value). 1: The timer has overflowed. R[i] = (value) / (value). loads the integer of the quotient of two values into a specified register. loads the sum of two values into a specified register. R [ i ] = ( x -.(value). R[i] = (value) + (value). loads the remainder (value after decimal point) of the quotient of two values into a specified register.( x MOD y ) ) / y Figure 4--39. 2 ] 4: R[ R[4] ] = R[1]+1 199 . loads the product of two values into a specified register. R[i] = (value) / (value) The instruction. loads the quotient of two values into a specified register. Example 3: R[3:flag] = SDI[4]+PR[ 1. j] GI [ i ] : Group input signal GO [ i ] : Group output signal AI [ i ] : Analog input signal AO [ i ] : Analog output signal SDI [ i ] : System digital input signal SDO [ i ] : System digital output signal RDI [ i ] : Robot digital input signal RDO [ i ] : Robot digital output signal SI [ i ] Operation panel input signal SO [ i ] : Operation panel output signal UI [ i ] : Peripheral device input signal UO [ i ] : Peripheral device output signal Timer [ i ] : Value of program timer [i] Timer overflow [ i ] : Overflow flag of program timer [i] 0: The timer has not overflowed. Arithmetic Register Instruction Register number(1 to 200) R [ i ] = (value) (operator) (value) + -* / MOD DIV Constant Value of R[i] R[i] : PR [ i. y.z. The instruction. see Section 9. the sum of two values. operation may become tight.. A position register instruction uses the same format as a register instruction. Instruction PR[i] = (value) PR [ i ] = (value) Position register number (1 to 100) Example PR [ i ] : P[i]: Lpos : Jpos : UFRAM [ i ] : UTOOL [ i ] : Value of position register [i] Value of position [i] specified in the program Cartesian coordinates of the current position Joint coordinates of the current position Value of user coordinate system [i] Value of tool coordinate system [i] 1: PR[1] = Lpos 2: PR[ R[4] ] = UFRAME[ R[1] ] 3: PR[9] = UTOOL[1] PR[i] = (value) + (value) The instruction. A position register is a variable for holding position data (x.p. PR [ i ] : Value of position register [i] Value of position [i] P[i]: specified in the program Cartesian coordinate Lpos : s of the current position Joint coordinates of Jpos : the current position UFRAM [ i ] : Value of user coordinate system [i] UTOOL [ i ] : Value of tool coordinate system [i] Example + -- 4: PR[3] = PR[3]+Lpos 5: PR[4] = PR[ R[1] ] 200 PR [ i ] : Value of position register [i] P [ i ] : Value of position [i] specified in the program Lpos : Cartesian coordinates of the current position Jpos : Joint coordinates of the current position UFRAM [ i ] : Value of user coordi-nate system [i] UTOOL [ i ] : Value of tool coordi-nate system [i] . or the difference of two values. loads the difference of two values into a specified register.. PR[i] = (value) -.2 Position register instructions A position register instruction performs an arithmetic operation on position registers.(value).6. Figure 4--41. PR[i] = (value).w. “POSITION REGISTER LOOK--AHEAD EXECUTION FUNCTION.5.4. When position register instructions are used with the position registers unlocked. For the LOCK PREG instruction. PR[i] Arithmetic Instruction Position register number(1 to 100) PR [ i ] = (value) (operator) (value) (operator) (value) . NOTE Before using position register instructions. See Section 7. into a specified position register. (For position registers.r). loads the sum of two values into a specified register. lock position registers by specifying LOCK PREG. PROGRAM STRUCTURE B--81464EN--3/01 4. loads position data into a specified position register. Figure 4--40.) One hundred position registers are provided. PR[i] = (value) + (value).4. A position register instruction can load position data.” PR[i] = (value) The instruction.. 4. i of PR[i. 2 ] = R[3] 2: PR[ 4. Instruction PR[i.j] = (value) The instruction. j ] = (value) Constant Register [i] R[i] : PR [ i.j] represents a position register element number. Format of PR[i. WI [ i ] : WO [ i ] : Welding input signal Welding output signal * The timer overflow flag is cleared with the timer [i] = reset instruction. Figure 4--43.5. product. j] GI [ i ] : Group input signal GO [ i ] : Group output signal AI [ i ] : Analog input signal AO [ i ] : Analog output signal SDI [ i ] : System digital input signal SDO [ i ] : System digital output signal RDI [ i ] : Robot digital input signal RDO [ i ] : Robot digital output signal SI [ i ] Operation panel input signal SO [ i ] : Operation panel output signal UI [ i ] : Peripheral device input signal UO [ i ] : Peripheral device output signal Timer [ i ] : Value of program timer [i] Timer overflow [ i ] : Position register number (1 to 100) Overflow flag of program timer [i] 0: The timer has not overflowed. j ] Position register number (1 to 100) Position register element number Cartesian coordinate system: 1=X 2=Y 3=Z 4=W 5=P 6=R Joint coordinate system: 1 = J1 2 = J2 3 = J3 4 = J4 5 = J5 6 = J6 n = Jn PR[i.j] = (value) PR [ i. difference. PROGRAM STRUCTURE B--81464EN--3/01 4.j] PR [ i. j ] : Position register element [i. and j of PR[i. 1: The timer has overflowed.j] represents a position register number. or quotient of two values into a specified position register element. or the sum. PR[i. Figure 4--42.5 201 .3 Position register axis instructions A position register axis instruction performs an arithmetic operation on position register elements. loads the value of a position data element into a position register element.j] = (value). 3 ] = 324. A position register axis instruction uses the same format as a register instruction. The position register axis instructions can load the value of one position data element. Example 1: PR[ 1. j] = (value) / (value). R[i] = (value) DIV (value) The instruction.(value). 3 ]-3.j] = (value) + (value). PR[i] = (value) * (value) The instruction. 5 ] = R[3]+DI[4] 2: PR[ 4. loads the remainder (value after decimal point) of the quotient of two values into a specified register. PR[i. loads the sum of two values into a specified position register element.528 202 . loads the integer of the quotient of two values into a specified register. R[i] = (value) MOD (value). loads the difference of two values into a specified position register element. R[i] = (value) DIV (value). PR[i] = (value) / (value) The instruction.j] = (value) -. PR[i. WI [ i ] : WO [ i ] : Welding input signal Welding output signal * The timer overflow flag is cleared with the timer [i] = reset instruction.j] Arithmetic Instruction Position register number(1 to 100) PR [ i ] = (value) (operator) (value) + -* / MOD DIV Constant Register [i] R[i] : PR [ i.j] = (value) * (value). PR[i. R[i] = (value) MOD (value) The instruction.( x MOD y ) ) / y Figure 4--44. 3 ] = PR[ 1. loads the quotient of two values into a specified position register element. R [ i ] = ( x -. j ] : Position register element [i. PR[i.(value) The instruction. PROGRAM STRUCTURE B--81464EN--3/01 PR[i] = (value) + (value) The instruction. loads the product of two values into a specified position register element. PR[i] = (value) -.4. PR[i. j] GI [ i ] : Group input signal GO [ i ] : Group output signal AI [ i ] : Analog input signal AO [ i ] : Analog output signal SDI [ i ] : System digital input signal SDO [ i ] : System digital output signal RDI [ i ] : Robot digital input signal RDO [ i ] : Robot digital output signal SI [ i ] Operation panel input signal SO [ i ] : Operation panel output signal UI [ i ] : Peripheral device input signal UO [ i ] : Peripheral device output signal Timer [ i ] : Value of program timer [i] Timer overflow [ i ] : Overflow flag of program timer [i] 0: The timer has not overflowed. 1: The timer has overflowed. Example 1: PR[ 3. Instruction R[i] = DI[i] R [ i ] = DI [ i ] Register number (1 to 200) Example Digital input signal number 1: R[1] = DI[1] 2: R[ R[3] ] = DI[ R[4] ] SDO[i] = ON/OFF The instruction.6 I/O Instructions The I/O (input/output signal) instructions are used to change the state of a signal output to peripheral devices and read the state of an input signal. OFF: Turns off the digital output signal. See Section 3.6. R[i] = DI[i] loads the state of a digital input signal (on = 1/off = 0) into a specified register. R[i] = DI[i] The instruction. Figure 4--45.) 4. Digital output signal number Example 3: SDO[1] = ON 4: SDO[ R[3] ] = OFF 203 .(For configuring I/O. PROGRAM STRUCTURE B--81464EN--3/01 4.8. Figure 4--46. allocate the logical number to the physical number before using it. Instruction SDO[i] = ON/OFF DO [ i ] = (value) ON : Turns on the digital output signal.4. turns on or off a specified digital output signal. SDO[i] = ON/OFF. Instruction 1 Registers 2 I/O 3 IF/SELECT 4 WAIT PROGRAM F (System) digital I/O instruction F Robot (digital) I/O instruction F Analog I/O instruction F Group I/O instruction 5 6 7 8 JOINT 30% JMP/LBL CALL Palletizing ---next page--- NOTE As for the I/O signal.1 Digital I/O instructions The digital input signal (DI) and digital output signal (DO) are input/output signals that can be controlled by the user. turns on or off a specified robot digital output signal. the digital output signal is turned on. loads the state of a robot input signal (on = 1/off = 0) into a specified register. PROGRAM STRUCTURE B--81464EN--3/01 SDO[i] = PULSE.2 Robot I/O instructions The robot input signal (RDI) and robot output signal (RDO) are input/output signals that can be controlled by the user.1 to 25.4. ROD[i] = ON/OFF. (value) Pulse width (sec) (0.turns on or off a specified digital output signal according to the value of a specified register. When no duration is specified.5 sec) Digital output signal number Example 5: SDO[1] = PULSE 6: SDO[2] = PULSE. Instruction SDO[i] = R[i] SDO [ i ] = R [ i ] Register number (1 to 200) Digital output signal number Example 7: SDO[1] = R[2] 8: SDO[ R[5] ] =R [ R[1] ] 4. [TIME] instruction inverts the current status of a specified digital output for a specified duration.1--second units). Figure 4--47. the digital output signal is turned off.[TIME] The SDO[i] = PULSE. R[i] = RI[i].6.2sec SDO[i] = R[i] The instruction. Robot output signal number Example 3: RDDO[1] = ON 4: RDDO[ R[3] ] = OFF 204 . When the value of the specified register is 0. SDO[i]=R[i]. Instruction RDO[i] = ON/OFF RDO [ i ] = (value) ON : Turns on the robot output signal. OFF: Turns off the robot output signal. 0. Figure 4--48.2sec 7: SDO[ R[3] ] = PULSE. Figure 4--50. When the value of the specified register is other than 0. SR[i] = RI[i] The instruction.(WIDTH) SDO [ i ] = PULSE. Instruction R[i] = RI[i] R [ i ] = RDI [ i ] Robot input signal number Register number (1 to 200) Example 1: R[1] = RDI[1] 2: R[ R[3] ] = RDI[ R[4] ] RDO[i] = ON/OFF The instruction. pulse output is executed for the duration specified with $DEFPULSE (0. Figure 4--49. Instructions SDO[i] = PULSE. 1. [ WIDTH ] Pulse width (sec) (0. Instruction of RDO[i] = PULSE.2sec RDO[i] = R[i] The instruction.[TIME] The RDO[i] = PULSE. When the value of the specified register is 0. RDO[i] = R[i].2sec 7: RDO[ R[3] ] = PULSE. 1. Figure 4--51. the robot output signal is turned off. PROGRAM STRUCTURE B--81464EN--3/01 RDO[i] = PULSE.4.1 to 25. 0. pulse output is executed for the duration specified with $DEFPULSE (0. turns on or off a specified robot output signal according to the value of a specified register.[WIDTH] RDO [ i ] = PULSE. the robot output signal is turned on.[TIME] instruction inverts the current status of a specified digital output for a specified duration.5 sec) Robot output signal number Example 5: RDO[1] = PULSE 6: RDO[2] = PULSE. Instruction RDO[i] = R[i] RDO [ i ] = R [ i ] Register number (1 to 200) Robot output signal number Example 7: RDO[1] = R[2] 8: RDO[ R[5] ] = R[ R[1] ] 205 . Figure 4--52. When no duration is specified.1--second units). When the value of the specified register is other than 0. voltage. or other data. Thus. Figure 4--54. the magnitude of a signal represents a temperature.6. R[i] = AI[i] Instruction R [ i ] = AI [ i ] Analog input signal number Register number (1 to 200) Example 1: R[1] = AI[2] 2: R[ R[3] ] = AI[ R[4] ] AO[i] = (value) The AO[i] = (value) instruction outputs a value as a specified analog output signal. R[i] = AI[i] The R[i] = AI[i] instruction stores the value of an analog input signal in a register. Figure 4--53. Figure 4--55. AO[i] = R[i] Instruction AO [ i ] = R [ i ] Register number (1 to 200) Analog output signal number Example 5: AO[1] = R[2] 6: AO[ R[5] ] = R[ R[1] ] 206 .4.3 Analog I/O instructions Analog input (AI) and analog output (AO) signals indicate levels as a value on a continuum. PROGRAM STRUCTURE B--81464EN--3/01 4. AO[i] = (value) Instruction AO [ i ] = (value) Value of analog output signal Analog output signal number Example 3: AO[1] = 0 4: AO[ R[3] ] = 3276 AO[i] = R[i] The AO[i] = R[i] instruction outputs a register value as an analog output signal. R[i]=GI[i]. Instruction GO [ i ] = ( value) GO [ i ] = ( value ) Group output signal value Group output signal number Example 3: GO[1] = 0 4: GO[ R[3] ] = 32767 GO [ i ] = R [ i ] The GO[i]=R[i] instruction sends the binary equivalent of the contents of specified register on the specified group output lines. Instruction GO [ i ] = R [ i ] GO [ i ] = R [ i ] Register number (1 to 200) Group output signal number Example 5: GO[1] = R[2] 6: GO[ R[5] ] = R[ R[1] ] 207 . Instruction R [ i ] = GI [ i ] R [ i ] = GI [ i ] Group input signal number Register number ( 1 to 200 ) Example 7: R[1] = GI[1] 8: R[ R[3] ] = GI[ R[4] ] GO [ i ] = (value) The GO[i]=(VALUE) instruction sends the binary equivalent of a value on the specified group output lines.4.6. Figure 4--58. Figure 4--56. The instruction. converts the binary value of the specified group input signal to the decimal value and inputs it to the specified register.4 Group I/O instruction R [ i ] = GI [ i ] The signal of the group input(GI) and the group output(GO) is that some digital input/output signals are grouped and this group is controlled by one instruction. PROGRAM STRUCTURE B--81464EN--3/01 4. Figure 4--57. When a duration is not specified. WO[i] = On/Off Instruction WO [ i ] = (value) On : Turns the output on.4. Figure 4--59. WO[i] = R[i] Instruction WO [ i ] = R [ i ] Register number (1 to 200) Welding output signal number Example 7: WO[1] = R[2] 8: WO[ R[5] ] = R[ R[1] ] 208 .1 to 25.5 Welding I/O instructions The welding input (WDI) and welding output (WO) signals are I/O signals that can be controlled by the user. the instruction executes pulse output for the duration specified with $DEFPULSE (0. Off = 0) in a register. When a value other than 0 is set in the register. R[i] = WDI[i] The R[i] = WDI[i] instruction stores the welding input status (On = 1.5 s) Welding output signal number Example 5: WO[1] = PULSE 6: WO[2] = PULSE. WO[i] = PULSE (time) Instruction WO [ i ] = PULSE (value) Pulse output time width (0.2sec WO[i] = R[i] The WO[i] = R[i] instruction turns a specified welding output either on or off according to the value held in a specified register. PROGRAM STRUCTURE B--81464EN--3/01 4. R[i] = WDI[i] Instruction R [ i ] = WI [ i ] Welding input signal number Register number (1 to 200) Example 1: R[1] = WI[2] 2: R[ R[3] ] = WI[ R[4] ] WO[i] = On/Off The WO[i] = On/Off instruction turns a specified welding output signal either on or off. 0. Figure 4--62. this instruction turns the output off.1--second units). 1. Off : Turns the output off.6.2sec 7: WO[ R[3] ] = PULSE. Figure 4--60. Welding output signal number Example 3: WO[1] = On 4: WO[ R[3] ] = Off WO[i] = PULSE (time) The WO[i] = PULSE (time) instruction holds a specified welding output on for a specified duration. When 0 is set in the register. Figure 4--61. this instruction turns the output on. Instruction 1 Registers 2 I/O 3 IF/SELECT 4 WAIT PROGRAM 5 6 7 8 JOINT 30% JMP/LBL CALL Palletizing ---next page--- Figure 4--64.7. The execution of a program is terminated by this instruction. and at marks (@).4.1 Label instruction LABEL[i] The label instruction (LBL[i]) is used to specify a program execution branch destination. It is not possible to specify the label number as the indirect addressing. underlines (_). F Label instruction F Program end instruction F Unconditional branch instruction F Conditional branch instruction 4. LBL[i] Instruction LBL [ i : Comment ] A comment can consist of up to 16 characters including alphanumeric characters.7 Branch Instructions A branch instruction causes a branch from one line of a program to another. it can be used for either an unconditional branch or conditional branch. asterisks (*). If a program is called from another main program. A label is defined with a label definition instruction. To add a comment.7. Label (1 to 32767) Example 1: LBL[1] 2: LBL[ R[3] ] 4. Figure 4--63.2 Program end instruction END The program end instruction indicates the end of a program. Four types of branch instructions are supported. Once a label is defined. Instruction 1 Registers 2 I/O 3 IF/SELECT 4 WAIT PROGRAM 5 6 7 8 JOINT 30% JMP/LBL CALL Palletizing ---next page--- A comment can be added to explain a label. move the cursor to the label number and press the ENTER key. control is returned to the main program. PROGRAM STRUCTURE B--81464EN--3/01 4. Program End Instruction END 209 . PROGRAM STRUCTURE B--81464EN--3/01 4. Instruction 1 Registers 2 I/O 3 IF/SELECT 4 WAIT PROGRAM 5 6 7 8 JOINT 30% JMP/LBL CALL Palletizing ---next page--- F Conditional compare instruction: Causes a branch to a specified label or program when some condition is satisfied.5.7. CALL (program) Instruction CALL ( Program ) Name of a program to be called Example 5: CALL SUB1 6: CALL PROGRAM2 *) It is possible to set an argument for the program call instruction and use its value in a subprogram. See Section 4. 4. “Arguments” for details.7.7. when the compare condition is satisfied. executes processing. F Jump instruction: Causes a branch to a specified label or program. Figure 4--65. To enter the calling program name. Two types of conditional branch instructions are available. The register conditional compare instruction and I/O conditional compare instruction are available.3 Unconditional branch instructions An unconditional branch instruction invariably causes a branch from one line to another in the same program . control is returned to the instruction immediately after the program call instruction in the calling program (main program). F Conditional select instruction: Causes a branch to a specified jump instruction or subprogram call instruction according to the value of a register. 210 . Register conditional compare instruction IF R[i] (operator) (value) (processing) A register conditional compare instruction compares the value stored in a register with another value and.STRINGS to enter characters directly. Two types of unconditional branch instructions are supported. select it with the sub--menu automatically displayed or press F5. JMP LBL[i] Instruction JMP LBL [ i ] Label (1 to 32767) Example 3: JMP LBL[2:hand open] 4: JMP LBL[ R[4] ] Program call instruction CALL (program) The CALL (program) instruction transfers program control to another program (subprogram) in order to execute it. Jump instruction JMP LBL[i] The JMP LBL[i] instruction transfers program control to a specified label. When program end instruction (END) in a called program is executed. Figure 4--66.4. F Program call instruction: Causes a branch to another program.4 Conditional branch instructions A conditional branch instruction causes a branch from one location in a program to another when some condition is satisfied. CALL SUBPRO2 Figure 4--69. CALL SUB1 In a conditional branch instruction. Figure 4--68. I/O Conditional Compare Instruction 2 IF (variable) (operator) (value) (Processing) SDO [ i ] SDI [ i ] RDO [ i ] RDI [ i ] SO [ i ] SI [ i ] UO [ i ] UI [ i ] WO [ i ] WI [ i ] Example = <> ON JMP LBL [ i ] CALL ( Program ) OFF SDO [ i ] SDI [ i ] RDO [ i ] RDI [ i ] SO [ i ] SI [ i ] UO [ i ] UI [ i ] WO [ i ] WI [ i ] R [ i ] : 0 = Off. JMP LBL[1] 8: IF AO[2] >= 3000. the contents do not always correspond to the real value because of the rounding--off error of the contents. multiple conditions can be specified on a single line in the condition statement. CALL SUBPRO1 9: IF GI[ R[2] ] = 100. When the comparison condition is satisfied. I/O Conditional Compare Instruction 1 IF (variable) (operator) (value) (Processing) AO [ i ] AI [ i ] GO [ i ] GI [ i ] Example > >= = <= < <> Constant R[i] JMP LBL [ i ] CALL ( Program ) 7: IF R[1] = R[2]. specified processing is executed.4. PROGRAM STRUCTURE B--81464EN--3/01 Figure 4--67. I/O conditional compare instruction IF (I/O) (operator) (value) (processing) The I/O conditional compare instruction compares the value of an input/output signal with another value.“=”. To compare with the real value. 1 = On 10: IF RO[2] <> OFF. use any operator except the equal. 211 . This simplifies the program structure. allowing the conditions to be evaluated efficiently. using the logical operators (“and” and “or”). Register Conditional Compare Instruction IF (variable) (operator) (value) (Processing) R[i] > >= = <= < <> Constant R[i] JMP LBL [ i ] CALL ( Program ) CAUTION When the contents of register are compared with the real value with the operator. JMP LBL[1] 11: IF DI[3] = ON. JMP LBL[1] 12: = 2. Example IF <condition 1> and <condition 2> and <condition 3> and <condition 4> and <condition 5>. the jump instruction or subprogram call instruction corresponding to ELSE is executed. this function prohibits the use of the logical operators “and” and “or” in combination. and one of the operators is changed from “and” to “or” or from “or” to “and. If multiple “and” (logical product) or “or” (logical sum) operators are specified for an instruction on a single line. JMP LBL[2] 15: ELSE. CALL SUB2 212 JMP LBL [ i ] CALL ( Program ) . Conditional Select Instruction SELECT R [ i ] Register number (1 to 200) = (value) = (value) = (value) ELSE (Precessing) (Precessing) (Precessing) Constant R[i] Example 11: SELECT R[1] = 1. F If the value of a specified register does not match any of the values. F If the value of a specified register matches one value. JMP LBL[2] 14: = 4. JMP LBL [3] F Logical sum (or) F <condition 1> or <condition 2>. and the following message appears: TPIF--062 AND operator was replaced to OR TPIF--063 OR operator was replaced to AND Up to five conditions can be combined with “and” or “or” operators on a single line. For this reason.4. JMP LBL[2] 13: = 3. Figure 4--70. then selects a statement that satisfies the comparison condition. PROGRAM STRUCTURE B--81464EN--3/01 Instruction format F Logical product (and) IF <condition 1> and <condition 2> and <condition 3>. JMP LBL [3] Conditional select instruction SELECT R[i] = (value) (processing) = (value) (processing) = (value) (processing) ELSE (processing) The conditional select instruction consists of several register compare instructions. The conditional select instruction compares the value of a register with one or more values. the logic becomes complex. JMP LBL [3] If the “and” (logical product) and “or” (logical sum) operators are used together.” all other “and” or “or” operators are changed accordingly. the jump instruction or subprogram call instruction corresponding to the value is executed. impairing the readability of the program and ease of editing. Argument types Argument type Example Constant Character string Argument register Register 1.4. R[1]. R[3]) PROC_1 5: IF R[1]>AR[2]. the main program MAIN calls the subprogram PROC_1 with two arguments.5) NOTE A program call used for branching with an instruction such as a conditional branch instruction cannot use arguments. 3. The first argument corresponds to AR[1] while the second argument corresponds to AR[2]. CALL WELD_5 ! 1: IF R[5]<>2. WELD_1 : 2) AR[1]. JMP LBL[1] 6: R[1]=R[1]+AR[1] Arguments can be used in macro instructions in the same way. This problem can be solved by programming as follows: (Arguments cannot be set) (Arguments can be set) IF R[1]=3. R[1]) 3: LBL[1] [End] 213 . Argument types The following arguments are supported. PROGRAM STRUCTURE B--81464EN--3/01 4. AR[2]. CALL WELD_1 (AR[1]. PROC_1 can use the values of the arguments with the argument registers. MAIN 10: CALL PROC_1 (1. Example In this example.7.5 Arguments By using “arguments” and “argument registers. Table 4--1.5 ’Perch’ AR[3] R [6] *1 Available in KAREL programs only. JMP LBL[1] 2: CALL WELD_1 (1. AR[3] Instructions for which arguments can be set Table 4--2. *2 Used as argument registers in subprograms. Instructions for Which Arguments Can be Set Instruction Program call instruction Macro instruction Example CALL WELD (1. R[3]. AR[1]) CLAMP OPEN (2.” it is possible to transfer data between two programs only. press function key [CHOICE] and select “1 Constant” from the submenu (see “Specifying arguments”). press the ENTER key or “!” or “#” key to move the cursor to the next line. Specifying arguments When a program call instruction or macro instruction is specified.) F An indirect specification cannot be used for an already indirectly specified element of an index. [CHOICE] Parameter select 1 R[ ] 2 Constant 3 AR[ ] 4 <None> WELD_1 G1 JOINT 5 <Insert> 6 7 8 10 % F4 Specifying arguments of the constant type To specify an argument of the constant type. JMP LBL[1] AO[1]=AR[1] GO[1]=AR[2] IF AO[7]=AR[1]. PROGRAM STRUCTURE B--81464EN--3/01 Instructions that can use argument registers Table 4--3. LBL[1] UTOOL_NUM=AR[4] R[AR[1]]=R[AR[2]] SDO[AR[1]]=ON CALL WELD_1 (AR[5]) CLAMP_3_OPEN (AR[1]) Restrictions on arguments The following restrictions are imposed on arguments: F Up to 10 arguments can be set. JOINT 10% CALL WELD_1. (An argument with 0 characters is regarded as being uninitialized. the cursor stops at the end of the line. JMP LBL[1] WAIT GI[1]<>AR[1].4. f R[AR[1]] × R[R[AR[1]]] F The value stored in an argument register cannot be changed in a subprogram. press function key [CHOICE]. TIMEOUT. F An argument of character string type can be one to sixteen characters in length. Parameter select 1 R[ ] 2 Constant 3 String 4 AR[] 1: CALL PROC_1 (Constant) 1: CALL PROC_1 ( 1 ) 214 . To display the argument selection submenu. Instructions That Can Use Argument Registers Instruction Right side of an instruction and conditional expression having a register on the left side Right side of the analog output (AO[]) and group output (GO[]) instructions Right side of a conditional expression having analog input/output (AI[]/AO[]) or group input/output (GI[]/GO[]) on the left side Right side of the user coordinate system selection instruction and the tool coordinate system selection instruction Indirect index specification Argument of a program call instruction Argument of a macro instruction Example R[1]=AR[1]+R[2]+AR[2] IF R[1]=AR[1]. If no arguments need be specified. the character string selection menu appears.next page --- Select a character string from the menu. press function key [CHOICE] and select String from the submenu (see “Specifying arguments”). [End] ) [CHOICE] STRING When a character string type is selected. ’Parts P568’) [CHOICE] CHANGE F5 To change a character string. The character string is confirmed. PROGRAM STRUCTURE B--81464EN--3/01 Specifying arguments of character type To specify an argument of character type. press function key STRINGS from the character type selection menu or the character string selection menu.next page --- 5 6 7 8 1/2 1: CALL WELD_1 (1. The character string type selection menu appears. 215 . The character string type selection menu appears. move the cursor to the character string and press function key CHANGE. String select 1 PARTS 2 TOOL 3 WORK 4 POS MAIN Parameter select 1 <None> 5 AR[ ] 2 Constant 3 String 4 R[ ] JOINT 10% DEV ARC TORCH --. 1: CALL PROC_1 (‘Tool 12’ ) JOINT 10% CALL PROC_1 (1. String select 1 Parts P567 2 Parts P568 3 Parts P569 4 Parts P570 5 6 7 8 JOINT 10% Parts P571 Parts P572 Parts P573 --. 1: CALL PROC_1 (‘Parts p568’) Select Parts p568 from menu To enter a character string directly. JOINT 10% 1 Words 2 Upper Cuse 3 Lower Cuse 4 Options MAIN 1/2 1: CALL PROC_1 (’Tool12 [End] $ [ ’) ] Press the Enter key to confirm the character string.4. Constant ) Select an argument type and set a value. Parameter select 1 R[ ] 2 Constant 3 String 4 AR[ ] 1: CALL PROC_1 (AR[ ...4. PROGRAM STRUCTURE B--81464EN--3/01 Specifying arguments of the argument register type To set an argument of the argument register type.. The display changes as follows: R[R[.]] ! ⋅⋅⋅ Specifying arguments of the register type To set an argument of register type. Constant ) 1: CALL PROC_1 (1. press function key INDIRECT. Parameter select 1 R[ ] 2 Constant 3 String 4 AR[ ] 1: CALL PROC_1 (R[ . ]) Enter an index. 1: CALL PROC_1 (R[1] ) To toggle between direct and indirect index specifications.]] ! ⋅⋅⋅ Adding arguments Move the cursor to “)” at the end of the line... press function key CHOICE and select AR[] from the submenu (see “Specifying arguments”). 1: CALL PROC_1 (1.]] ! R[AR[. press function key CHOICE and select “4 R[]” from the submenu (see “Specifying arguments”).... 1: CALL PROC_1 (1.]] ! AR[AR[. A new argument can be added to the cursor position.. 2 ) Select the constant type Set a value of “2” 216 .. 1: CALL PROC_1 (AR[1] ) To toggle between direct and indirect index specifications.. press function key INDIRECT..]] ! R[R[.. 1: CALL PROC_1 (1 ) Press function key CHOICE and select an argument type from the submenu (see “Specifying arguments”)..]] ! AR[R[. ]) Enter an index.. The display changes as follows: AR[R[.. JOINT 10% 5 <None> 6 <Insert> 1: CALL PROC_1 (1. The selections for the right side of a register instruction are as follows: JOINT 10% R[1]=. 3) Press function key [CHOICE] and select <None> from the submenu (see “Specifying arguments”). 1: CALL PROC_1 (1.. Deleting arguments Position the cursor to the argument to be deleted. 2) Select an argument type and set a value.2) 1: CALL PROC_1 (1. The same submenu reappears. 2 ) Press function key [CHOICE] and select <Insert> from the submenu (see “Specifying arguments”).4. 1: CALL PROC_1 (1..next page--- To use an argument with the instruction.. R[3]. no argument is deleted. and so on. index. JOINT 10% 5 <None> 6 <Insert> 1: CALL PROC_1 (1. ] Specify the index.. ]. 1: R[1]=AR[ . and at “)” at the end of a line. 2 .. Specifying argument registers The following explanation uses a register instruction as an example. 1: R[1]=AR[ 1 ] DIRECT INDIRECT [CHOICE] 217 . 2 ) Select the constant type Set a value of “3” NOTE An argument cannot be inserted when no argument has been set. PROGRAM STRUCTURE B--81464EN--3/01 Inserting arguments Move the cursor to the argument for which an argument is to be inserted. 1: CALL PROC_1 (1. select the argument type. 3 ) NOTE Selecting <None> when no argument has been set.. R[ . select AR[] from the menu... A new argument can be inserted at the cursor position. simply closes the submenu.. The argument is deleted from the cursor position. and at “)” at the end of a line. REGISTER Statement 1 R[ ] 2 AR[ ] 3 Constant 4 AO[ ] JOINT 10% 5 AI[] 6 GO[] 7 GI[] 8--. 4. PROGRAM STRUCTURE B--81464EN--3/01 If function key F3 “Indirect specification” is pressed twice at an element having an index, an argument register can be used for an indirect index specification. 1: WAIT R[R ... ]] 1: WAIT R[AR ... ]] When F3 is pressed once When F# is pressed again Notes on using arguments Note the following when specifying arguments: F The contents of an argument are not checked when the argument is specified. If the type of an argument does not match the type of the corresponding one in the subprogram, an error occurs during execution. Example In this example, although a value of AR[1] is assigned to the register in subprogram PROC_1, an argument of character string type is specified in the main program. An error occurs when line 5 of the subprogram is executed. MAIN 10: CALL PROC_1 (’ABCD’) PROC_1 5: R[1]=AR[1] F The number of arguments is not checked when arguments are specified. Even if the number of arguments is not correct, no errors occur if the arguments specified in the main program are not used in a subprogram. Example In this example, only one argument is specified in the main program, but two arguments are used in subprogram PROC_1. An error occurs when line 6 of PROC_1 is executed. MAIN 10: CALL PROC_1 (1, 2) 30: CALL PROC_1 (R[1]) PROC_1 5: R[1]=AR[1] 6: R[1]=R[1]+AR[2] Notes on specifying arguments for a program call instruction F When the program name is changed, the arguments that have been set are kept intact. F When the program call instruction itself is re--specified, not only the program name but all the arguments are deleted. Notes on specifying arguments for a macro instruction F When the macro name is changed, those arguments that have been set are kept intact. 218 4. PROGRAM STRUCTURE B--81464EN--3/01 Notes on execution As described in “Notes on using arguments,” the contents and number of arguments to be passed between the calling program and the called program are not checked when they are specified. If an argument is set or used incorrectly, an error occurs on a line where a conflict is detected during program execution. F Check that the number of arguments specified in the main program is equal to that of the arguments used in the subprogram. F If the arguments specified in the main program are not used in the subprogram, an error does not occur. F Check that the contents of the arguments specified in the main program match the types of instructions in the subprogram that use those arguments. F Check that the indexes and values of the specified arguments are set correctly. An error occurs because the value is uninitialized The index is uninitialized 1: CALL PROC_1 ( Constant ) 1: CALL PROC_1 (R[ ... ]) When lines containing these are executed, the error “INTP--201 Unspecified Statement” occurs. System variables relating to arguments The argument--attached program call/macro instruction function displays, as selections, the character strings set as system variables when an argument of the character string type is to be selected. These system variables are given below. Table 4--4. System Variables Relating to Arguments Item Single character string type Two--character string Three--character string Four word at character entry System variable Remarks $STRING_PRM=TRUE/FALSE (Note) Standard value=FALSE $ARG_STRING[i].$TITLE More than 1 and up to 16 (i = 1 to 10) characters (Note) $ARG_STRING[i].$ITEMJ Up to 16 characters (i = 1 to 10, j=1 to (Note) 20) $ARG_WORD [i] Up to 7 characters (i = 1 to 5) (Note) NOTE Arguments of character string is able to use on KAREL program only. 219 4. PROGRAM STRUCTURE B--81464EN--3/01 4.8 Wait Instructions A wait instruction is used to stop program execution for a specified period of time or until a condition is satisfied. When a wait instruction is executed, the robot performs no processing. Two types of wait instructions are available. Instruction 1 Registers 2 I/O 3 IF/SELECT 4 WAIT PROGRAM 5 6 7 8 JOINT 30% JMP/LBL CALL Palletizing ---next page--- F Time--specified wait instruction: Stops program execution for a specified period of time. F Conditional wait instruction: Stops program execution until a specified condition is satisfied or a specified period of time has elapsed. 4.8.1 Time--specified wait instruction WAIT (TIME) The time--specified wait instruction stops program execution for a specified period of time (in seconds). Figure 4--71. Time--Specified Wait Instruction WAIT (value) Constant R[i] Example Wait time (0 to 327.67 sec) Wait time (sec) 1: WAIT 2: WAIT 10.5sec 3: WAIT R[1] 4.8.2 Conditional wait instructions WAIT (condition) (processing) A conditional wait instruction stops program execution until a specified condition is satisfied or a specified period of time has elapsed. Two methods of specifying time--out processing are available: F If no processing is specified, program execution is stopped until a specified condition is satisfied. F Timeout, LBL[i] stops program execution for the duration specified in 14 WAIT timeout on the system configuration screen. Program control is transferred to a specified label if the specified condition is not satisfied during that wait time. Register conditional wait instruction The register conditional wait instruction compares the value of a register with another value, and waits until the comparison condition is satisfied, Figure 4--72. Register Conditional Wait Instruction WAIT (variable) (operator) (value) (Processing) R[i] $System Variable Example Constant R[i] > >= = <= < <> Omitted: Wait for an unlimited period of time. TIMEOUT, LBL [ i ] 3: WAIT R[2] <> 1, TIMEOUT LBL[1] 4: WAIT R[ R[1] ]> = 200 220 4. PROGRAM STRUCTURE B--81464EN--3/01 I/O conditional wait instruction The I/O conditional wait instruction compares the value of an input/output signal with another value, and waits until the comparison condition is satisfied. Figure 4--73. I/O Conditional Wait Instruction 1 WAIT (variable) (operator) (value) (Processing) AO AI GO GI [i] [i] [i] [i] Constant R[i] > >= = <= < <> Omitted: Wait for an unlimited period of time. TIMEOUT, LBL [ i ] Figure 4--74. I/O Conditional Wait Instruction 2 WAIT (variable) (operator) (value) (Processing) SDO SDI RDO RDI SO SI UO UI WO WI [i] [i] [i] [i] [i] [i] [i] [i] [i] [i] Example ON OFF SDO [ i ] SDI [ i ] RDO [ i ] RDI [ i ] On+ (Note) Off-- (Note) SO [ i ] SI [i] UO [ i ] UI [i] WO [ i ] WI [ i ] R [ i ] : 0OFF, = <> Omitted: Wait for an unlimited time. TIMEOUT, LBL [ i ] 1ON 5: WAIT SDI[2] <> OFF, TIMEOUT LBL[1] 6: WAIT RDI[ R[1] ] = R[1] NOTE Off--: The falling edge of a signal is regarded as being a detection condition. The condition is not satisfied while the signal remains off. The detection condition is satisfied when the signal changes from the on state to the off state. On+: The rising edge of a signal is regarded as being a detection condition. The condition is not satisfied while the signal remains on. The detection condition is satisfied when the signal changes from the off state to the on state. Error condition wait instruction The error condition wait instruction waits for the occurrence of an alarm having a specified error number. Figure 4--75. Error condition wait instruction WAIT ERR_NUM=(Value) (Processing) Constant (Note) Omitted: Wait for an unlimited period of time. TIMEOUT, LBL [ i ] NOTE An error number is specified with an alarm ID followed by an alarm number. Error number = aabbb where aa = alarm ID bbb = alarm number For an explanation of alarm IDs and numbers, refer to the alarm code table given in the operator’s manual. Example For SRVO--006 HAND broken, the servo alarm ID is 11, and the alarm number is 006. Thus, Error number = 11006 In the condition wait instruction, multiple conditions can be specified on a single line in the condition statement, using the logical operators (“and” and “or”). This simplifies the program structure, allowing the conditions to be evaluated efficiently. 221 4. PROGRAM STRUCTURE B--81464EN--3/01 Instruction format F Logical product (and) WAIT <condition 1> and <condition 2> and <condition 3> F Logical sum (or) WAIT <condition 1> or <condition 2> or <condition 3> If the “and” (logical product) and “or” (logical sum) operators are used in combination, the logic becomes complex, impairing the readability of the program and the ease of editing. For this reason, this function prohibits the use of the logical operators “and” and “or” in combination. If multiple “and” (logical product) or “or” (logical sum) operators are specified for an instruction on a single line, and one of the operators is changed from “and” to “or” or from “or” to “and,” all other “and” or “or” operators are changed accordingly, and the following message appears: TRIF--062 AND operator was replaced to OR TRIF--063 OR operator was replaced to AND Up to five conditions can be combined with “and” or “or” operators on a single line. Example WAIT <condition 1> and <condition 2> and <condition 3> and <condition 4> and <condition 5> 222 4. PROGRAM STRUCTURE B--81464EN--3/01 4.9 Skip Condition Instruction The skip condition instruction specifies, in advance, a skip condition (condition for executing a skip instruction) used with a skip instruction. Before a skip instruction can be executed, a skip condition instruction must be executed. A skip condition once specified is valid until the execution of the program is completed, or the next skip condition instruction is executed. (For the skip instruction, see Section 4.3.6.) Instruction 1 Miscellaneous 2 Program control 3 Skip 4 Offset/Frames 5 6 7 8 MACRO SENSOR Multiple control ---next page--- A skip instruction causes a jump to a branch destination label if the skip condition is not satisfied. If the skip condition is satisfied, a skip instruction causes the robot to suspend the current motion toward a target point, instead executing the program instruction on the next line. If the skip condition is currently not satisfied, a skip instruction causes a jump to a destination label upon the completion of the current motion. Figure 4--76. Skip Condition Instruction (Register Condition) SKIP CONDITION [ Variable] (operator) (value) > >= = <= < <> R[i] $System Variable Constant R[i] Figure 4--77. Skip Condition Instruction (I/O condition 1) SKIP CONDITION (Variable) (operator) (value) > >= = <= < <> AO [ i ] AI [ i ] GO [ i ] GI [ i ] ] Constant R [i] Figure 4--78. Skip Condition Instruction (I/O condition 2) SKIP CONDITION (Item) (operator) (value) SDO SDI RDO RDI SO SI UO UI WO WI Example = <> [i] [i] [i] [i] [i] [i] [i] [i] [i] [i] 1: 2: 3: 4: 5: 6: ON OFF SDO [ i ] SDI [ i ] RDO [ i ] RDI [ i ] On+ (Note) Off-- (Note) SO [ i ] SI [i] UO [ i ] UI [i] WO [ i ] WI [ i ] R [ i ] : 0OFF, 1ON SKIP CONDITION DI[ R[1] ] <> ON J P[1] 100% FINE L P[2] 1000mm/sec FINE Skip, LBL[1] J P[3] 50% FINE LBL[1] J P[4] 50% FINE 223 4. PROGRAM STRUCTURE B--81464EN--3/01 NOTE Off--: The falling edge of a signal is regarded as being a detection condition. The condition is not satisfied while the signal remains off. The detection condition is satisfied when the signal changes from the on state to the off state. On+: The rising edge of a signal is regarded to be a detection condition. The condition is not satisfied while the signal remains on. The detection condition is satisfied when the signal changes from the off state to the on state. Figure 4--79. Skip Condition Instruction (Error condition) SKIP CONDITION ERR_NUM=(Value) Constant (Note) NOTE An error number is specified with an alarm ID followed by an alarm number. Error number = aabbb where aa = alarm ID bbb = alarm number For an explanation of alarm IDs and numbers, refer to the alarm code table in the operator’s manual. Example For SRVO--006 Hand broken, the servo alarm ID is 11, and the alarm number is 006. Thus, Error number = 11006 In the skip condition instruction, multiple conditions can be specified on a single line in the condition statement, using the logical operators (“and” and “or”). This simplifies the program structure, allowing the conditions to be evaluated efficiently. Instruction format F Logical product (and) SKIP CONDITION <condition 1> and <condition 2> and <condition 3> F Logical sum (or) SKIP CONDITION <condition 1> or <condition 2> or <condition 3> If the “and” (logical product) and “or” (logical sum) operators are used in combination, the logic becomes complex, impairing the readability of the program and case of editing. For this reason, this function prohibits the use of the logical operators “and” and “or” in combination. If multiple “and” (logical product) or “or” (logical sum) operators are specified for an instruction on a single line, and one of the operators is changed from “and” to “or” or from “or” to “and,” all other “and” or “or” operators are changed accordingly, and the following message appears: TRIF--062 AND operator was replaced to OR TRIF--063 OR operator was replaced to AND Up to five conditions can be combined with “and” or “or” operators on a single line. Example SKIP CONDITION <condition 1> and <condition 2> and <condition 3> and <condition 4> and <condition 5> 224 4. PROGRAM STRUCTURE B--81464EN--3/01 4.10 Offset Condition Instruction The OFFSET CONDITION instruction specifies the offset condition used in the OFFSET CONDITION instruction, in advance. The OFFSET CONDITION should be executed before the OFFSET instruction is executed. The specified offset condition is effective until the program execution finishes or the next OFFSET CONDITION instruction is executed.(For the offset instruction, see Section 4.3.6.) Instruction 1 Miscellaneous 2 Offset 3 MACRO 4 Program control PROGRAM JOINT 30% 5 Skip 6 7 8 ---next page--- F The position register specifies the shifting direction and the shift amount. F When the positional information is expressed in the joint frame, the shift amount of each axis is applied. F When the positional information is expressed in the Cartesian coordinate system, the number of the user frame by which the offset condition is decided should be specified. When it is not specified, the user frame being selected now is used. CAUTION If teaching is done by joint coordinates, changing the user coordinate system does not affect the position variables and position registers. If teaching is performed in orthogonal format, and the user coordinate system input option is not used, the position variable is not influenced by the user coordinate system. In other cases, both the position variable and position register are influenced by the user coordinate system. The OFFSET instruction shifts positional information programmed at the destination position by the offset amount specified by position register, and moves the robot to the shifted position. The shifting condition is specified by the OFFSET CONDITION instruction. Figure 4--80. Offset Conditional Instruction OFFSET CONDITION PR [ i ] ( UFRAME [ j ] ) Position register number ( 1 to 100 ) Example 1: OFFSET CONDITION PR[ R[1] ] 2: J P[1] 100% FINE 3: L P[2] 500mm/sec FINE Offset 225 User frame number ( 1 to 9 ) 4. PROGRAM STRUCTURE B--81464EN--3/01 4.11 Tool Offset Condition Instructions A tool offset condition instruction specifies the offset condition used in a tool offset instruction. Execute a tool offset condition instruction before executing the corresponding tool offset instruction. Once the tool offset conditions have been specified, they remain effective until the program terminates or the next tool offset condition instruction is executed. (For the tool offset instruction, see Section 4.3.6 “Additional motion instructions”) Instruction 1 Miscellaneous 2 Offset 3 MACRO 4 Program control PROGRAM JOINT 30% 5 Tool_Offset 6 7 8 ---next page--- F The position register specifies the direction in which the target position shifts, as well as the amount of shift. F The tool coordinate system is used for specifying offset conditions. F When the number of a tool coordinate system is omitted, the currently selected tool coordinate system is used. F When the position data is given as coordinates, an alarm is issued and the program stops temporarily. A tool offset instruction moves the robot to a position shifted from the target position, recorded in the position data, by the offset specified in the tool offset conditions. The condition when the offset is applied is specified by a tool offset condition instruction. Figure 4--81. Tool Offset Condition Instruction TOOL_OFFSET CONDITION PR[ i ] ( UTOOL[ j ] ) Position register number (1 to 100) Tool frame number ( 1 to 9 ) Example 1: TOOL_OFFSET PR[1] 2: J P[1] 100% FINE 3: L P[2] 500mm/sec FINE Tool_Offset 226 4. PROGRAM STRUCTURE B--81464EN--3/01 4.12 Frame Instructions The FRAME instruction is used to change the setting of the Cartesian coordinate system by which the robot works. There are two kinds of FRAME instruction. SYST-035 Low or No Battery Power in PSU. Instruction G1 JOINT 10 % 1 Miscellaneous 5 Track/Offset 2 Weave 6 Offset/Frames 3 Skip 7 Program control 4 Payload 8 ---next page--WELD_1 F F Frame setup instruction -- The definition of the specified frame is changed. Frame select instruction -- The frame number being selected now is changed. The frame setup instruction The tool frame setup instruction changes the setting of the tool frame specified by the tool frame number in this instruction. The user frame setup instruction changes the setting of the user frame specified by the user frame number in this instruction. Figure 4--82. Tool Frame Setup Instruction UTOOL [ i ] = (value) PR [ i ] Tool frame number ( 1 to 9 ) Figure 4--83. User Frame Setup Instruction UFRAME [ i ] = (value) PR [ i ] User frame number ( 1 to 9 ) Example 1: TOOL[1] = PR[1] 2: UFRAME[3] = PR[2] Frame select instruction The tool frame select instruction changes the tool frame number being selected now. The user frame select instruction changes the user frame number being selected now. Figure 4--84. Tool Frame Select Instruction UTOOL_NUM = (Value) R[i] Constant Tool frame number (0 to 9) Figure 4--85. User Frame Select Instruction UFRAME_NUM = (Value) R[i] Constant Example 1: 2: 3: 4: 5: 6: UFRAME_NUM = 1 J P[1] 100% FINE L P[2] 500mm/sec FINE UFRAME_NUM = 2 L P[3] 500mm/sec FINE L P[4] 500mm/sec FINE 227 User frame number (0 to 9) 4. PROGRAM STRUCTURE B--81464EN--3/01 4.13 Program Control Instructions The program control instructions control program execution. Instruction 1 Miscellaneous 2 Weave 3 Skip 4 Payload WELD_1 F Halt instruction F Abort instruction 5 6 7 8 G1 JOINT 10 % Track/Offset Offset/Frames Program control ---next page--- 4.13.1 Halt instruction PAUSE The halt instruction interrupts program execution in the following way, causing the robot in motion to decelerate and stop: F If an operation instruction is being executed, the program stops before the operation is completed. F The cursor moves to the next line. When restarted, the program is executed from this line. F If the program timer is active, it is stopped. When the program is restarted, the program timer is activated. F If a pulse output instruction is being executed, the program stops after that instruction has been executed. F If an instruction other than a program call instruction is being executed, the program stops after that instruction has been executed. A program call instruction is executed when the program is restarted. Figure 4--86. Halt Instruction PAUSE 4.13.2 Abort instruction ABORT The abort instruction aborts program execution in the following way, causing the robot in motion to decelerate and stop: F If an operation instruction is being executed, the program stops before the operation is completed. F The cursor stops on the current line. F When the abort instruction is executed, the execution of the program cannot be continued. Information held by a program call instruction about the main program is lost. Figure 4--87. Abort Instruction ABORT 228 4. PROGRAM STRUCTURE B--81464EN--3/01 4.14 Other Instructions The following miscellaneous instructions are available: Instruction 1 Arc 2 Miscellaneous 3 Weave 4 Skip WELD_1 F RSR instruction F User alarm instruction F Timer instruction F Override instruction F Comment instruction F Message instruction F Parameter instruction F Maximum speed instruction 5 6 7 8 JOINT 30 % Payload Track Offset/Frames ---next page--- 4.14.1 RSR instruction RSR [i] = (value) The RSR instruction alternately enables and disables the RSR function having a specified RSR number. Figure 4--88. RSR instruction RSR [ i ] (value) ENABLE: RSR function enabled DISABLE: RSR function disabled (1 to 4) Example RSR[2:Workproc.2.]=ENABLE 4.14.2 User alarm instruction UALM[i] The user alarm instruction displays the alarm message corresponding to an already set user alarm number on the alarm display line. The user alarm instruction pauses the program which is in progress. A user alarm is specified on the user alarm setting screen(See Section 3.18) and this setting is registered in the system variable $UALM_MSG . The total number of user alarms can be changed at a controlled start (See Section 3.11, “Start mode”). Figure 4--89. User Alarm Instruction UALM [ i ] Alarm number Example 1: UALM[1] ($UALRM_MSG[1] = WORK NOT FOUND 229 4. PROGRAM STRUCTURE B--81464EN--3/01 4.14.3 Timer instruction timer [i] = (state) The timer instruction starts/stops the program timer. The operating state of the program timer can be viewed on the program timer screen STATUS PRGTIMER (option). Figure 4--90. Timer instruction Timer [ i ] (processing) SATRT: starts the timer STOP: stops the timer RESET: resets the timer clears timer overflow flag Timer Number Example 1: TIMER [1]=START TIMER [1]=STOP TIMER [1]=RESET The value of the timer can be referenced in a program, using a register instruction. It is possible to determine whether the timer has overflowed by using a register instruction. The program timer overflows if it exceeds 2147483.647 seconds. R[1]=TIMER [1] R[2]=TIMER_OVER FLOW[1] 0: 1: 4.14.4 Override instruction OVERRIDE = (value)% The override instruction changes a feedrate override. Figure 4--91. Override Instruction OVERRIDE = (value) % R [i] Const AR [i] (value): Feedrate override (1 to 100) Example 1: OVERRIDE = 100% 4.14.5 Comment instruction !(Remark) The comment instruction adds a comment in a program. A comment has no effect on program execution. A comment specified in a comment instruction can consist of up to 32 characters including alphanumeric characters, asterisks (*) underlines (_), and at marks (@). To add a comment, press the ENTER key. Figure 4--92. Comment Instruction ! (Remark) A comment can consist of up to 32 characters including alphanumeric characters, asterisks (*), underlines (_), and at marks (@). Example 1: !APPROACH POSITION 230 4. PROGRAM STRUCTURE B--81464EN--3/01 4.14.6 Message instruction MESSAGE[message statement] The message instruction displays a specified message on the user screen. (For the user screen, see Section 7.2.) A message can consist of up to 24 characters including alphanumeric characters, asterisks (*), underlines (_) , and at marks (@). To add a comment, press the ENTER key. Figure 4--93. Message Instruction Message [message statement] A message statement can consist of up to 24 characters including alphanumeric characters, asterisks (*), underlines (_), and at marks (@). Example 1: MESSAGE[ DI[1] NOT INPUT ] 4.14.7 Parameter instruction $(SYSTEM VARIABLE NAME) = (value) The parameter instruction changes the value of a system variable. This instruction can be used only for a system variable containing a numeric value (constant). You can enter the parameter name after pressing the ENTER key. It is possible to enter the parameter name up to 30 characters or less without the first character,“$”. There are two types of system variables, variable type and position type. A system variable of variable type can be assigned to a register. A system variable of position type can be assigned to a position register. System variables of position data type are divided into three data types, orthogonal type (XYZWPR type), joint type (J1--J6 type), and matrix type (AONL type). When a system variable of position data type is assigned to a position register, the data type of the position register is converted to the data type of the system variable. If a system variable of position type is assigned to a register, or if a system variable of variable type is assigned to a position register, the following alarm is generated during execution. INTP--240 Incomputible datatype Figure 4--94. Parameter Instruction (Writing) $ ( SYSTEM VARIABLE name ) = (value) System variable value (numeric value) System variable name R [X] PR [X] Example 1: $SHELL_CONFIG.$JOB_BASE = 100 Figure 4--95. Parameter Instruction (Reading) (value) = $ ( SYSTEM VARIABLE name ) System variable name R [X] PR [X] Example 1: R[1] = $SHELL_CONFIG.$JOB_BASE WARNING The operation of the robot and control unit is controlled with system variables. Only a person who knows details of the influence of changes in system variables should set system variables. If a person without detailed knowledge attempts to set the system variables, the robot and control unit could malfunction, causing injury. 231 4. PROGRAM STRUCTURE Procedure 4--3 Step B--81464EN--3/01 Specifying parameter instructions 1 On the program edit screen, press function key [INST]. Select item Miscellaneous from the menu. Then, select item Parameter name from the menu. Miscellaneous stat 1 $...=... 5 2 ...=$... 6 3 7 4 8 PNS0001 JOINT 10% 1/1 [End] Select item [CHOICE] 2 Select item 2 “... =$ ...” Miscellaneous stat 1 R[ ] 5 2 PR[ ] 6 3 7 4 8 PNS0001 JOINT 10% 1: ...=$... [End] Select item [CHOICE] 3 Select item 1 “R[ ]” and enter the desired register number. PNS0001 JOINT 10% 1/2 1: R[1]=$... [End] Press ENTER [CHOICE] 4 To display the system variable menu, press function key CHOICE. To enter a character string, press the Enter key. When function key CHOICE is pressed Parameter menu 1 DEFPULSE 2 WAITTMOUT 3 RCVTMOUT 4 PNS0001 JOINT 10% 5 6 7 8 --- next page --1/2 1: R[1]=$... [End] Select item [CHOICE] 232 4. PROGRAM STRUCTURE B--81464EN--3/01 5 Select item 1 “DEFPULSE.” PNS0001 JOINT 10% 1/2 1: R[1]=$DEFPULSE [End] [INST] [EDCMD] 6 When ENTER is pressed JOINT 10% 1 Words 2 Upper Case 3 Lower Case 4 Options PNS0001 -- Insert -- 1: R[1]=$... [End] $ [ ] . 7 Enter the desired system variable name. 4.14.8 Maximum speed instructions A maximum speed instruction specifies the maximum operating speed of a program. There are two maximum speed instructions, the instruction for specifying the joint operation speed and that for specifying the path control operating speed. If a speed exceeding the speed specified with a maximum speed instruction is specified, the speed specified with the maximum speed instruction is assumed. JOINT_MAX_SPEED[i]=(value) Figure 4--96. JOINT_MAX_SPEED [ i ] = (value) Comstant (deg/sec) R [i] (deg/sec) LINEAR_MAX_SPEED= (value) Figure 4--97. LINEAR_MAX_SPEED = (value) Comstant (deg/sec) R [i] (deg/sec) 233 4. PROGRAM STRUCTURE B--81464EN--3/01 4.15 Multiaxis Control Instructions Multiaxis control instructions control the execution of a multitask program. These instructions can be specified and executed only when the multitask option is supported. Instruction 1 Miscellaneous 2 Program control 3 Skip 4 Offset/Frames F Semaphore instruction F Semaphore wait instruction F Program execution instruction 5 6 7 8 MACRO SENSOR Multiple control --- next page --- 4.15.1 Semaphore instruction The semaphore instruction switches a semaphore, specified with a number, between on and off. A semaphore is a kind of switch used to synchronize the execution of tasks. F For example, if the execution of a certain step and subsequent steps of a program is to wait until a certain condition is satisfied in another program being executed simultaneously, first turn off the semaphore having the specified number and make the program wait until the semaphore is turned on, using the semaphore wait instruction (See Section 4.15.2, “Semaphore wait instruction”). When the semaphore is turned on by the other program that is being executed simultaneously, the program is released from the wait state. This allows the execution of multiple programs at prescribed timings. F Each semaphore remembers how many times it has been turned on. When a wait statement for waiting for a semaphore whose “on” count is other than zero is executed, its execution ends immediately and the “on” count is decremented by 1. F When a program uses a wait statement to wait for a semaphore whose “on” count is zero, the program enters the wait state until the semaphore is turned on by another program. F When a semaphore is turned off, the “on” count is cleared to zero. F Semaphores numbered 1 through 32 can be used. Figure 4--98. Semaphore instruction SEMAPHORE [ i ] = (value) Semaphore number (1 to 32) ON OFF 4.15.2 Semaphore wait instruction The semaphore instruction causes the program to wait until a semaphore having a specified number is turned on. F The program is placed in the wait state until the specified semaphore is turned on by another program. F Either unlimited waiting (waiting time not limited) or specified time waiting can be selected. The waiting time is specified for system variable $WAITTMOUT, in the same way as in normal wait statements. Figure 4--99. Semaphore wait instruction WAIT SEMAPHORE [ i ] = (Processing) Semaphore number (1 to 32) 234 Omitted: Forever TIMEOUT, LBL [ i ] 4. PROGRAM STRUCTURE B--81464EN--3/01 4.15.3 Program execution instruction During the execution of a program, the program execution instruction starts the execution of another program. F The difference from the program call instruction is that, with the program call instruction, those lines following the call instruction are executed after the called program has been executed, whereas with the program execution instruction, the program that starts the execution of another program continues concurrently. F To synchronize programs that are being executed simultaneously, use the semaphore instruction and the semaphore wait instruction. F If an attempt is made to execute a program for which the same motion group is specified, an alarm is generated. If this occurs, specify a different motion group. Figure 4--100. Program execution instruction RUN (Program name) Name of the program to be executed Example PROG1 1: SEMAPHORE[1]=OFF 2: RUN PROG1 PROG2 1: J P[3] 100% FINE 2: J P[4] 100% FINE 3: J P[1] 100% FINE 3: J P[5] 100% FINE 4: J P[2] 100% FINE 4: J P[6] 100% FINE 5: WAIT SEMAPHORE[1] 5: SEMAPHORE[1]=ON MOTION GROUP[1,*,*,*,*] MOTION GROUP[*,1,*,*,*] 235 4. PROGRAM STRUCTURE B--81464EN--3/01 4.16 Operation Group Instructions The operation group instructions enable the following in single--line operation instructions in a program having multiple operation groups: F Specification of the operation format for each operation group (excluding the arc) F Specification of the feedrate for each operation group F Specification of the positioning format for each operation group This allows each operation group to operate asynchronously. These instructions can be specified and executed only when the multitask option is supported. Instruction 1 Miscellaneous 2 Program control 3 Skip 4 Offset/Frames 5 MACTO 6 Independent GP 7 Simultaneous GP F Asynchronous operation group instruction F Synchronous operation group instruction With ordinary operation instructions for which these operation group instructions are not specified, all operation groups are executed with the same operation format, feedrate, and positioning format, and are synchronized with the operation add instructions. The operation group having the longest travel time is that with which the other operation groups are synchronized. 4.16.1 Asynchronous operation group instruction The asynchronous operation group instruction controls operation groups asynchronously, with the operation formats, feedrates, and positioning formats specified separately for the individual operation groups. Figure 4--101. Asynchronous operation group instruction Independent GP GPi (Operation statement of operation group i) GPj (Operation statement of operation group j) Operation statement for the operation group Operation group number (operation group of the program) 4.16.2 Synchronous operation group instruction The synchronous operation group instruction controls operation groups synchronously, with the operation formats specified separately for the individual operation groups. F As with ordinary operation instructions, the operation group having the longest travel time is that with which the other operation groups are synchronized. Thus, the feedrate is not always the same as that specified in the program. F The positioning format for an operation group with the smallest CNT value (closest to FINE) is also applied to the other operation groups. Figure 4--102. Synchronous operation group instruction Simultaneous GP GPi (Operation statement of operation group i) GPj (Operation statement of operation group j) Operation statement for the operation group Operation group number (operation group of the program) 236 PROGRAMMING This chapter describes how to create and change a program for moving the robot.5. PROGRAMMING B--81464EN--3/01 5. j Contents of this chapter 5.2 Turning on the Power and Jog Feed 5.3 Creating a Program 5.1 Tips on Effective Programming 5.4 Changing a Program 5.6 Background Editing 5.5 Program Operation 5.7 Singular Point Check Function 237 . copy. or replace an instruction. they create what is called an arc welding application program. select the desired item from the menu displayed on the teach pendant. After you have finished creating the program. find. incorporate the most effective method for the robot to do the target work. To teach a target position to the robot. To change. When these instructions are combined together. PROGRAMMING B--81464EN--3/01 Various program instructions are issued to the robot and peripherals to specify motions and arc welding. can: F Move the robot to desired positions in the operating area along the specified path F Perform arc welding F Send output signals to the peripherals F Receive input signals from the peripherals Before programming. In the design. design the outline of a program. Instructions must be selected from menus displayed on the teach pendant during programming. Figure 5--1.5. Programming by Teaching 238 . add. A arc welding application program for instance. This chapter describes the following: F Tips on effective programming F Turning on the power and jog feed F Creating a program F Changing a program See Chapter 4 for the configuration of a program and the program instructions. the robot must be moved to the target position by jog feed. delete. This enables efficient programming and ensures that only the instructions appropriate for the purpose are used. change the program if necessary. Arc start/end = FINE positioning Use FINE positioning for the arc start and arc end positions. Adjusting the path of CNT Positioning FINE CNT0 CNT50 CNT100 Fixing the attitude of the tool Cycle time is wasted when the robot motion abruptly changes the attitude of the tool. adjust the path of CNT positioning.1. Moving around workpieces = CNT positioning Use CNT positioning for moving around workpieces. Teach positions so that the attitude of the tool changes as gradually as possible with respect to the robot. 8 Repeat steps 6 and 7 for all the remaining positions to be taught between the first and last positions.2 Predefined position The predefined position is used in the program. 5 Select a Cartesian coordinate system (World. The robot moves much faster when the attitude of the tool is changed smoothly and gradually. Then check that the robot has a normal attitude. 6 Select the Cartesian coordinate system. To change the attitude of the hand as smoothly as possible: 1 Teach the first position of the work so that the robot has a normal attitude. but does not describe tips on jog feed. teach a position between the first and last positions. 2 Move the robot to the last position of the work by jog feed. The predefined positions that are used often are the pounce position and the home(perch) position. 4 In accordance with the work. When the attitude of the tool must be changed substantially. The following items are explained: F Motion instructions F Fixed positions F Arc welding NOTE This section describes tips on programming.1. WARNING If the J5 axis passes singularity points (near 0 degrees) when the robot is operated by setting the move type to linear. the additional move instruction with no attitude must be used for these points. move the robot toward the last position by jog feed. 5. If the robot moves near the workpieces.5. 239 . or the move type must be changed from linear to axial.1 Motion instructions Refer to the following instructions when teaching motions to the robot. 3 Teach the last position. Figure 5--2. the tool will not stop at the programmed positions. This is the position that is referenced many times in the program. 5. PROGRAMMING B--81464EN--3/01 5. user or jog coordinate system) and move the robot to the first position by jog feed. The tool thus stops precisely at each welding position. You should define these positions to program efficiently or delete cycle time. If CNT positioning is used. 7 Correct the taught position so that the robot has a normal attitude. The robot continuously moves to the next target point without stopping at taught points.1 Tips on Effective Programming This section describes tips on effective programming. teach one large motion by dividing it into several small motions. then stop the robot at the next position to be taught. refer to the detailed description of arc welding. both the position variable and position register are affected when the user coordinate system is changed.3 Arc welding When programming arc welding instructions. and does not represent a home position. 240 . the two programs must have the same tool and user coordinate system. pay particular attention to the following: F To move the tool to an arc welding start point. Other predefined position The pounce position. F To move the tool to an arc welding passing point.4) and macro instructions (See Section 9. they are not affected when the user coordinate system is changed. CAUTION If the position variable and position register are taught according to axial type.1. is a safety position away from the machine tool and the workpiece transfer area. The reference position digital output signal is turned on when the robot is at this position. F Use suitable welding conditions. use linear motion and CNT positioning for the motion instruction. and the user coordinate system input option is not used.5. In other cases. reference position. the position variable is not affected by the user coordinate system. or perch position. “Setting a Reference Position”) NOTE HOME is a peripheral device I/O input signal.(See Section 3. but there is no utility used to move the robot to the reference position. PROGRAMMING B--81464EN--3/01 Pounce position The pounce position is the reference position of the robot for all work. use joint motion and FINE positioning for the motion instruction. or any other position can be defined as a predetermined position. This is the safe position away from the motion area of the machine tool and peripheral device.1). A reference position is one of the home positions. 5. F Specify the correct orientation of the torch relative to the workpiece to be welded. Specify those positions that are frequently used in a program as predetermined positions. For details. Home(perch) position The home position. When using the fixed position.16. use position registers (See Section 7. If the position variable is taught according to rectangular type. NOTE To move the robot to the same spatial position when the position register is shared by two programs. For the sake of safety.5. The automatic start program is used to set up the system or initialize the state of I/O.21. F If the hot start is set to be effective($SEMIPOWERFL=TRUE). then the system is started up. the system can be customized when the power is turned on. If override and parameter instructions are specified in the program to be started. you should start up in cold start mode.21. In cold start mode. etc. the system starts up in hot start mode.1 Turning on the power and turning off the power Turning on the power starts up the robot system.2. This function is set with the system configuration screen [6 SYSTEM. the system starts up with the cold start. When you change the setting of the system such as I/O configuration. register a program to be automatically started when power interrupt handling is disabled. “System Config Menu”) Automatic start program An automatic start program can be specified.(See Section B.2 Turning on the Power and Jog Feed 5. HOT START done signal You can set the digital output signal(DO) to be turned on when the hot start is finished. is not started. The hot start is the function that saves the condition of the system just before power off and revives it after the next power on. In hot start mode.(See Section 3. “System config menu”) F If the hot start is set to be disable($SEMIPOWERFL=FALSE).1. Hot start You can select if the hot start is effective when starting up the robot system. The program is automatically started when the power is turned on.Config].the system software of the controller is initialized during starting. “System config menu”) 241 . Such a program.(See Section 3. Turning on the power normally executes internal processing called a cold start or hot start. F In Autoexec program for Cold start of the system setting menu.21. The special operation is necessary to perform processing with a control or initial start.(See Section 3. if not defined. “START MODE”) CAUTION Some systems require inspection before the robot is turned on. how to start the system should be checked before the robot is turned on. PROGRAMMING B--81464EN--3/01 5. the system software of the controller is not initialized during start up. The automatic start program cannot operate the robot. being performed by a pulse instruction at power--down. a program which had been selected at power off is selected. the status existing at power--down is restored. it depends on the setting of the system variable. but the page. cursor.The I/O allocation was changed before power--off. -.The I/O device configuration was changed.The fuse of the I/O device blew. -. Instead. -.21). none of the output signals are resumed.5. n : Only some of the values that are current at power--down are saved. F When the hot start is effective. but digital output (SDO).TRUE : The program which had been selected at power off is selected. NOTE 3 The name of the main program that calls the subprogram is stored. NOTE 2 The screen type selected at power--down is restored. NOTE 1 Generally. To restore the I/O status. You can set $DEFPROG_ENG with the system config menu. -. specify the desired restoration status in [6 SYSTEM Config] (see Section 3. Table 5--1. System Statuses in Different Start Modes Hot start Effective Disable(default setting) Contents of register ○ ○ Override ○ × [10%] Selection program ○ n (NOTE 3) Execution line ○ × [First line] Condition of I/O ○ (NOTE 1) × [All off] TP screen n (NOTE 2) × [Hint screen] ○ : All values that are current at power--down are saved and restored at power--up. but all output signals are turned off in the following cases: -. and other screen statuses are not restored. 242 . PROGRAMMING B--81464EN--3/01 Program selection after power on The condition of the program selection after power on is the following: F When the hot start is disabled. the default values are set. × : The values that are current at power--down are not saved.FALSE : No program is selected. Even if power interrupt handling is enabled. cursor. and other screen statuses assumed immediately after a cold start. is turned off. or the power to the I/O device was turned off.$DEFPROG_ENB. At power--up. system statuses in the corresponding start mode described above should be checked. System condition The table below lists settings in different start modes. the screen is restored using the same page. CAUTION Before the power is turned on. Even when the taught speed is 250 mm/sec or below. In this case. Protective fence: If you want to work with the protective fence kept open. The following explains the operation modes that can be selected using the three--mode switch: T1 (<250 mm/s): Test mode 1 This mode is intended for use to teach the position of operation to the robot.) CAUTION For the RIA specification. T1. but the speeds at the tool tip and flange surface are limited to 250 mm/sec or slower. a message appears on the screen of the teach pendant. There are operation modes AUTO. a system error occurs. if the taught speed is. the speed on the flange surface may exceed 250 mm/sec in a portion (for example. the switch setting position can be fixed. the operation speed is limited to 250 mm/sec for an override value of 100%. Make a connection in such a way that.231 T1 speed limit (G:i ) appears only if the operation speed is limited and the taught speed is 250 mm/sec or below. for example.2 Three--Mode Switch The three--mode switch is a key operation switch installed on the operator’s panel or operation box. the signal is on. For example. It can also be used to check the robot path at low speed and the program sequence. and the robot halts. Connection: Connect the *FENCE signal to the protective fence. Robot speed at jogging F The speeds at the tool tip and flange are both limited not to exceed 250 mm/sec. when it is closed. the actual operation speed is limited. if switching between T1 or T2 mode and AUTO mode is made with the deadman’s switch kept holded.5. F Speed limitation is performed based on the taught speed with an override value of 100%. 243 . if the taught speed is 300 mm/sec. it is necessary to set the three--mode switch to T1 or T2 before starting operating the robot. they are not limited. However. PROGRAMMING B--81464EN--3/01 5. to 125 mm/sec by lowering the override value to 50%. Program execution: A program can be executed only from the teach pendant. The warning message MOTN -. 2000 mm/sec. Three--mode switch < 250 mm/s T1 AUTO 100% T2 When the three--mode switch is used to switch between operation modes. then hold the deadman’s switch again. When the key is removed from the switch. See Figure 5--3. (For the CE and RIA specifications. for example. the operation speed can be decreased further. Robot speed at executing program F The override value can be increased to up to 100%. the speeds at the tool tip and flange surface are limited to 250 mm/sec. This switch is used to select an optimum robot operation mode according to the robot operation conditions and use status. Therefore. Figure 5--3. the key cannot be removed to fix the switch setting position. a corner) where the posture of the tool changes. when the switch is set to T2 mode.2. Release the deadman’s switch. In this case. selected mode is not set until the deadman’s switch is released. when the protective fence is open. The *SFSPD signal can be used in accordance with the design of your system. the signal entered to the robot is off and. and T2. If the taught speed is 200 mm/sec. but the deadman switch is not pressed. To release the error. the override value is limited to within a value specified by $SCR. * Using a safety speed based on the *SFSPD signal can limit the operation speed of the robot even in the T2 mode by lowering the override value. T2 (100%): Test mode 2 The T2 mode is intended for use to make a final check of the program you created. set the teach pendant enable switch to on. the robot is in an emergency stop alarm condition. be sure to follow the safety manual.$SFRUNOVLIM (default: 30%). In the T1 mode. the robot is in an emergency stop alarm condition. CAUTION When checking the program you created. Only when the RIA specification is used. (For the CE and RIA specifications. so it cannot run. F Disabling the teach pendant puts the robot in an emergency stop alarm condition. then press the RESET key. set the teach pendant enable switch to on. AUTO: Auto mode The AUTO mode is intended for use at production. There is no special speed limitation. be sure to follow the safety manual. the operation mode can be fixed to T1 mode by removing the key. F It is possible to operate the robot only when the teach pendant is enabled and the deadman switch is pressed (gripped). however. the key cannot be removed. turning off the teach pendant enable switch stops the robot and causes an error message to appear.) Troubleshooting F When the switch is set in the T2 mode position. and teach pendant. it is possible to verify them by running the robot at the production speed because there is basically no speed limitation(*). Fixing operation mode: When the switch is set in the T2 mode position. Robot speed at jogging F The speeds at the tool tip and flange are both limited not to exceed 250 mm/sec. Program execution: A program can be executed only from the teach pendant. Fixing operation mode: When the switch is set in the T1 mode position. Troubleshooting F When the switch is set in the T1 mode position. program execution from the teach pendant is impossible if the switch is set in the AUTO mode position. To release the error. 244 . it is necessary to set the three--mode switch to T1 or T2 before starting operating the robot. however. F When the teach pendant is enabled. Robot speed at executing program F The override value can be increased to up to 100%. A program can be executed from external devices. so it cannot run. F Disabling the teach pendant puts the robot in an emergency stop alarm condition. Program execution: There is no restrictions on program execution. In the T2 mode. (Reference) If *SFSPD is off. CAUTION When checking the program you created.5. it is impossible to verify the robot’s actual tool path and cycle time because the operation speed is limited. then press the RESET key. the operation mode can be fixed to T2 mode by removing the key. so the robot cannot run. PROGRAMMING B--81464EN--3/01 F It is possible to operate the robot only when the teach pendant is enabled and the deadman switch is pressed (gripped). operator’s panel. so the robot cannot run. Protective fence: If you want to work with the protective fence kept open. F When the teach pendant is enabled. turning off the teach pendant enable switch stops the robot and causes an error message to appear. but the deadman switch is not pressed. deadman switch setting. When the protective fence is opened during program execution. Fixing operation mode: When the switch is set in the AUTO mode position. the robot responds as follows: <CE and RIA specifications> F The robot decelerates and stops. To release the error. F The speeds at the tool tip and flange are both limited not to exceed 250 mm/sec. In this case. protective fence status (*FENCE signal). jogging is possible. Troubleshooting <RIA specification> When the switch is set in the AUTO mode position. Robot speed at executing program F The robot can be operated at a maximum speed. set the teach pendant enable switch to off. After a certain time. and program--specified robot operation speed. teach pendant (TP) enabled/disabled. Three--mode switch and program operation The following table lists the relationships among the three--mode switch setting. PROGRAMMING B--81464EN--3/01 Robot speed at jogging: The robot can be operated at a maximum speed. the robot may enter the emergency stop state during deceleration. 245 . Only for the CE and standard specifications.5. Safety devices: Close the protective fence. the robot enters the emergency stop state. For the RIA specification. the robot stops immediately at this point. If the protective fence is opened while the robot is operating at a high speed. turning on the teach pendant enable switch stops the robot and causes an error message to appear. <Standard specification> F The robot stops immediately in the same manner as when another emergency stop signal is applied. the operation mode can be fixed to AUTO mode by removing the key. *SFSPD signal status. then press the RESET key. jogging is not possible. PROGRAMMING B--81464EN--3/01 Relationships between three--mode switch settings and program operations [standard (domestic) specification] Three-mode switch Protective fence(*1) *SFSPD TP enabled/ disabled TP deadman Gripped Enabled Released Open ON Closed ON Released Emergency stop (fence open) Disabled Enabled Open ON Released Closed ON TP only Programmed speed Emergency stop (deadman) Operable External start(*2) Programmed speed Released Operable External start(*2) Programmed speed Gripped Operable TP only T1 speed TP only T1 speed TP only Programmed speed(*3) TP only Programmed speed Released Emergency stop (deadman) Gripped Alarm and stop (T1/T2 and TP disabled) Released Emergency stop (T1/T2 and TP disabled) Gripped Enabled Operable Gripped Disabled T1 Program--specified operation speed Emergency stop (deadman. configure the system in such a way that the *SFSPD mentioned at *4 becomes off. Closed: *FENCE is on. NOTE SFSPD override:When the program is executed with *SFSPD turned off. the override value is limited to within a value specified in $SCR. fence open) Emergency stop (fence open) Gripped Enabled Units that can be started Emergency stop (fence open) Gripped Disabled AUTO Robot status Released Operable Emergency stop (deadman) Gripped Alarm and stop (T1/T2 and TP disabled) Released Emergency stop (T1/T2 and TP disabled) Disabled Gripped Operable Enabled Released Open ON(*4) Gripped Alarm and stop (T1/T2 and TP disabled) Released Emergency stop (T1/T2 and TP disabled) Disabled T2 Gripped Enabled Closed ON Emergency stop (deadman) Released Operable Emergency stop (deadman) Gripped Alarm and stop (T1/T2 and TP disabled) Released Emergency stop (T1/T2 and TP disabled) Disabled *1 Protective fence status Open: *FENCE is off.$SFRUNOVLIM (default value: 30%). if you want to clamp a program--specified speed with the SFSPD override value. 246 .5. *2 External speed Remote mode: Program start on the line control panel Local mode: Start button on the robot operation panel *3 When the three--mode switch is in the T2 position and the fence is open. fence open) Emergency stop (fence open) Gripped Enabled Units that can be started Emergency stop (fence open) Gripped Disabled AUTO Robot status Released Operable Emergency stop (deadman) Gripped Emergency stop (T1/T2 and TP disabled) Released Emergency stop (T1/T2 and TP disabled) Disabled Gripped Operable Enabled Released Open ON(*4) Gripped Emergency stop (T1/T2 and TP disabled) Released Emergency stop (T1/T2 and TP disabled) Disabled T2 Gripped Enabled Closed ON Emergency stop (deadman) Released Operable Emergency stop (deadman) Gripped Emergency stop (T1/T2 and TP disabled) Released Emergency stop (T1/T2 and TP disabled) Disabled *1 Protective fence status Open: *FENCE is off. *2 External speed Remote mode: Program start on the line control panel Local mode: Start button on the robot operation panel *3 When the three--mode switch is in the T2 position and the fence is open.$SFRUNOVLIM (default value: 30%). PROGRAMMING B--81464EN--3/01 Relationships between three--mode switch settings and program operations [CE specification] Three-mode switch Protective fence(*1) *SFSPD TP enabled/ disabled TP deadman Gripped Enabled Released Open ON Closed ON Released Emergency stop (fence open) Disabled Enabled Open ON Released Closed ON TP only Programmed speed Alarm and stop (deadman) Operable External start(*2) Programmed speed Released Operable External start(*2) Programmed speed Gripped Operable TP only T1 speed TP only T1 speed TP only Programmed speed(*3) TP only Programmed speed Released Emergency stop (deadman) Gripped Emergency stop (T1/T2 and TP disabled) Released Emergency stop (T1/T2 and TP disabled) Gripped Enabled Operable Gripped Disabled T1 Program--specified operation speed Emergency stop (deadman. configure the system in such a way that the *SFSPD mentioned at *4 becomes off. the override value is limited to within a value specified in $SCR. 247 . NOTE SFSPD override:When the program is executed with *SFSPD turned off. if you want to clamp a program--specified speed with the SFSPD override value.5. Closed: *FENCE is on. configure the system in such a way that the *SFSPD mentioned at *4 becomes off. PROGRAMMING B--81464EN--3/01 Relationships between three--mode switch settings and program operations [RIA specification] Three-mode switch Protective fence(*1) *SFSPD TP enabled/ disabled TP deadman Gripped Enabled Released Open ON Released Emergency stop (fence open) Gripped Closed Released ON Disabled Enabled Open ON Closed ON Alarm and stop (deadman) Operable External start(*2) Programmed speed Released Operable External start(*2) Programmed speed Gripped Operable TP only T1 speed TP only T1 speed TP only Programmed speed(*3) TP only Programmed speed Released Emergency stop (deadman) Gripped Emergency stop (T1/T2 and TP disabled) Released Emergency stop (T1/T2 and TP disabled) Gripped Enabled Alarm and stop (AUTO and TP enable) Gripped Disabled T1 Program--specified operation speed Emergency stop (deadman. fence open) Emergency stop (fence open) Enabled Units that can be started Emergency stop (fence open) Gripped Disabled AUTO Robot status Released Operable Emergency stop (deadman) Gripped Emergency stop (T1/T2 and TP disabled) Released Emergency stop (T1/T2 and TP disabled) Disabled Gripped Operable Enabled Released Open ON(*4) Gripped Emergency stop (T1/T2 and TP disabled) Released Emergency stop (T1/T2 and TP disabled) Disabled T2 Gripped Enabled Closed ON Emergency stop (deadman) Released Operable Emergency stop (deadman) Gripped Emergency stop (T1/T2 and TP disabled) Released Emergency stop (T1/T2 and TP disabled) Disabled *1 Protective fence status Open: *FENCE is off. 248 . the override value is limited to within a value specified in $SCR.5. if you want to clamp a program--specified speed with the SFSPD override value. NOTE SFSPD override:When the program is executed with *SFSPD turned off.$SFRUNOVLIM (default value: 30%). *2 External speed Remote mode: Program start on the line control panel Local mode: Start button on the robot operation panel *3 When the three--mode switch is in the T2 position and the fence is open. Closed: *FENCE is on. (Standard : 0. Pressing the feedrate override key displays a pop up window in reverse video at the upper right of the screen to call the user’s attention. The current feedrate override is displayed at the upper right corner of the screen of the teach pendant. The feedrate override is represented in percentage (%). Table 5--2 shows the change in feedrate override when the override key is pressed.001deg per step.3 Moving the robot by jog feed The robot moves by jog feed when the jog keys on the teach pendant are pressed. Screen Display for Feedrate Override Feedrate override JOINT 30% JOINT 30% VFINE FINE Very low speed Low speed 1% ↓ 50% ↓ 100% Feedrate override 100% means that the robot moves at the maximum feedrate. Figure 5--4. Feedrate Override When the override key is pressed VFINE → FINE → 1% → 5% → 50% → 100% In 1% In 5% increments increments When the override key is pressed while pressing the SHIFT key(*1) VFINE → FINE → 5% → 50% → 100% *1 Enabled only when $SHFTOV_ENB is 1 249 .1mm). The robot must be moved to a target position when motion instructions are specified in the program. $JOG_GROUP.5. The step feed--rate of FINE is specified by a system variable.$FINE_DIST in linear jog. PROGRAMMING B--81464EN--3/01 5. To resume the robot motion. The step width of VFINE is one--tenth of that of FINE. NOTE If VFINE or FINE is used as the current speed override. the robot makes a motion of a single step at a time. release and press the jog key. The popup window in reverse video automatically disappears after a few seconds or when another key is pressed.each axis rotates at 0. Table 5--2. In standard setting.2. Jog feed depends on the following two factors: F F Feedrate override: Robot motion speed (jog feedrate) Manual--feed coordinate system: Coordinate system for robot motion (jog feed type) Feedrate override A feedrate override is one of the two factors on which jog feed depends. 5. an inexperienced robot operator should use a low feedrate override. This window is automatically closed if the override keys are not pressed for a while. See Section 3. Therefore.$SPEEDLIM (mm/sec) $PARAM_GROUP. Pressing the override key again enables you to change the override value.$SFJOGOVLIM (See Section 3.10) is turned off. Jog Feedrate Jog feedrate (joint feed) = Maximum joint feedrate Each axis jog override 100 Jog feedrate (linear feed) (mm/sec) = Jog override Maximum linear feedrate 100 Jog feedrate (Circular feed) (mm/sec) = Jog override Maximum circular feedrate 100 Each axis jog override Jog override Maximum joint feedrate Maximum linear feedrate Maximum circular feedrate Feedrate override 100 Feedrate override 100 Feedrate override 100 $SCR_GRP. Whenever the override key is pressed while the shift key is pressed. the speed override cannot be increased beyond the upper limit specified by $SCR. the robot moves independently around each axis according to each joint coordinate system. a window indicating the manual feed coordinate system and speed override appears on the screen in reverse video. the feedrate is changed in this way only when system variable $S HFTOV_ENB = 1. PROGRAMMING B--81464EN--3/01 To change the feedrate override.$ROTSPEEDLIM (deg/sec) Manual--feed coordinate systems (Jog type) Manual--feed coordinate systems determine how the robot moves during jog feed. Figure 5--5. However. In this state. the operation speed is clamped at the one described earlier. 50%. 250 .$JOGLIM_JNT[i] (%) $SCR. The jog feedrate is obtained by the following expression: If the following value exceeds the speed limit 250 mm/sec for the T1 or T2 mode described above. The manual--feed coordinate systems are classified into three types: Joint jog (JOINT) During joint jog. the feedrate changes sequentially in the order: FINE. Jog feedrate A jog feedrate is a speed at which the robot moves during jog feed.$FENCEOVRD. NOTE When the override key is pressed.10). VFINE.23). A function is available which restores the speed override when the safety fence is closed (See Section 3. the speed override is reduced to the value of $SCR. type of the robot motion. press the override key.$JNTVELLIM (deg/sec) $PARAM_GROUP. When the safe speed signal (*SFSPD input) (See Section 3. the window closes automatically. Override Keys +% +% +% SHIFT + --% --% --% OR A feedrate override must be determined according to the condition of the machining cell. If the override key is not pressed. or the skill of the operator. 5%. and 100%.15 for the joint coordinate systems. Figure 5--6.$JOGLIM (%) $PARAM_GROUP. y--.5. “Setting a user coordinate system”. the tool center point of the robot moves along the X--. Y--. and Section 3. and Z--axes of the user or jog coordinate systems.2. You can not cause the robot to rotate the tool around x--.15.3. Cartesian Jog -- Z Z + R Y -- + Y -W + X 251 P X Cartesian coordinate systems (jog or user coordinate systems) .and z--axis of the user frame or jog frame.(See Section 3. PROGRAMMING B--81464EN--3/01 Figure 5--7.15. “Setting a jog coordinate system”) Figure 5--8. Joint Jog Joint coordinate systems Cartesian jog (XYZ) During Cartesian jog. PROGRAMMING B--81464EN--3/01 Tool jog (TOOL) During tool jog. You can not cause the robot to rotate the tool around x--. the Z--axis is the Z--axis direction of the tool coordinate system. the robot operates in the torch coordinate system present before the power failure.y--. check which group is selected. the wrist switch function and remote TCP function are disabled.5. WARNING In torch jog. torch jog is disabled with a warning. With this function. A path coordinate system is a non--Cartesian coordinate system where the X--axis is a taught path. the function cannot be used for axial movement paths. and the Y--axis is an axis perpendicular to these two axes. a path already taught can be easily modified. F If the direction of a path is parallel with the Z--axis of the tool coordinate system. torch jog is disable with a warning. the robot makes movements different from ordinary jog operations because the robot moves in a dynamic path coordinate system generated from a taught path. and Z--axes of the tool coordinate system defined for the wrist of the robot.and z--axis of the tool frame. Tool Jog Z -- R+ -- Y + P -+ X Torch jog function The torch jog function defines a coordinate system called a path coordinate system with respect to a taught path. take sufficient safety precautions such as decreasing the override value and checking the direction of movement beforehand. when using the path jog function. and allows the robot to be manually operated in the coordinate system. So. F If torch jog is performed after recovery from a power failure.15. torch jog is disabled with a warning. F If there is not a path coordinate system for a reason such as the absence of a travel distance. “Setting a tool coordinate”) Figure 5--9. F Path jog is determined by a taught path. So. WARNING When multiple groups or sub--groups are involved.1. Y--. F When the torch path jog function is used. so that torch jog can be used only when the program is temporarily stopped. The major features of the path jog function are listed below. if an attempt is made to perform torch jog after the program is terminated. F The torch jog function can be used for a linear or circular movement path only. 252 .(See Section 3. the tool center point (TCP) moves along the X--. a path coordinate system is generated as shown below by referencing the most recently executed operation. Z Y Path coordinate system X X P [1] X P [2] X P [3] 253 .If the robot temporarily stops at point 2 during forward movement in the program above. Z Y Path coordinate system X X X P [1] A X P [2] -. a path coordinate system is generated as shown below.5.If the robot temporarily stops at point A in the program above. PROGRAMMING B--81464EN--3/01 Path jog along a linear path WELD_1 JOINT 10 % 3/4 1:L P[1] 50cm/min FINE 2:L P[2] 50cm/min FINE 3:L P[3] 50cm/min FINE [End] POINT ARCSTRT WELD_PT ARCEND TOUCHUP> -. Selecting a manual--feed coordinate system The current manual--feed coordinate system is displayed at the upper right corner of the screen of the teach pendant. Z Path coordinate system Y X X P [1] P [2] X X P [3] Torch jog along a circular path If torch jog is performed during movement along a circular path. a path coordinate system cannot be generated. PROGRAMMING B--81464EN--3/01 -. thus disabling torch jog. so that a Y--axis direction calculation cannot be made. a path coordinate system is generated as shown below by referencing the most recently executed operation. When torch jog is selected. Pressing the COORD key displays a popup menu in reverse video at the upper right of the screen to call the user’s attention. JOG--021 PAUSE Multi key is pressed.If the robot temporarily stops at point 2 during backward movement in the program above. The popup menu in reverse video automatically disappear after a few seconds or when another key is pressed. Perform another type of jog.5. Screen Display for Manual--Feed Coordinate Systems Manual--feed coordinate systems JOINT JOINT JGFRM USER TOOL PATH XYZ TOOL OFF COORD key ON COORD 254 Joint jog Cartesian jog Cartesian jog Tool jog Tool jog JOINT 30% 1/6 JOINT 30% . Figure 5--10. do not press two jog keys at a time. torch jog cannot be Cause: Remedy: performed. the robot moves along the X direction and the Y direction as follows: X direction: Movement along the arc Y direction: Movement along the straight line that connects the center of the arc and a temporary stop point Alarm Codes JOG--020 PAUSE Can not PATH JOG now The Z direction matches the taught path. Cause: Remedy: Accordingly. If two jog keys are pressed simultaneously in an attempt to perform torch jog. W is displayed on the screen. wrist joint feed has the same function as the wrist joint motion instruction (WRIST JOINT). is selected. the following data related to jog operation can be displayed or updated easily: F Tool. the attitude of the tool is held during jog feed. -. PROGRAMMING B--81464EN--3/01 Whenever the COORD key on the teach pendant is pressed. Table 5--3. up to three additional axes can be controlled as a subgroup. When a manual--feed coordinate system changes sequentially in the order shown in Table 5. In this case. the attitude of the tool is not held during linear feed (Cartesian jog feed) or circular feed (tool jog feed).The wrist axis is moved in axial movement while the position of the tool tip is held in rotational feed (attitude rotation about the wrist axis). the attitude of the tool is not held during jog feed. Indication that Wrist Joint Feed Is Enabled Wrist joint feed enabled W/TOOL 30% W/TOOL 30% NOTE When the motion instruction for linear or circular motion under path control is executed.5. -. the tool center point moves linearly while the wrist joint is fixed. Jog type Selection Sequence → JGFRM → TOOL → USER → PATH→ Screen display JOINT JOINT LED state JOINT LED on→XYZ LED on→TOOL LED on→XYZ LED on→TOOL→JOINT LED on Enabling a wrist joint feed In wrist joint feed. its corresponding LED lights. Figure 5--11. NOTE The user can switch to a subgroup by using the auxiliary menu or jog menu described below. F When wrist joint feed is disabled. or user coordinate system number currently selected F Group number currently selected F Subgroup selection state (robot or additional axes) To display the jog menu. (Standard setting) F When wrist joint feed is enabled.2. jog.In linear feed (linear motion along the axes of the Cartesian coordinate system). Switching to additional axes In addition to the standard robot axes (usually 4 to 6 axes) in one operation group. the selected manual--feed coordinate system change cyclically. press the manual feed coordinate system key while holding down SHIFT key. Jog menu With the jog menu function. TEST UTILITIES Hints TOOL 100% Tool 2 Jog 3 User 1 Group 2 Robot/Ext 255 . ) WARNING Operation for coordinate system number/group number switching is so simple that the operator might forget that the operator performed a switching operation. the operator might change the coordinate system number or group number by touching a numeric key of the teach pendant unconsciously.5. (The position of reverse video switches. Be sure to remember the current coordinate system number/group number. switch between (for a system with a subgroup) Robot and Ext by using the left/right cursor key. thus leading to a fatal accident. After coordinate system number/group number switching. be sure to close the jog menu.) cursor key F Tool coordinate system. 256 . WARNING If the jog menu is left open. F Press PREV key. In such a case. PROGRAMMING Table 5--4. a robot might move in an unexpected direction at jog time. a robot may move in an unexpected direction at jog time. In such a case. Otherwise you could injure personnel or damage equipment. thus leading to a fatal accident. F Value modification using numerical key (See the descriptions of coordinate system number change and group switching. B--81464EN--3/01 Operation Procedure Using the Jog Menu Operation Opening the menu Closing the menu Moving the cursor Changing the coordinate system number Procedure Press the manual feed COORD key while holding down SHIFT key. or a robot of an unexpected group might move. or a robot of an unexpected group might move. F Press the manual feed COORD key while holding down SHIFT key. jog coordinate system 1 to 5 F User coordinate system 0 to 5 Numeric key (valid for existing group numbers only) Group switching (for a multi--group system only) Subgroup switching After moving the cursor to the line containing Robot/Ext. an alarm occurs. turn off the teach pendant enable switch and release the deadman switch. NOTE If the operator is not accustomed to the operation of the robot or is not sure about the robot motions.TOGGLE WRIST JOG again. the robot stops. Otherwise. 2 Press the override key to adjust the jog feedrate displayed on the teach pendant. 5 To move the robot by jog feed. Step 1 Press the COORD key to display a desired manual--feed coordinate system on the teach pendant. To reset the alarm. press and hold down the deadman switch again. The function menu is displayed. injury or property damage could occur.TOGGLE SUB GROUP. the operator should release the deadman’s switch or press the emergency stop button. Do not put any obstacles within the work area. 3 CHANGE GROUP 4 TOGGLE SUB GROUP 5 TOGGLE WRIST JOG SAMPLE1 S W/TOOL 30 % 1/6 FCTN 10 To terminate jog feed. When the jog key is released. 3 Hold the teach pendant and press the deadman switch on the back of the teach pendant. CAUTION Before jog feed of the robot is started. To release this mode. 4 Turn on the teach pendant enable switch. The control of jog is switched from the robot standard axes to an extended axis. If the jog feed of the robot needs to be stopped in an emergency in order to avoid danger. it should be ensured that all safety requirements for the work area are satisfied. NOTE If the deadman switch is released when the teach pendant enable switch is on. press the jog key corresponding to the desired robot motion direction while pressing the SHIFT key. Switch to wrist joint feed 6 Press the FCTN key. 3 4 TOGGLE WRIST JOG 5 SAVE SAMPLE1 W/TOOL 30 % 1/6 FCTN Switch to a extended axis 8 Press the FCTN key.TOGGLE WRIST JOG. PROGRAMMING B--81464EN--3/01 Procedure 5--1 Condition Moving the robot by jog feed H Do not enter the operating area. NOTE The feedrate override is automatically set to 10%. is displayed to show the wrist joint jog mode. CAUTION The robot starts its motion in the next step. The control will be returned when it is done again. 257 .5. The function menu is displayed. NOTE When the override is FINE or VFINE. then press the RESET key on the teach pendant. press the jog key and release it every time one step. 7 Select 5. Continue pressing the deadman switch during jog feed.W. select 5. The mark. low feedrate overrides should be set. 9 Select 4. Use the teach pendant to create a new program and correct an existing program. Changing standard motion instructions Respecify the standard instructions to be used when teaching motion instructions. Specifying program information Specify the attributes of the program.(See Figure 2--12. To enable the teach pendant. Correct the instructions. Creating and Changing a Program Change an existing program. Select a program. a motion instruction and an supplementary motion instruction. the teach pendant must be enabled beforehand. PROGRAMMING B--81464EN--3/01 5. use the following procedure: F Register a program and specify program information F Modify standard instruction (standard motion instructions and standard arc instructions) F Teach motion instructions F Teach arc welding instructions and other control instructions. Teach motion instructions. To prevent the program from being started by mistake. Create a new program. To do this. Register the program. End Registering a program Create a null program with a new name. Figure 5--12. Teaching control instructions Teach control instructions including a palletizing instruction and arc welding instructions. Teaching motion instructions Teach a arc motion instruction.5. “Function menu”) 258 . prohibit starting a program with a teach pendant while teaching. satisfy the following condition: J The teach pendant enable switch must be turned on. Change standard motion instructions.3 Creating a Program To create a program. comments may not be entered. Enter these reserved words. The alphabetic characters combined with any numeric characters and/or any symbols are used as the characters of a program name. F In the overwrite mode. in $PGINP_WORD[1 TO 5] in advance (See Sectioin 3. this setting is not applied to the alarm that is generated by the program. such as PRG. For the program name. F Interruption disable: Causes the program having no motion not to be paused by an alarm whose severity is WARN. F Program name F Subtype F Comments: Comments can be written in a program. In some cases.1. F In the insert mode. entered characters are written over existing characters. SUB. CAUTION Asterisks (*) and at marks (@) should not be used in a program name. PAUSE. all the characters to the right of the entered character(s) are shifted to the right. In this case. Setting program information Set the following program information items on the program information screen. Register a program on the program registration screen.5. “System config menu”) F Uppercase or lowercase alphabetic characters: Any letter of the alphabet can be specified for a program name. CAUTION When a new program is made. entered characters are inserted before the character pointed to by the cursor. emergency stop. F Write protection: Prevents a program from being changed. Up to 16 alphanumeric characters and symbols.3. INSERT or OVRWPT is displayed on the screen. See Section 4. STOP. PROGRAMMING B--81464EN--3/01 5. the current program or halted program is halted. F Group mask: Specifies a motion group to be controlled in a program. A program name consists of up to eight alphanumeric characters including symbols to discriminate program names from one another.1 Registering a program Enter a program name and register the program. which can be used for a program name. Options During optional settings. 259 .21. F All the characters in the field where the cursor is positioned are deleted.1. You can also set a program that has no motion group. Entering a program name There are three methods for entering a program name: F Words: Up to five words consisting of up to seven characters can be used as program names. NOTE The program name should not begin with a numeral. and SERVO.1. MAIN. see Section 4. an overwrite or insert mode can be specified for character entry. or character string deletion. and TEST. and HOLD. However. JOINT 30% 1 Words 2 Upper Case 3 Lower Case 4 Options SELECT ---Insert--- ---Create Teach Pendant Program--Program Name [ ] ---End--Enter program name abcdef ghijkl mnopqr 260 stuvwx yz_@*. the following program selection screen can also be displayed by pressing the SELECT key. 2 Select SELECT. 1 Press the MENUS key to display the screen menu. The program registration screen is displayed.5. PROGRAMMING Procedure 5--2 Condition Step B--81464EN--3/01 Registering a program H The teach pendant must be enabled. SELECT 1 2 3 4 SAMPLE1 SAMPLE2 PROG001 PROG002 JOINT 30% 61276 bytes free SAMPLE PROGRAM1 SAMPLE PROGRAM2 PROGRAM001 PROGRAM002 [TYPE] CREATE DELETE MONITOR [ATTR] > COPY DETAIL LOAD SAVE PRINT > 3 Press the F2 (CREATE) key. JOINT 30% 1 Words 2 Upper Case 3 Lower Case 4 Options SELECT ---Insert--- ---Create Teach Pendant Program--Program Name [ ] Sub type [ ] ---End--Enter program name PRG MAIN SUB TEST 4 Select a method for entering a program name (words or alphabetic characters) using the cursor keys. Alternatively. > . With alphabetic character entry. if you want to enter P.5. A PNS program must be written as PNSnnnn. where nnnn represents a four--digit number. F F An RSR program must be written as RSRnnnn. press the F2 (DETAIL) key (or the ENTER key). for instance. > NOTE When creating a program using RSR or PNS for automatic operation. Select function DETAIL EDIT SAMPLE3 JOINT 30% 1/1 [End] F3 POINT ARCSTRT WELD_PT ARCEND TOUCHUP> 8 To enter program information.*. press the F4 function key four times. The program information screen is displayed. press the ENTER key. abcdef ghijkl mnopqr st F4 Select JOINT 30% 1/3 ---Create Teach Pendant Program--Program name: [S ] abcdef ghijkl mnopqr stuvwx yz_@*. PROGRAMMING B--81464EN--3/01 5 Enter a program name by pressing the function keys corresponding to the characters in the program name. follow the rule below. where nnnn represents a four--digit number. An example is PNS0001. The program edit screen for the registered program is displayed.*] 5 Write protect: [ OFF] 6 Ignore pause: [ OFF] END PREV JOINT NEXT 261 . that is. Repeat this procedure until the program name is completely entered. Otherwise. 6 After entering a program name. Press the NEXT key to move the cursor to the right one character. SELECT ---Create Teach Pendant Program Name: [SAMPLE3 ENTER Select JOINT 30% 1 Jobs 5 2 Processes 6 3 Macro 7 4 8 Select ---Create Teach Pendant Program--Program Name: [SAMPLE3 ] Sub type [ ] ---End--Select Sub type 7 To edit the registered program.*. the program does not run. The function key menu displayed depends on the method selected in step 4.*. An example is RSR0001. press the function key corresponding to a desired character repeatedly until the character is displayed in the program name field. press the F3 (EDIT) key. Select function DETAIL EDIT F2 Program detail 30 % 1/6 Creation Date: 10-MAR-1994 Modification Date: 11-MAR-1994 Copy Source: [****************] Positions: FALSE Size: 312 Byte 1 Program name: [SAMPLE3 ] 2 Sub Type: [ Process] 3 Comment: [SAMPLE PROGRAM 3] 4 Group Mask: [1. change the program name. *. The program edit screen for the registered program is displayed. specify (*. the motion group setting of the program cannot be changed. NOTE If the system used does not have the multi--group setting. then press the ENTER key. F To specify a group mask. press the F4 (CHOICE) key to display a subtype menu.2).3). move the cursor to the setting field.*] 5 Write protect: [ OFF] 6 Ignore pause: [ OFF] END PREV JOINT NEXT 10 After entering the program information items. JOB or PROCESS can be selected only when system variable $JOBPROC_ENB is set to 1.*.1. Process.*. END PREV NEXT SAMPLE3 JOINT 30% 1/1 [End] F1 POINT ARCSTRT WELD_PT 262 ARCEND TOUCHUP> . Program detail 30 % 1/6 Creation Date: 10-MAR-xxxx Modification Date: 11-MAR-xxxx Copy Source: [****************] Positions: FALSE Size: 312 Byte 1 Program name: [SAMPLE3 ] 2 Sub Type: [ Process] 3 Comment: [SAMPLE PROGRAM 3] 4 Group Mask: [1.*. Job. *. move the cursor to the setting field and press the function key (ON or OFF) (see Section 4. only either of the following settings is allowed: The first group is set as 1.5.6).1. press the PREV key repeatedly until the list screen is displayed. or Macro. *. Then. CAUTION After a motion group is set and a motion instruction is specified in a program. *. F To change a subtype (see Section 4. F To enter comments.5). move the cursor to the setting field. *) for programs which do not contain any motion instruction. The specified motion group is controlled (see Section 4. enter the comments.1. move the cursor to the setting field and select 1.1. select None. PROGRAMMING B--81464EN--3/01 9 Specify the following program information items: F To change a program name. F To specify write protection. Select ON for programs not to be halted when an alarm occurs such as macro instructions or automatic start programs. F To specify interruption disable. An asterisk (*) indicating no group is set. press the F1 (END) key.4).1. For safety. then press the ENTER key (see Subsection 4. move the cursor to the setting field and select ON or OFF (see Subsection 4. NOTE To return to the list screen. press the F1 (ED_DEF). H The teach pendant must be enabled. including the arc start instructions. ARCSTRT WELD_PT Joint default menu 1 J P[ ] 100% FINE 2 J P[ ] 100% FINE 3 L P[ ] 1000cm/min CNT50 4 L P[ ] 1000cm/min CNT50 SAMPLE3 JOINT 30% 1/1 [End] ED_DEF ARCSTRT WELD_PT ARCEND TOUCHUP> NOTE If the instructions listed on the submenu are necessary. Procedure 5--3 Condition ARCSTRT WELD_PT Changing a standard motion instruction H The program edit screen must be selected. including the arc end instructions. F Pressing the F2 (ARCSTRT) key displays the menu of standard arc instructions.5. To change a standard motion instruction. Standard arc instruction The standard arc instruction is the standard setting for a motion instruction that includes an arc welding instruction as an additional motion instruction. Then. POINT ARCEND TOUCHUP> F Pressing the F1 (POINT) key displays the standard motion instruction menu. The standard motion instruction menu is displayed. and supplementary motion instruction.2 Changing a standard motion instruction The standard motion instruction specifies the most frequently used motion instruction items: motion type. F Pressing the F4 (ARCEND) key displays the menu of standard arc instructions. positioning type. press the same function key again to display the standard instruction edit screen. F Pressing the F3 (WELD_PT) key displays the menu of standard motion instructions for those linear motions that are used to teach welding points. SAMPLE3 JOINT 30% 1/1 [End] POINT Step POINT F1 ARCSTRT WELD_PT ARCEND TOUCHUP> 1 Press the F1 (POINT) key. ED_DEF F1 Default Motion 1 2 3 4 J J L L P[ P[ P[ P[ ] ] ] ] JOINT 30% 1/4 100% FINE 100% FINE 1000cm/min CNT50 1000cm/min CNT50 DONE > 263 . PROGRAMMING B--81464EN--3/01 5. 2 To change a standard motion instruction. feedrate. press one of the keys F1 to F4 to display the standard motion instruction menu. they need not be changed.3. press the F4 key. feedrate. To change the feedrate. Motion Modify 1 Fine 2 Cnt 3 4 Default Motion [CHOICE] F4 JOINT 30% 5 6 7 8 2/4 1 2 3 4 J J L L P[ P[ P[ P[ ] ] ] ] 100% FINE 70% FINE 1000cm/min CNT50 1000cm/min CNT50 Select item [CHOICE] Default Motion Motion Modify 1 FINE ENTER 2 CNT 3 4 Default Motion 5 0 1 2 3 4 J J L L P[ P[ P[ P[ ] ] ] ] JOINT 30% 4/4 100% FINE 70% CNT50 1000cm/min CNT50 1000cm/min CNT50 Enter value ENTER [CHOICE] 6 Repeat steps 3 to 5 for each instruction to be changed. positioning type. an option of another instruction item can be selected from the submenu. Default Motion 1 2 3 4 J J L L P[ P[ P[ P[ ] ] ] ] JOINT 30% 2/4 100% FINE 100% FINE 1000cm/min CNT50 1000cm/min CNT50 Enter value [CHOICE] DONE > 4 Select numeric keys and function keys to correct the instruction item. then press the ENTER key.5. move the cursor to feedrate. press the F5 (DONE) key. for instance. or supplementary motion instruction) using the cursor keys. 7 After teaching is completed. DONE DONE > > F5 264 DONE > . PROGRAMMING B--81464EN--3/01 3 Move the cursor to the instruction item to be changed (motion type. 7 0 Default Motion 1 2 3 4 Old Value: 100 J J L L P[ P[ P[ P[ ] ] ] ] JOINT 30% 2/4 100% FINE 70% FINE 1000cm/min CNT50 1000cm/min CNT50 ENTER Enter value DONE > 5 When CHOICE is displayed in the F4 key name field. Enter a new value with numeric keys. Then. press the ED_DEF key. press the F5 (DONE) key. F3. PROGRAMMING B--81464EN--3/01 Procedure 5--4 Condition Step POINT Changing a standard arc instruction H Display the program edit screen. F2. and arc end point. welding passing points. respectively. travel speed. additional motion) and change the data.5. DONE F5 265 . POINT ED_DEF WELD_PT Start Default 1:J : 2:J : 3:L : 4:L : F2 P[] Arc P[] Arc P[] Arc P[] Arc JOINT 30 % 1/4 70% FINE Start[1] 70% CNT50 Start[3] 500mm/min CNT30 Start[1] 500mm/sec CNT30 Start[3] DONE 3 Position the cursor to an element of the instruction (motion type. 1 Press the F2 (ARCSTRT) key. and F4 are used to program the arc start point. ARCSTRT WELD_PT F2 Arc Start def menu JOINT 30 % 1 J P[] 70% FINE Arc Start[1] 2 J P[] 70% FINE Arc Start[3] 3 L P[] 500cm/min FINE Arc Start[1] 4 L P[] 500mm/sec FINE Arc Start[3] SAMPLE1 [End] POINT ED_DEF WELD_PT ARCEND TOUCHUP> 2 To change a standard arc instruction. 4 After changing the data. The standard arc instruction menu is displayed. positioning type. F Supplementary motion instruction: Specifies the execution of an additional instruction while the loader robot is moving.3. linear. the current position (position data) is stored in the position variable.5. The user can program the position by using the axial method. F Feedrate: Specifies the speed of the robot when it moves.7) 266 . (see Singular point check functions in 5. F Pressing the F3 (WELD_PT) key displays the menu of standard motion instructions for those linear motions that are used to teach welding points. The instruction items of a motion instruction are as follows (see Section 4.3 Teaching a motion instruction A motion instruction moves the robot to the specified position in the work area at the specified feedrate using the specified movement method.3.3 for the motion instruction): F Motion type: Controls a path to the specified position. or F4 key. or F4 key to list the stored standard statements. POINT ARCSTRT WELD_PT ARCEND TOUCHUP> F Pressing the F1 (POINT) key displays the standard motion instructions menu. F To program a single standard statement repeatedly. circular) F Position variable: Stores data on positions to which the robot moves. if so desired. F3. In this case. F Pressing the F2 (ARCSTRT) key displays the menu of standard arc instructions. F2. F Press the F1. see Position data in 4.2). When the motion instruction is taught. PROGRAMMING B--81464EN--3/01 5. including the arc end instructions. F Positioning type: Specifies whether positioning is performed at the specified position. (joint. Choose a desired statement from the list. F2. hold down the shift key and press the F1. F3. F Check whether the position to be programmed is one of the robot’s singular points (for singular points. Teaching a motion instruction is selected after a standard motion instruction is created. and then program that statement. including the arc start instructions. the instruction items of the motion instruction and position data are simultaneously taught. F Pressing the F4 (ARCEND) key displays the menu of standard arc instructions. POINT SHIFT F1 SAMPLE1 JOINT 30% 3/3 1: J P[1] 100% FINE 2: J P[2] 100% FINE [End] Position has been recorded to P[2]. PROGRAMMING B--81464EN--3/01 Procedure 5--5 Step Teaching a motion instruction 1 Move the robot to the desired position in the work area by jog feed. SAMPLE1 JOINT 30% 1/1 [End] POINT ARCSTRT WELD_PT ARCEND TOUCHUP> 3 Press the F1 (POINT) key to display the standard motion instruction menu. press the F1 (POINT) key while pressing the SHIFT key. and specify the desired position and the motion instruction. POINT ARCSTRT WELD_PT ARCEND TOUCHUP> 5 Repeat steps 2 to 4 for each motion instruction to be specified in the program. 2 Move the cursor to END.5. press the ENTER key. This adds the previously specified motion instruction to the currently selected standard motion instruction. POINT Joint default menu 1 J P[ ] 100% FINE 2 J P[ ] 100% FINE 3 L P[ ] 1000cm/min CNT50 4 L P[ ] 1000cm/min CNT50 SAMPLE3 F1 JOINT 30% 1/1 [End] ED_DEF ARCSTRT WELD_PT ARCEND TOUCHUP> 4 Select the standard motion instruction to be taught. POINT ARCSTRT WELD_PT 267 ARCEND TOUCHUP> . Joint 1 J 2 J 3 L 4 L default menu P[ ] 100% FINE P[ ] 100% FINE P[ ] 1000cm/min ENTER P[ ] 1000cm/min SAMPLE1 JOINT 30% 2/2 1: J P[1] 100% FINE [End] Position has been recorded to P[1]. 6 To specify the same standard motion instruction repeatedly. PROGRAMMING B--81464EN--3/01 5. Purchase the software having the options necessary for your purposes.4 Teaching a supplementary motion instruction The supplementary motion instruction makes the robot do special work while it is moving according to the motion instruction.3. Some of the following supplementary motion instructions are provided (see Section 4.3 for the program instruction menu. Select a supplementary motion instruction from the menu. 268 .6 for the supplementary motion instructions): F Wrist joint motion instruction F Acceleration/deceleration override instruction F Skip instruction F Position compensation instruction F Direct position compensation instruction F Tool offset instruction F Direct tool offset instruction F Incremental instruction F Path instruction F Soft float F Asynchronous additional speed F Synchronous additional speed F Pre--execution F Post--execution F Arc welding instruction To teach a supplementary motion instruction.) JOINT 30% 4/5 500mm/sec CNT10 [CHOICE] Motion modify 1 No option 2 Wrist Joint 3 ACC 4 Skip.3.PR[ ] Incremental ---next page--- F4 NOTE The supplementary motion instructions vary according to the software configuration.LBL[] PROGRAM1 5 6 7 8 JOINT 30 % Offset Offset.5. place the cursor behind the motion instruction and press the F4 (CHOICE) key to display the supplementary motion instruction menu. (See Appendix A. JOINT 30% 4/5 500mm/sec CNT10 [CHOICE] Motion modify 1 No option 2 Wrist Joint 3 ACC 4 Skip. Motion Modify 1 No option 2 Wrist Joint 3 ACC 4 Skip. PROGRAMMING B--81464EN--3/01 Procedure 5--6 Step Teaching the supplementary motion instruction 1 Place the cursor immediately behind the motion instruction. 269 . the following screen teaches an acceleration override instruction.5. The supplementary motion instruction menu is displayed.LBL[ ] PROGRAM1 PROGRAM1 5 6 7 8 JOINT 30% 4/5 4: L P[3] 500mm/sec CNT10 : ACC 150 [End] [CHOICE] For details of the instructions.PR[ ] Incremental ---next page--4/5 F4 4:J P[3] 100% FINE [End] [CHOICE] 3 Select a desired item. For example. PROGRAM1 JOINT 30% 4/5 4: L P[3] 500mm/sec CNT10 [End] [CHOICE] 2 Press the F4 (CHOICE) key.LBL[] PROGRAM1 5 6 7 8 JOINT 30 % Offset Offset. see Chapter 4. SAMPLE1 JOINT 30 % 4/5 4:J P[3] 100% FINE INC [End] [CHOICE] POSITION [CHOICE] POSITION F5 Position Detail P[3] GP:1 UF:0 UT:1 X ******* mm W Y ******* mm P Z ******* mm R SAMPLE1 CONF:N 00 ******* deg ******* deg ******* deg 4/5 4:J P[3] 100% FINE INC [End] Enter value PAGE CONFIG DONE 270 [REPRE] . Teaching the incremental instruction is shown as follows. PROGRAMMING Procedure 5--7 Step B--81464EN--3/01 Teaching the incremental instruction 1 Move the cursor to the space at the end of the motion instruction.LBL[] PROGRAM1 5 6 7 8 JOINT 30 % Offset Offset.PR[ ] Incremental ---next page--4/5 4:J P[3] 100% FINE SAMPLE1 JOINT 30 % 4/5 4:J P[3] 100% FINE INC [End] [CHOICE] CAUTION Teaching the incremental instruction makes the position data have no position information. Enter the incremental amount to the position data. SAMPLE1 JOINT 30 % 4/5 4:J P[3] 100% FINE [End] [CHOICE] JOINT 30% 4/5 500mm/sec CNT10 [CHOICE] F4 Motion modify 1 No option 2 Wrist Joint 3 ACC 4 Skip. 2 Enter the incremental amount directly to the position data.5. Motion Modify 1 No option 2 Wrist Joint 3 ACC 4 Skip.000 mm R SAMPLE1 CONF:N 00 0.000 deg 0. Motion Modify 1 Arc Start[ ] 2 Arc End[ ] 3 4 PRG1 JOINT 30 % 5 6 7 8 ---next page--- PRG1 JOINT 30 % 4/5 4:L P[3] 500mm/sec CNT10 : Arc Start[.000 mm W Y 100.DONE..000 deg 0. teach an arc start instruction.. The additional motion instruction menu is displayed.5. CONFIG DONE [REPRE] JOINT 30 % 4/5 4:J P[3] 100% FINE INC [End] Enter value or press ENTER [CHOICE] POSITION F4 Procedure 5--8 Step SAMPLE1 Teaching an arc instruction (as an additional motion instruction) 1 Position the cursor to a point after the end of a motion instruction.LBL[] PRG1 5 6 7 8 JOINT 30 % Offset Offset.000 deg 4/5 4:J P[3] 100% FINE INC [End] PAGE CONFIG DONE [REPRE] 4 When you are fished entering the position data.] [End] Enter schedule number.next page -----.to display the arc welding instruction menu. REGISTER VALUE [CHOICE] PRG1 JOINT 4:L P[3] 500mm/sec CNT10 : Arc Start[1] [End] [CHOICE] 271 30 % 4/5 .PR[ ] Incremental ---next page--- 3 Select -----. P R 0.000 mm P Z 100. PROGRAMMING B--81464EN--3/01 3 Enter the incremental amount directly. press F4.000 ******* 0 deg deg ENTER Position Detail P[3] GP:1 UF:0 UT:1 X 500. PRG1 JOINT 30 % 4/5 4:L P[3] 500mm/sec CNT10 [End] [CHOICE] 2 Press the F4 (CHOICE) key. Then. . REGISTER SCHED [CHOICE] PRG1 JOINT 4:L P[3] 500mm/sec CNT10 : Arc Start[20.0A] [End] Enter voltage.0.0V.0V. press the F1 (REGISTER) key. PROGRAMMING B--81464EN--3/01 4 To indirectly specify conditions by using a register.]] [End] Enter register number. press the F3 (VALUE) key..0A] [End] [CHOICE] 272 30 % 4/5 .5. REGISTER VALUE PRG1 JOINT 30 % 4/5 4:L P[3] 500mm/sec CNT10 : Arc Start[R[. REGISTER VALUE F3 PRG1 JOINT 30 % 4/5 4:L P[3] 500mm/sec CNT10 : Arc Start[0.180. SCHED VALUE [CHOICE] F1 PRG1 JOINT 30 % 4/5 4:L P[3] 500mm/sec CNT10 : Arc Start[R[1]] [End] [CHOICE] 5 To directly enter values for the arc welding conditions. The control instructions are as follows: F Arc welding instruction F Weaving instruction F Arc sensor instruction F Register instruction F Position register instruction F I/O (input/output) instruction F Branch instruction F Wait instruction F Macro instruction F Program end instruction F Comment instruction F Supplementary motion instruction F Other instructions To teach a control instruction. Procedure 5--9 Condition Teaching a register instruction H The teach pendant must be enabled. Then. select a desired control instruction item from the menu (see Appendix A. Instruction 1 Registers 2 I/O 3 IF/SELECT 4 WAIT PROGRAM 5 6 7 8 JOINT 30% JMP/LBL CALL Arc ---next page--- Instruction 1 Miscellaneous 2 Program control 3 Skip 4 Offset PROGRAM JOINT 30 % 5 MACRO 6 7 8 ---next page--- NOTE The program instructions vary according to software configuration. Purchase the software having the options necessary for your purposes. [INST] F1 Instruction 1 Registers 2 I/O 3 IF/SELECT 4 WAIT PROGRAM 5 6 7 8 273 JOINT 30% JMP/LBL CALL Arc ---next page--- .3 for the menu of the program instructions). H The program edit screen must be selected.5. 2 Press the F1 (INST) key. first press the F1 (INST) key to display the submenu. Then.5 Teaching a control instruction A control instruction is a program instruction for controller that is not a motion instruction.3. the control instruction menu is displayed. PROGRAM1 1: J [End] JOINT 30% 2/2 P[1] 100% FINE [INST] Step [EDCMD] > 1 Move the cursor to END. PROGRAMMING B--81464EN--3/01 5. .. PROGRAM1 JOINT 30% 5 .=... [End] PROGRAM11 1: J 2: [End] JOINT 30% 3/3 P[1] 100% FINE R[1]=R[1]+1 [INST] [EDCMD] > For details of the register instruction.../...+.=..j] PROGRAM1 JOINT 30% 5 6 7 8 2/3 2: ... [End] REGISTER statement 1 R[ ] 2 Constant 3 DO[ ] 4 DI[ ] PRG1 5 6 7 8 JOINT 30 % RO[ ] RI[ ] GO[ ] ---next page--2/2 2: [End] R[1]=.. The following screens indicate that the value of register [1] is increased by one. 274 ...*. see Chapter 4....+... Instruction 1 Registers 5 2 I/O 6 3 IF/SELECT ENTER 7 4 WAIT 8 - REGISTER statement 1 ...=..-. 2 ..=.+..... 6 .DIV..... REGISTER statement 1 R[ ] 2 Constant 3 DO[ ] 4 DI[ ] PROGRAM1 5 6 7 8 JOINT 30% RO[ ] RI[ ] GO[ ] ---next page--2/3 2: R[1]=R[1]+........ 4 ....... PROGRAMMING B--81464EN--3/01 3 To teach a register instruction. 3 . 7 .=..=..=.. 8 REGISTER statement 1 R[ ] 2 PL[ ] 3 PR[ ] 4 PR[i.=...5. select REGISTERS..MOV... ...... 7 .MOV...=..5....... PROGRAMMING B--81464EN--3/01 Procedure 5--10 Step Teaching the position register instruction 1 Move the cursor to END.. PROGRAM1 JOINT 30% 5 ......=...=.-...... [End] Select item [CHOICE] PROGRAM1 JOINT 30% 3/3 2: PR[1]=LPOS [End] [INST] [EDCMD] > For details of the instruction. Teach the instruction assigning the Cartesian coordinates of the current position to the position register on the following screens..j] 4 PRG1 5 6 7 8 REGISTER statement 1 Lpos 2 Jpos 3 P[ ] 4 UFRAME[ ] PRG1 5 UTOOL[ 6 PR[ ] 7 8 JOINT 30 % JOINT ] 30 % 2/3 2: PR[1]=.. 4 ..=.DIV. 8 4 Select PR[ ]. 2 .....=.. see Chapter 4. Instruction 1 Registers 2 I/O 3 IF/SELECT 4 WAIT PROGRAM1 5 6 7 8 JOINT 30% JMP/LBL CALL Arc ---next page--- 3 Select REGISTERS.. 275 . 3 .+.. Then. REGISTER statement 1 R[ ] 2 PR[ ] 3 PR[i. 6 . the control instruction menu is displayed./. REGISTER statement 1 ...=.. 2 Press the F1 (INST) key.*..=. .. the control instruction menu is displayed. see Chapter 4...width) 4 R[ ] PROGRAM1 JOINT 30 % GO[ ]=.. 4 R[ ]=RI[ ] PRG1 I/O statement 1 On 2 Off 3 Pulse (. ---next page--- 5 6 7 8 JOINT 30% 5 6 7 8 2/3 2: RO[1]=. R[ ]=GI[ ] WO[ ]=. PROGRAMMING Procedure 5--11 Step B--81464EN--3/01 Teaching an I/O instruction 1 Move the cursor to END... [INST] Instruction 1 Registers 2 I/O 3 IF/SELECT 4 WAIT PROGRAM F1 JOINT 30% JMP/LBL CALL Palletizing ---next page--- 5 6 7 8 3 Select I/O.. Instruction 1 Registers 2 I/O 3 IF/SELECT 4 WAIT 5 6 7 8 I/O statement 1 DO[ ]=. Then...5. Teach the instruction that turns on RO[1] on the following screens. 2 Press the F1 (INST) key. 276 . [End] PRG1 2: [End] JOINT 30 % 3/3 RO[1]=ON [ INST ] [EDCMD]> For details of the instruction. 2 R[ ]=DI[ ] 3 RO[ ]=. 277 .. Instruction 1 Registers 2 I/O 3 IF/SELECT 4 WAIT WELD_1 JOINT 10 % JMP/LBL CALL Arc ---next page--- 5 6 7 8 3 Select Weave on the next page. 2 Press F1 (INST). REGISTER VALUE CHOICE WELD_1 JOINT 10 % 3/3 1:L P[1] 100mm/sec FINE : Arc Start[1] 2: Weave Sine[1] [END] [ INST ] [EDCMD]> 4 Press F1 (REGISTER) for register--based indirect specification. Instruction 1 Miscellaneous 2 Weave 3 Skip 4 Payload WELD_1 5 6 7 8 JOINT 10 % Track/Offset Offset/Frames Program control ---next page--- WELD_1 JOINT 10 % 2/4 1:L P[1] 100mm/sec FINE : Arc Start[1] 2: Weave Sine[.] [END] Enter schedule number.. A list of control instructions is displayed. PROGRAMMING B--81464EN--3/01 Procedure 5--12 Step Teaching of the weaving instruction 1 Move the cursor to END.5. The weaving start instruction for controlling weaving is taught below. 0Hz.0s] [ INST ] [EDCMD]> The arc welding instruction and TRACK Sensor instruction can be taught similarly. 0.0.5..0s. For details of the instructions. see Chapter 4.0.]] [END] F1 Enter register number. PROGRAMMING REGISTER VALUE B--81464EN--3/01 WELD_1 JOINT 10 % 2/3 1:L P[1] 100mm/sec FINE : Arc Start[1] 2: Weave Sine[R[.0mm.0. REGISTER VALUE F3 WELD_1 JOINT 10 % 2/3 1:L P[1] 100mm/sec FINE : Arc Start[1] 2: Weave Sine[... 278 .. SCHED VALUE CHOICE WELD_1 JOINT 10 % 3/3 1:L P[1] 100mm/sec FINE : Arc Start[1] 2: Weave Sine[1] [END] [ INST ] [EDCMD]> 5 Press F3 (VALUE) to directly enter values for weaving conditions.....0s] [END] Enter frequency (Hz).. REGISTER SCHED WELD_1 1:L : 2: : [END] CHOICE JOINT 10 % 3/3 P[1] 100mm/sec FINE Arc Start[1] Weave Sine[1.5.0s. Note that in this case. Instruction 1 Register 2 I/O 3 IF/SELECT 4 WAIT PROGRAM1 5 6 7 8 JMP/LBL Independent GP Simultaneous GP --. PR[]) F Position number change F Teaching of additional move instructions (Deletion is allowed. PROGRAM1 JOINT 30% 1: Independent GP : GP1 L P[1] 1000mm/sec CNT100 : GP2 L P[1] 1000mm/sec CNT100 [INST] [EDCMD]> 4 For a move statement within the move group instructions. PROGRAMMING B--81464EN--3/01 Procedure 5--13 Step Teaching move group instructions 1 Move the cursor to the line number of a desired move statement (other than for circular movement). and positioning type in the same way as for an ordinary move statement. see Chapter 4. The contents of group 1 are moved to another group. move speed.5. edit the move type.next page --- 3 Select Independent GP or Simultaneous GP. 279 . Then. Note that the following operations cannot be performed: F Changing the move type to circular F Specification of position data type (R[]. a list of control instructions is displayed.) F Deletion/creation of move groups F Position modification by SHIFT + TOUCHUP For details of instructions. PROGRAM1 JOINT 30% 1: L P[1] 1000mm/sec CNT100 [End] POINT TOUCHUP> 2 Press F1 [INST]. position data remains unchanged. To enable this function (to enable jog feed only in the TP start prohibition state). At this time. $SCR. To release the prohibition mode.$TPMOTNENABL is used. Setting for Jog feed during TP start prohibition TP start Enabled Enabled Disabled Disabled $SCR. The table below indicates the relationship between the value of system variable $SCR.$TPMOTNENABL 0 1 2 3 Jog feed Enabled Disabled Enabled Disabled With the standard setting. This “FBD”means “Forward. PROGRAMMING B--81464EN--3/01 5.“FBD” is displayed again when the teach pendant is enabled again. When you select Disable FWD/BWD in the function menu.“FBD”.3. 280 . press Disable FWD/BWD in the function menu again. To make this setting. At this time. Press and hold the SHIFT key. To prevent the program from being executed by mistake. change the value of system variable $SCR. system variable $SCR. a warning message.“FBD” is reversely displayed in the upper right hand corner of the teach pendant screen to inform that TP FWD/BWD key is disabled. the indicator of “FBD” disappears and the override is decreased to the setting value specified in the system variable.Backward Disabled”. At this time. displayed in upper right hand corner of the screen disappears when the teach pendant is disabled. “Teach pendant is disabled”.$FWDENBLOVRD. is displayed at the first line of the screen.$TPMOTNENABL and whether TP start and jog feed are enabled. this function is disabled (jog feed is enabled irrespective of whether the teach pendant can start a program).5. and press FWD or BWD in prohibition mode. Table 5--5. Jog feed during TP start prohibition A system variable can be set to enable jog feed only in the TP start prohibition state.(Standard value : 10%) Though the indicator. starting a program with a teach pendant is prohibited.when it is larger than the setting value.6 TP start prohibition The robot controller can execute the program immediately while editing it.$TPMOTNENABL from 0 to 1 (or from 2 to 3) on the system variable screen. you can prohibit starting the program while teaching with this function. “FBD” disappears and the override is reduced to a setting of $SCR. “FBD” is displayed in the uppermost right hand line of the screen.5. H The teach pendant is disabled.$FWDENBLOVRD. “FBD” is not displayed in TP prohibition state because a teach pendant is disabled. 1 ABORT (ALL) 2 Disable FWD/BWD 3 CHANGE GROUP SAMPLE SAMPLE LINE 0 JOINT FCTN 30 % 1/1 [End] [ INST ] Procedure 5--15 Condition [EDCMD]> When effective/disable of teach pendant is switched H TP is in prohibition mode. PROGRAMMING B--81464EN--3/01 Procedure 5--14 Step Prohibiting Starting with Teach Pendant 1 Press the FCTN key. SAMPLE SAMPLE LINE 0 JOINT 30 % 1/1 [End] [ INST ] [EDCMD]> 2 Enable the teach pendant. FBD SAMPLE SAMPLE LINE 0 JOINT 30 % 1/1 [End] [ INST ] [EDCMD]> 281 . 1 ABORT (ALL) 2 Disable FWD/BWD 3 CHANGE GROUP FBD SAMPLE SAMPLE LINE 0 JOINT FCTN 30 % 1/1 [End] [ INST ] [EDCMD]> 3 To release the prohibition mode. The function menu is displayed. “FBD” is displayed at uppermost right hand corner of the screen and the override is reduced to the setting of $SCR. select “2 Disable FWD/BWD” in the function menu again.$FWDENBLOVRD. Step 1 The following program edit screen is displayed. 2 Select 2 Disable FWD/BWD. Changing other instructions Change other instructions.4.Finding a program instruction item -. which is an instruction item that must be frequently changed. changing and playing back a program. 5. While another screen is displayed such as the current position screen.Deleting a program instruction -.Replacing a program instruction item -. call the registered program to display the program edit screen for editing. Once a program is selected.) F When the teach pendant is disabled Another program cannot be selected while a program is being executed or halted.4 Changing a Program An existing program can be changed (modified) whenever it needs to be. F When the teach pendant is enabled (The current or halted program is forcibly terminated when a program is selected.5. PROGRAMMING B--81464EN--3/01 5.Copying a program instruction -. the currently selected program is started by the start switch. Select a program on the program selection screen. An example is position data. 282 . Changing a motion instruction Change a motion instruction item. the program is effective until another program is selected.1 Selecting a program When selecting a program. The following subsections related to changing a program are described in this section: F Selecting a program F Modifying a standard motion instruction F Changing a motion instruction F Changing an arc welding instruction or another control instruction F Editing a program instruction -.Renumbering program lines Selecting a program Select a program from the menu of existing programs.Inserting a blank line -. In this case. press the SELECT key to enable a program to be selected. SAMPLE3 JOINT 30% 1/6 1 J 2 J 3 L 4 L 5 J [End] P[1] P[2] P[3] P[4] P[1] 100% FINE 70% CNT50 1000cm/min CNT30 500mm/sec FINE 100% FINE POINT ARCSTRT WELD_PT 283 ARCEND TOUCHUP> . PROGRAMMING B--81464EN--3/01 Procedure 5--16 Step Selecting a program 1 Press the MENUS key.The selected program edit screen is displayed.5. Alternatively. the program selection screen is displayed. Select 1 2 3 4 5 SAMPLE1 SAMPLE2 SAMPLE3 PROG001 PROG002 [TYPE] JOINT 30% 61092 bytes free 3/5 JB[SAMPLE PROGRAM1 ] JB[SAMPLE PROGRAM2 ] JB[SAMPLE PROGRAM3 ] PR[PROGRAM001 ] PR[PROGRAM002 ] CREATE DELETE MONITOR [ATTR] > 3 Move the cursor to the name of a program to be corrected using the cursor keys (↑ and ↓) press the ENTER key. 2 Select SELECT. F Feedrate: The speed of the robot when it moves (robot motion speed) and the feedrate unit are changed. If the position variable is taught according to rectangular type. PAGE CONFIG DONE [REPRE] F F2 (PAGE): Toggles between the standard axes and the extended axes F F3 (CONFIG): Edits the configuration value.2 Changing a motion instruction When changing a motion instruction. changing the user coordinate system does not affect the position variables and position registers. CAUTION If teaching is done by joint coordinates. the position variable is not affected by the user coordinate system. F F4 (DONE): Terminates changing the position data information. Position data information The coordinates and configuration for position data can be directly changed on the position data information screen. F F5 (REPRE): Toggles between Cartesian coordinates and joint coordinates. F Positioning type: Positioning at the specified position is changed. When the motion type is changed. For motion instructions. the feedrate unit is also automatically changed. press the F4 (CHOICE) key to display the motion instruction item menu. F Supplementary motion instruction: An additional instruction to be executed when the robot is moving is changed.5. 284 . change the instruction items of the motion instruction or change taught position data. In other cases. assign new position data to the position variable by pressing the F5 (TOUCHUP) key while pressing the SHIFT key. Changing position data To change position data. F Position variable: The variable storing position data and the variable number are changed. then select an instruction item from the menu.3. PROGRAMMING B--81464EN--3/01 5. see Section 4. F Motion type: Controls a path to the specified position.4. both of the position variable and position register are affected by the user coordinate system. Changing an instruction item To change an instruction item. and the user coordinate system input option is not used. NO SAMPLE1 F4 JOINT 30 % 4/5 4:J P[3] 100% FINE [End] Position has been recorded to P[3]. 1 Move the cursor to the line number at which the motion instruction to be changed is displayed. SAMPLE1 JOINT 30% 2/6 1 J 2 J 3 L 4 L 5 J [End] P[1] P[2] P[3] P[4] P[1] 100% FINE 70% CNT50 1000cm/min CNT30 500mm/sec FINE 100% FINE POINT ARCSTRT WELD_PT ARCEND TOUCHUP> 2 Move the robot to a new position and press the F5 (TOUCHUP) while pressing the SHIFT key. SAMPLE1 JOINT 30 % 4/5 4:J P[3] 100% FINE INC [End] POINT WELD_PT ARCSTRT WELD_PT ARCEND TOUCHUP> ARCEND TOUCHUP> SAMPLE1 F5 SHIFT F F YES JOINT 30 % 4/5 4:J P[3] 100% FINE INC [End] Delete Inc option and record position ? YES NO YES : A incremental option is removed and position data is taught. PROGRAMMING B--81464EN--3/01 Procedure 5--17 Condition Step Changing position data H The program to be changed must be selected. WELD_PT ARCEND TOUCHUP> SAMPLE1 SHIFT F5 JOINT 30 % 5/6 5:J PR[3] 100% FINE [End] Position has been recorded to PR[3]. POINT ARCSTRT WELD_PT ARCEND TOUCHUP> 3 When the position data is taught to the motion instruction with a incremental option again. The new position is recorded.5. POINT ARCSTRT WELD_PT ARCEND TOUCHUP> 4 When position data is taught in the position register as a position variable. H The teach pendant must be enabled. POINT ARCSTRT WELD_PT ARCEND TOUCHUP> 285 . WELD_PT ARCEND TOUCHUP> F5 SHIFT SAMPLE1 JOINT 30% 2/6 1 J P[1] 100% FINE 2 J P[2] 70% CNT50 3 L P[3] 1000cm/min CNT30 4 L P[4] 500mm/sec FINE 5 J P[1] 100% FINE [End] Position has been recorded to P[2]. NO : The position data is not taught.the position data in a register is changed by editing.a incremental option is removed. then enter a new configuration value with the cursor keys (↑ and ↓).992 mm Z: 956. then press the F5 (POSITION) key.374 mm Y: -342. 70% CNT501 Cartesian 2 Joint CONFIG DONE [REPRE] Position Detail P[2] J1: 0.000 Y: -300.300 deg JOINT 30% J4: -95.000 deg deg deg F5 NOTE JOINT display is valid when the robot is adjusted to the zero--degree position or when non--kinematic operation such as table operation control is executed.374 mm W: 40. press the F5 (REPRE) key and select the coordinate system to be changed. The position data information screen is displayed. X: 1500.374 mm W: 40. SAMPLE 1 2 3 4 J J L L P[1] P[2] P[3] P[4] 100% FINE 70% CNT50 1000cm/min 500mm/sec Position Detail P[2] UF:0 UT:1 CONF:FT.895 mm R: 20.000 Y: -300.895 mm R: 20.895 mm -- 3 0 0 JOINT 30% deg deg deg ENTER 3 To change the configuration value.125 deg J2: 23. CONFIG DONE [REPRE] F4 286 .000 JOINT 30% deg deg deg 2/6 2: J COMMENT CHOICE POSITION P[2] 70% CNT50 Enter value PAGE F5 CONFIG DONE [REPRE] 2 To change the position.000 Z: 956. move the cursor to the coordinates for each axis and enter new coordinates.895 mm R: 20.000 Z: 956.000 J5: 0.000 Z: 956. PROGRAMMING Procedure 5--18 Step B--81464EN--3/01 Changing position data information 1 To display position data information.789 E1: 0.000 mm P: 10. X: 1500. move the cursor to the desired position variable.000 Position Detail P[2] UF:0 UT:1 X: 1500.000 mm P: 10.5.000 Y: -342.000 JOINT 30% deg deg deg 2/6 2: J P[2] 70% CNT50 Select Flip or Non-flip by UP/DOWN key POSITION DONE [REPRE] 4 To change a coordinate system. 5 After changing position data information.992 mm P: 10.374 mm W: 40. press the F3 (CONFIG) key. Position Detail P[2] UF:0 UT:1 CONF:FT. press the F4 (DONE) key.590 deg J3: 30. move the cursor to the configuration field. CONFIG DONE [REPRE] F3 Position Detail P[2] UF:0 UT:1 CONF:FT. X: 1500. 5... SAMPLE1 5: J [End] P[5] 100% CNT3 Motion Modify 1 P[ ] 2 PR[ ] 3 4 SAMPLE1 JOINT 30% [CHOICE] 5/6 5: J P[5] 100% CNT30 [End] F4 Motion Modify 1 P[ ] 2 PR[ ] 3 4 SAMPLE1 JOINT 30% 5/6 5: J PR[.] 100% CNT30 [End] ENTER Enter Value DIRECT INDIRECT [CHOICE] POSITION 4 Change the feedrate. The following screens show changing the motion type from linear motion to joint motion: SAMPLE1 5: L [End] P[5] 500cm/min [CHOICE] JOINT 30% 5/6 5: L P[5] 500cm/min CNT30 [End] Select item [CHOICE] F4 Motion Modify 1 Joint 2 Linear 3 Circular 4 Motion Modify 1 Joint 2 Linear 3 Circular 4 SAMPLE1 SAMPLE1 ENTER JOINT 30% 5/6 5: J P[5] 100% CNT30 [End] Enter value or press ENTER COMMENT [CHOICE] POSITION 3 The following screens show changing from the position variable to the position register. 2 Press the F4 (CHOICE) key to display the submenu of the instruction items. then select the instruction item to be changed from the submenu. PROGRAMMING B--81464EN--3/01 Procedure 5--19 Step Changing a motion instruction 1 Move the cursor to the instruction item of a motion instruction to be changed. SAMPLE1 SAMPLE1 2: J 7 P[2] 100% FINE 0 JOINT 30% 2/6 2: J P[2] 70% FINE [End] ENTER Enter Value [CHOICE] 287 . JOINT 30% 2/6 70% FINE [CHOICE] Motion Modify 1 Fine 2 Cnt 3 4 SAMPLE1 JOINT 30% 2/6 F4 2: L P[2] 70% FINE Select item [CHOICE] 288 .5. PROGRAMMING B--81464EN--3/01 5 Change the feedrate unit. SAMPLE1 4: L P[2] 500cm/mm [CHOICE] Motion Modify 1 mm/sec 2 cm/min 3 inch/min 4 deg/sec SAMPLE1 JOINT 30% 5 6 7 8 sec 4/6 4: L P[4] 500cm/min CNT30 [End] F4 6 Change the positioning type. . 2 The following screens show changing the linear motion instruction to the circular motion instruction.5.] 500cm/min CNT30 [End] Enter value or press ENTER [CHOICE] NOTE When a joint or linear motion instruction is changed to a circular motion instruction. while the other moves the tool to the end point. the taught data for the end point of the arc is canceled. One instruction moves the tool to the passing point of the circular motion. PROGRAMMING B--81464EN--3/01 Procedure 5--20 Step Changing a circular motion instruction 1 Place the cursor at the motion type of the circular motion instruction to be changed. SAMPLE1 JOINT 30% 6/7 6: C P[5] : P[6] 500cm/min CNT30 [End] [CHOICE] SAMPLE1 6: C : P[5] P[6] 500cm/min [CHOICE] Motion Modify 1 Joint 2 Liner 3 Circular 4 SAMPLE1 JOINT 30% 6/7 6: C : F4 P[5] P[6] 500cm/min CNT30 SAMPLE1 Motion Modify 1 Joint 2 Linear 3 Circular 4 JOINT 30% 6/7 6: L P[6] 500cm/min CNT30 [End] ENTER COMMENT [CHOICE] POSITION NOTE When a circular motion is changed to a joint or linear motion. 289 .. The following screens show changing the circular motion instruction to the linear motion instruction. two motion instructions are created as a result. SAMPLE1 6: L [End] P[6] 500cm/min [CHOICE] Motion Modify 1 Joint 2 Liner 3 Circular 4 SAMPLE1 JOINT 30% 6/7 6: L P[6] 500cm/min CNT30 F4 SAMPLE1 Motion Modify 1 Joint 2 Linear 3 Circular 4 ENTER JOINT 30% 6/7 6: C P[6] : P[. PR[ ] 8 JOINT 30% 7/8 7: L P[2] 300mm/sec FINE [End] [CHOICE] 290 .PR[ ] SAMPLE1 5 6 7 8 JOINT 30% Incremetal Skip. follow the procedure below: SAMPLE1 7: L P[2] 300mm/sec FINE [End] JOINT 30% 7/8 offset [CHOICE] JOINT 30% 7/8 300mm/sec FINE offset [CHOICE] Motion Modify 1 No Option 2 Wrist Joint 3 Offset 4 Offset. follow the procedure below: SAMPLE1 JOINT 30% 7/8 7: L P[2] 300mm/sec FINE [End] [CHOICE] JOINT 30% 7/8 100% FINE [CHOICE] Motion Modify 1 No Option 2 Wrist Joint 3 Offset 4 Offset.PR[ ] SAMPLE1 5 6 7 8 JOINT 30% Incremetal Skip. PROGRAMMING Procedure 5--21 Step B--81464EN--3/01 Adding and deleting an additional motion instruction 1 Position the cursor to an additional motion instruction.LBL[ ] 7/8 7: L [End] F4 P[2] 300mm/sec FINE SAMPLE1 Motion Modify 1 No Option 2 Wrist Joint 3 Offset 4 Offset.PR[ ] 7: L P[2] 300mm/sec FINE [End] JOINT 30% 7/8 offset [CHOICE] ENTER 2 To delete an offset condition instruction. for example.LBL[ ] 7/8 F4 7: L [End] P[2] 300mm/sec FINE offset SAMPLE1 Motion Modify 1 No Option 5 2 Wrist Joint 6 3 Offset 7 ENTER 4 Offset. To add an offset condition instruction. for example.5. . press the function key F1 (REGISTER).) PNS0001 JOINT 10% 1/2 1: J P[1] R[2]% FINE [End] [CHOICE] 3 Operation for switching from register specification to numeric specification for the move speed of a move instruction PNS0001 JOINT 10% 1/2 1: J P[1] R[2]% FINE [End] Enter Value SPEED DIRECT INDIRECT 291 [CHOICE] . PROGRAMMING B--81464EN--3/01 Procedure 5--22 Changing the move speed (between numeric specification and register specification) PNS0001 JOINT 10% 1/2 1: J P[1] 100% FINE [End] Enter Value REGISTER Step [CHOICE] 1 Operation for switching from numeric specification to register specification for the move speed of a move instruction Move the cursor to the speed value. (To return to direct specification mode. press F2 (DIRECT). press F3 (INDIRECT). For indirect specification. Then.]% FINE [End] Enter Value SPEED DIRECT INDIRECT [CHOICE] 2 Enter a desired register number (2 for example).5.. PNS0001 JOINT 10% 1/2 1: J P[1] R[. SCHED VALUE [CHOICE] PRG1 JOINT 4:L P[3] 500mm/sec CNT10 : Arc Start[R[1]] [End] [CHOICE] 292 30 % 4/5 .% FINE [End] Enter Value REGISTER [CHOICE] 5 Enter a desired speed value (20 for example). REGISTER F1 VALUE PRG1 JOINT 30 % 4/5 4:L P[3] 500mm/sec CNT10 : Arc Start[R[. PRG1 JOINT 30 % 4/5 4:L P[3] 500mm/sec CNT10 : Arc Start[..4..5. PNS0001 JOINT 10% 1/2 1: J P[1] 20% FINE [End] [CHOICE] 5. REGISTER VALUE [CHOICE] 2 To specify a welding condition number in a register.] [End] Enter schedule number. PNS0001 JOINT 10% 1/2 1: J P[1] . item.]] [End] Enter register number. PROGRAMMING B--81464EN--3/01 4 Move the cursor to the speed value.. or variable of a control instruction.. press the F1 (REGISTER) key.. Then. Procedure 5--23 Step Changing an arc welding instruction 1 Position the cursor to an arc welding instruction. press the function key F1 (SPEED).3 Changing a control instruction You can change the syntax.. 0A] [End] [CHOICE] For details of instructions.70. PROGRAMMING B--81464EN--3/01 3 To directly enter the values for the welding conditions.0V.0A] [End] Enter voltage. see Chapter 4.0.5. 293 30 % 4/5 . press the F3 (VALUE) key. REGISTER VALUE PRG1 JOINT F3 4:L P[3] 500mm/sec CNT10 : Arc Start[0. REGISTER SCHED 30 % 4/5 [CHOICE] PRG1 JOINT 4:L P[3] 500mm/sec CNT10 : Arc Start[45.0V. ] Enter value DIRECT INDIRECT[CHOICE] PRG1 LIST JOINT 30% 11/20 11: WAIT RI[1]=R[2] 12: RO[1]=ON DIRECT INDIRECT[CHOICE] LIST [CHOICE] F4 PRG1 Wait statements 1 <Forever> 2 Timeout-LBL[ ] 3 ENTER 4 2 ENTER JOINT 30 % 11/20 11: WAIT RI[1]=R[2] TIMEOUT.LBL[. PROGRAM1 JOINT 30% 11/20 10: J P[5] 100% FINE 11: WAIT RI[1]=ON 12: RO[1]=ON [CHOICE] 2 Press the F4 (CHOICE) key to display the instruction menu and select the instruction item to be changed... Wait statements 1 R[ ] 2 Constant 3 On 4 Off PRG1 [CHOICE] F4 5 6 7 8 JOINT 30 % DO[ ] DI[ ] RO[ ] ---next page--11/20 11: WAIT RI[1]=ON 12: RO[1]=ON Select item [CHOICE] Wait statements 1 R[ ] 2 Constant 3 On ENTER 4 Off 2 ENTER PRG1 JOINT 30 % 11/20 11: WAIT RI[1]=R[..] 12: RO[1]=ON Enter value DIRECT INDIRECT[CHOICE] PRG1 11: 12: JOINT 30 % 12/20 WAIT RI[1]=R[2] TIMEOUT. PROGRAMMING Procedure 5--24 Step B--81464EN--3/01 Changing a control instruction 1 Move the cursor to the instruction item to be changed..LBL[2] RO[1]=ON 294 .5. The following screens show changing the wait instruction. (For example. Renumbering arranges them sequentially in the program. A specified element of a long program can be found quickly. NOTE Do not perform power down before the progress indication reaches 100%.4 Program edit instructions The program edit instructions are used to edit an existing program. Copy Copies a series of instructions and inserts the instruction group into another location in the program. when the I/O allocation is changed. The progress of renumbering is displayed as it is being performed. Once the series of instructions is copied. between the existing lines of a program. This program is used. the program lines are renumbered. When insertion and deletion are repeated. Replace Replaces an item of the specified program instruction with another item.4. the number of which is specified. PROGRAMMING B--81464EN--3/01 5. it can be inserted into other locations in the program repeatedly. Delete Deletes a series of instructions from a program. the program lines are renumbered. Whenever a motion instruction is taught. 1 2 3 4 5 6 7 8 Insert Delete Copy Find Replace Renumber Comment Undo [EDCMD] Insert Inserts blank lines.5. Find A specified element of a program instruction is found. for example. when setup data for the program is changed. 3/6 (50%) [ INST ] [EDCMD]> Progress Total number of line numbers Number of line numbers already renumbered 295 . Press the F5 (EDCMD) key to display the program edit instruction menu and select a desired program edit instruction from the menu. the instruction group is selected and recorded in memory. When a series of instructions is copied. and SDO[1] is to be changed to SDO[2] in the program) Renumber Renumbers the program lines by line number in ascending order. the line number is increased regardless of locations in the program. After the instructions are deleted. the line numbers are not sequentially arranged in a program. When blank lines are inserted. all operations performed for that line are undone. F Move instruction position variable F Label instructions F Power control instructions NOTE The comment display area for an instruction item that is too long to be displayed on one line of the screen might be shortened. the taught instruction is deleted. NOTE No comment is displayed for a register indirect specification. line insertion. If an undo operation is immediately followed by another undo operation. the state before the insertion or deletion operation is restored. SDO instruction. all operations performed for that line are undone. Undo Program edit operations such as an instruction modification. the user can choose whether to display or hide a comment for the instructions listed below. UI instruction. GI instruction.. If an undo operation is performed during editing of a program line.. The instructions listed below are always accompanied by a comment. PROGRAMMING B--81464EN--3/01 Comment On the program editing screen. and do not allow display switching but allow editing. F SDI instruction. AO instruction. NOTE If an undo operation is performed for a line during program editing. RDO instruction. This means that if an instruction is taught in a blank line or the last line of a program. and line deletion can be cancelled to return to the state present before those edit operations are performed. For example. SO instruction F Register instructions F Position register instructions (including position registers in the position data format for move instructions) F Welding instructions F Move instruction register speed specifications NOTE The AI and AO instructions are analog I/O soft options. if a line is inserted or deleted. Position register [register [1]] = . GO instruction. 296 . The position register instructions are position register soft options. SI instruction. Note that no comment can be edited. UO instruction. and an undo operation is performed for that line during editing.5. RDI instruction. the state present before the first undo operation is performed is restored. AI instruction. SAMPLE1 NEXT 1: J 2: J 3: L 4: L 5: J [End] JOINT 30% 4/6 P[1] P[2] P[3] P[4] P[1] 100% FINE 70% CNT50 1000cm/min CNT30 500mm/sec FINE 100% FINE [INST] [EDCMD] 2 Press the F5 (EDCMD) key. In this example. PROGRAMMING B--81464EN--3/01 Procedure 5--25 Step Inserting blank lines 1 Press the next page key (NEXT) to display EDCMD in the F5 key name field.5. 3 Select Insert. SAMPLE1 100% FINE 1 Insert 70% CNT50 2 Delete 1000cm/min 3CNT30 Copy 500mm/sec FINE 4 Find 100% FINE 5 Replace 6 Renumber 1: J P[1] 100% FINE 2: J P[2] 70% CNT50 3: L P[3] 1000cm/min CNT30 4: L P[4] 500mm/sec FINE 5: J P[1] 100% FINE [End] How many line to insert ?: [EDCMD] F5 JOINT 30% 4/6 ENTER In the example below. The edit instruction menu is displayed. 297 . 5 Enter the number of blank lines to be inserted (two) and press the ENTER key. 2 ENTER SAMPLE1 1: 2: 3: 4: 5: 6: 5: JOINT 30% 4/8 J J L P[1] 100% FINE P[2] 70% CNT50 P[3] 1000cm/min CNT30 L J P[4] 500mm/sec FINE P[1] 100% FINE [INST] [EDCMD] > The two blank lines are inserted into the program and all the lines in the program are renumbered. move the cursor to the 4th line. two blank lines are inserted between the 3rd and 4th lines. 4 Move the cursor to the line where instructions are to be inserted. 4 Select Delete SAMPLE1 100% FINE 1 Insert 70% CNT50 2 Delete 1000cm/min 3CNT30 Copy 500mm/sec FINE 4 Find 100% FINE 5 Replace 6 Renumber 1:J 2:J 3:L 4:L 5:J [End] JOINT P[1] P[2] P[3] P[4] P[1] 30 % 4/6 100% FINE 70% CNT50 1000cm/min CNT30 500mm/sec FINE 100% FINE [EDCMD] Delete line(s) ? YES F5 NO ENTER CAUTION After an instruction is deleted. 3: L 4: L 5: J [End] P[3] 1000cm/ P[4] 500mm/s P[1] 100% FI 6 To cancel deleting the selected line.) 2 Press the next page key (NEXT) to display EDCMD in the F5 key name field. press the F5 (NO) key. YES F4 NO SAMPLE1 1: J 2: J 3: L [End] JOINT 30% 4/4 P[1] 100% FINE P[2] 70% CNT50 P[3] 1000cm/min CNT30 [INST] [EDCMD] > 298 . To delete the selected lines. or important data could be lost. the instruction is not restored. 5 Specify the range of instruction lines to be deleted with the cursor keys (↑ and ↓). SAMPLE1 NEXT 1: J 2: J 3: L 4: L 5: J [End] JOINT 30% 4/6 P[1] P[2] P[3] P[4] P[1] 100% FINE 70% CNT50 1000cm/min CNT30 500mm/sec FINE 100% FINE [INST] [EDCMD] 3 Press the F5 (EDCMD) key to display the editing instruction menu. press the F4 (YES) key. Be sure to confirm whether an instruction to be deleted should be done before doing it.5. PROGRAMMING Procedure 5--26 Step B--81464EN--3/01 Deleting instructions 1 Move the cursor to the top of the line in which the instruction to be deleted is positioned. (Specify the line to be deleted with the cursor. 5. 3 Select 3 Copy. 1 2 3 4 5 6 Insert Delete Copy Find Replace Renumber SAMPLE1 EDCMD F5 ENTER JOINT 30% 2/6 1: J P[1] 100% FINE 2: J P[2] 70% CNT50 3: L P[3] 1000cm/min CNT30 4: L P[4] 500mm/sec FINE 5: J P[1] 100% FINE [End] Select lines COPY PASTE 4 Select the range of lines to be copied. 1: J 2: J 3: L 4: L 5: J [End] 1: J P[1] 2: J P[2] 3: L P[3] 4: L P[4] 5: J P[1] [End] Move cursor to select range COPY P[1] P[2] P[3] P[4] P[1] SAMPLE1 1: J P[1] 100% FINE 2: J P[2] 70% CNT50 3: L P[3] 1000cm/min CNT30 4: L P[4] 500mm/sec FINE 5: J P[1] 100% FINE [End] Select lines COPY F2 As a result of above steps. PASTE F5 SAMPLE1 1:J 2:J 3:L 4:L 5:J [End] JOINT P[1] P[2] P[3] P[4] P[5] 30 % 5/6 100% FINE 70% CNT50 1000cm/min CNT30 500mm/sec FINE 100% FINE INC Paste before this line ? LOGIC POS-ID POSITION CANCEL> R-LOGIC R-POS-ID R-POSITION CANCEL> 299 . the selected instructions (2nd to 4th lines in this example) were copied in memory. The editing instruction menu is displayed. PROGRAMMING B--81464EN--3/01 Procedure 5--27 Step Copying and pasting instructions 1 Press the next page key (NEXT) until EDCMD is displayed in the F5 key name field. The following screens show copying 2nd to 4th lines to 5th to 7th lines. NEXT SAMPLE1 1: J 2: J 3: L 4: L 5: J [End] JOINT 30% 1/6 P[1] P[2] P[3] P[4] P[1] 100% FINE 70% CNT50 1000cm/min CNT30 500mm/sec FINE 100% FINE [INST] [EDCMD] 2 Press the F5 (EDCMD) key. 5 Decide where you want to paste the sentences copied in the memory. move speed.F2 (LOGIC) : Copies and pastes motion instructions with no position data specified.F4 (POSITION) : Copies and pastes motion instructions with the position numbers updated. -. NOTE The copy function for a reverse movement is not supported for the additional move instructions listed below. If the move instructions at a copy source include any of the move instructions below. Pressing the next page key (NEXT) displays the following function key menu: NEXT R-LOGIC R-POS-ID R-POSITION CANCEL> The selected instructions are copied in reverse order.5. -. 8 To terminate the pasting of instructions.F3 (POS--ID) : Copies and pastes motion instructions with the position numbers unchanged. then assigns new position numbers. and only a copy operation in reverse order is performed. RM--POS--ID or RM--POS generates a warning. The move type.F3 (RM--POS--ID) : Copies the move instructions at a copy source in reverse order without changing the position numbers of the move instructions. move speed. -. F3 and F5 have the following functions: -.F5 (RM--POS) : Copies the move instructions at a copy source in reverse order. PROGRAMMING B--81464EN--3/01 6 Select the copying and pasting method (copying from the original). The move type. F Application instruction F Skip and high--speed skip instructions F Incremental instruction F Continuous rotation instruction F Pre--execution/post--execution instruction F Multi--group operation 300 . and so forth of each move instruction are changed so that a movement totally opposite to the movement of the copy source is made. POS-ID POSITION CANCEL SAMPLE1 1: J 2: J 3: L 4: L 5: J 6: L 7: L 8: J [End] F3 JOINT 30% 8/9 P[1] P[2] P[3] P[4] P[2] P[3] P[4] P[1] 100% FINE 70% CNT50 1000cm/min CNT30 500mm/sec FINE 70% CNT50 1000cm/min CNT30 500mm/sec FINE 100% FINE Select lines COPY PASTE > 7 By repeating the above steps 5 to 6. the same instruction group can be pasted at any number of locations in the program. and so forth of each move instruction are changed so that a movement totally opposite to the movement of the copy source is made. press the PREV key PREV Pasting methods The following copying and pasting methods are provided: LOGIC POS-ID POSITION CANCEL> -. The editing instruction menu is displayed. 3 Select Find. Select Find menu 1 Registers 2 CALL 3 I/O 4 IF/SELECT SAMPLE3 100% FINE 1 Insert 70% CNT50 2 Delete 1000cm/min 3CNT30 Copy 500mm/sec FINE 4 Find 100% FINE 5 Replace 6 Renumber JOINT 30 % 5 JMP/LBL 6 Miscellaneous 7 Program control 8 ---next page--- [EDCMD] F5 ENTER Select Find item 1 JMP LBL[ ] 2 LBL[ ] 3 4 SAMPLE3 Enter index value 301 JOINT 5 6 7 8 30 % . 4 Select a program instruction item to be found. PROGRAMMING B--81464EN--3/01 Example When the F4 (R--POSITION) is pressed R-LOGIC R-POS-ID R-POSITION F4 1: J 2: J 3: L 4: L 5: J 6: L 7: L 8: J [End] P[1] P[2] P[3] P[4] P[7] P[6] P[5] P[1] 100% FINE 70% CNT50 1000cm/min CNT30 500mm/sec FINE 500mm/sec FINE 1000cm/min CNT30 70% CNT50 100% FINE Select lines COPY Procedure 5--28 Step PASTE > Finding a program instruction item 1 Press the next page key (NEXT) until EDCMD is displayed in the F5 key name field. The following screens show how to find instruction.5. SAMPLE3 NEXT 1:J 2: 3: 4:L 5:L 6: 7: 8: 9: [End] JOINT 30 % 1/10 P[1] 100% FINE R[1]=0 LBL[1] P[2] 1000cm/min CNT30 P[3] 500mm/sec FINE IF DI[1]=ON JMP LBL[2] R[1]=R[1]+1 JMP LBL[1] LBL[2] [ INST ] [EDCMD]> 2 Press the F5 (EDCMD) key. WAIT. press the F4 (NEXT) key. press the F5 (EXIT) key.5. NEXT EXIT SAMPLE3 1:J 2: 3: 4:L 5:L 6: 7: 8: 9: [End] F4 JOINT 30 % 1/10 P[1] 100% FINE R[1]=0 LBL[1] P[2] 1000cm/min CNT30 P[3] 500mm/sec FINE IF DI[1]=ON JMP LBL[2] R[1]=R[1]+1 JMP LBL[1] LBL[2] NEXT EXIT 7 To terminate finding an instruction. 302 . press the ENTER key without entering anything. PROGRAMMING B--81464EN--3/01 5 When the item to be found is an argument. 6 To find the same instruction again. Enter index value ENTER SAMPLE3 1:J 2: 3: 4:L 5:L 6: 7: 8: 9: [End] JOINT 30 % 1/10 P[1] 100% FINE R[1]=0 LBL[1] P[2] 1000cm/min CNT30 P[3] 500mm/sec FINE IF DI[1]=ON JMP LBL[2] R[1]=R[1]+1 JMP LBL[1] LBL[2] NEXT EXIT If the specified instruction is found in the program. NEXT EXIT F5 NOTE The position of a track/offset instruction or touch sensor instruction cannot be found using the search instruction. the cursor stops at the instruction. enter the value. To find an item regardless of whether the item is an argument. 5 Select Replace speed.Insert option: Inserts a supplementary motion instruction.Replace speed: Changes the feedrate to another value.J: Changes the feedrates only in motion instructions for joint control.5. -.Unspecified type: Changes the feedrates in all motion instructions -. 3 3.C: Changes the feedrates only in motion instructions for circular control. 4 Select a program instruction item to be replaced and press the ENTER key. 1 2 3 4 5 6 Select Replace menu JOINT 30 % 1 Registers 5 Motion modify 2 CALL 6 3 I/O 7 4 JMP/LBL 8 SAMPLE3 Insert Delete Copy Find Replace Renumber EDCMD F5 ENTER Modify motion menu 1 Replace speed 2 Replace term 3 Insert option 4 Remove option SAMPLE3 JOINT 30 % 5 6 7 8 The following replacement items are displayed: -. -. PROGRAMMING B--81464EN--3/01 Procedure 5--29 Step Replacing a program instruction item 1 Press the next page key (NEXT) until EDCMD is displayed in the F5 key name field. Modify motion menu 1 Replace speed 2 Replace term 3 Insert option 4 Remove optionENTER SAMPLE3 Select interporate 1 Unspecified type 2 J 3 L 4 C SAMPLE3 JOINT 30% 5 6 7 8 1/10 -. In the screen below the feedrate specified in the motion instruction is changed to another value.Replace term: Changes the positioning type to another value. -. -. -.Remove option: Deletes a supplementary motion instruction. SAMPLE3 JOINT 30 % 1/9 1:J P[1] 100% FINE 2:J P[2] 70% CNT50 3: LBL[1] 4:L P[3] 1000cm/min CNT30 5:L P[4] 500mm/sec FINE : SKIP LBL[2] 6: JMP LBL[1] 7: LBL[2] 8:J P[5] 100% FINE [End] [ INST ] [EDCMD]> 2 Press the F5 (EDCMD) key. 303 .L: Changes the feedrates only in motion instructions for linear control. The changing instruction menu is displayed. Select Replace. Select motion item 1 % 5 2 mm/sec 6 3 cm/min 7 4 inch/min 8 INPUT PNS0001 Speed type menu 1 Speed value 2 R[ ] 3 R[R[ ]] 4 PNS0001 5 6 7 8 F Speed value: The selected statement is changed to an operation statement which specifies a speed with a numeric value. 7 Specify a target speed format. F R[ ]: The selected statement is changed to an operation statement which specifies a speed using a register. F R[ ]: Operation statements that specify a speed with a register are specified. Select motion item 1 % 2 mm/sec 3 cm/min ENTER 4 inch/min Enter speed value: 5 6 7 8 304 . Select interpolate 1 Unspecified type 5 2 J 6 3 L 7 4 C 8 INPUT PNS0001 Speed type menu 1 All type 2 Speed value 3 R[ ] 4 R[R[ ]] PNS0001 JOINT 10 % 5 6 7 8 F ALL type: No speed type is specified. PROGRAMMING B--81464EN--3/01 6 Specify the target type of the operation instruction. F R[R[ ]]: Operation statements that indirectly specify a speed value with registers are specified.5. F Speed value: Operation statements that specify a speed with a numeric value are specified. F R[R[ ]]: The selected statement is changed to an operation statement which indirectly specifies a speed by using registers. 9 Specify the motion type of the motion instruction for which the feedrate is to be changed. Speed type menu 1 All type 2 Speed value 3 R[ ] 4 R[R[ ]] PNS0001 5 6 7 8 Select motion item 1 % 2 mm/sec 3 cm/min 4 inch/min PNS0001 JOINT 10 % JOINT 10 % 5 deg/sec 6 sec 7 8 8 Specify a target speed unit. Select interporate 1 Unspecified type 5 2 J 6 3 L 7 ENTER8 4 C Select motion item 1 % 2 mm/sec 3 cm/min 4 inch/min SAMPLE3 JOINT 30% 5 deg/sec 6 sec 7 8 1/10 10 Specify the unit of the feedrate to be changed. -.F2 (ALL): Replaces all the items in the current line and subsequent lines.F3 (YES): Replaces the item at the cursor and finds the next item. PROGRAMMING B--81464EN--3/01 11 Enter a desired feedrate. If an attempt for such replacement is made. press the F5 (EXIT) key. Modify OK ? ALL YES SAMPLE3 JOINT 30 % 1/9 1:J P[1] 50% FINE 2:J P[2] 50% CNT50 3: LBL[1] 4:L P[3] 1000cm/min CNT30 5:L P[4] 500mm/sec FINE : SKIP LBL[2] 6: JMP LBL[1] 7: LBL[2] 8:J P[5] 50% FINE [End] F2 [ INST ] [EDCMD]> 13 To terminate item replacement.5. 12 Select a replacement method. 305 . -. YES NEXT EXIT F5 CAUTION The replacement instruction allows no move instruction to be replaced with the track/offset instruction or touch sensor instruction. then insert the touch sensor instruction or track instruction. -. To replace a move instruction. a memory write alarm is issued. Enter speed value:50 SAMPLE3 5 0 ENTER JOINT 30 % 1/10 1:J P[1] 100% FINE 2:J P[2] 70% CNT50 Modify OK ? ALL YES NEXT EXIT The kinds of replacing items are displayed. first delete the move instruction.F4 (NEXT): Finds the next item. 1 2 3 4 5 6 Insert Delete Copy Find Replace Renumber Renumber OK? YES NO EDCMD F5 ENTER 4 To renumber the program lines. PROGRAMMING Procedure 5--30 Step B--81464EN--3/01 Renumbering the position number 1 Press the next page key (NEXT). then press the F5 (EDCMD) key.5. 3 Select Renumber. EDCMD. The changing instruction menu is displayed. To cancel renumbering the program lines. YES NO SAMPLE1 F4 1: J P[1] 2: J P[2] 3: L P[3] 4: L P[4] 5: J P[5] 6: L P[4] 7: J P[1] [INST] JOINT 30% 1/8 100% FINE 70% CNT50 1000cm/min CNT30 500mm/sec FINE 100% FINE 500mm/sec FINE 100% FINE [EDCMD] 306 . press the F4 (YES) key. press the F5 (NO) key. SAMPLE1 1: J 2: J 3: L 4: L 5: J 6: L 5: J [End] JOINT 30% 1/8 P[8] P[6] P[3] P[5] P[1] P[5] P[8] 100% FINE 70% CNT50 1000cm/min CNT30 500mm/sec FINE 100% FINE 500mm/sec FINE 100% FINE [INST] [EDCMD] 2 Press F5. PROGRAMMING B--81464EN--3/01 Procedure 5--31 Step Comment display switching 1 Press F! to display F5 (EDCMD).5.R[4]] 6: PL[1]=PL[R[3]] 7: J PR[1] 100% FINE 8: J P[1] 100% FINE 9: LBL[1] [End] [INST] [EDCMD]> 2 Press F5 (EDCMD) to display the edit instruction menu.R[4]] 6: PL[1:Comment]=PL[R[3]] 7: J PR[1:Comment] 100% FINE 8: J P[1:Comment] 100% FINE 9: LBL[1:Comment] [End] [INST] [EDCMD]> 4 To disable comment display. PNS0001 JOINT 10% 1/9 1: R[1]=DI[2] 2: DO[3]=ON 3: R[R[1]]=DI[R[2]] 4: PR[1]=P[3] 5: PR[1. select Comment of the function key F5 (EDCMD) again.2]=PR[R[3].2:Comment]=PR[R[3]. PNS0001 JOINT 10% 1/9 1: R[1]=DI[2] 2: DO[3]=ON 1 3: R[R[1]]=DI[R[2]] 2 4: PR[1]=P[3] 3 5: PR[1. 307 .R[4]] 4 6: PL[1]=PL[R[3]] 5 7: J PR[1] 100% FINE 6 8: J P[1] 100% FINE 7 9: LBL[1] 8 [End] [INST] Insert Delete Copy Find Replace Remember Comment Undo EDCMD 3 Select Item 7 Comment.2]=PR[R[3]. PNS0001 JOINT 10% 1/9 1: R[1:Comment]=DI[2:Comment] 2: DO[3:Comment]=ON 3: R[R[1]]=DI[R[2]] 4: PR[1:Comment]=P[3:Comment] 5: PR[1. PNS0001 JOINT 10% 1/9 1: R[1]=DI[2] 2: DO[3]=ON 1 3: R[R[1]]=DI[R[2]] 2 4: PR[1]=P[3] 3 5: PR[1.2]=PR[R[3]. PROGRAMMING Procedure 5--32 Step B--81464EN--3/01 Undoing edit operations 1 Press F! to display F5 (EDCMD). PNS0001 JOINT 10% 1/9 1: R[1]=DI[2] 2: DO[3]=ON 3: R[R[1]]=DI[R[2]] 4: PR[1]=P[3] 5: PR[1.2]=PR[R[3].2]=PR[R[3]. PNS0001 1: 2: 3: 4: 5: 6: 7: 8: 9: JOINT 10% 1/9 R[1]=DI[2] DO[3]=ON R[R[1]]=DI[R[2]] PR[1]=P[3] PR[1.5.R[4]] 4 6: PL[1]=PL[R[3]] 5 7: J PR[1] 100% FINE 6 8: J P[1] 100% FINE 7 9: LBL[1] 8 [End] [INST] Insert Delete Copy Find Replace Remember Comment Undo EDCMD 3 Select Item 8 Undo.R[4]] 6: PL[1]=PL[R[3]] 7: J PR[1] 100% FINE 8: J P[1] 100% FINE 9: LBL[1] [End] [INST] [EDCMD]> 2 Press F5 (EDCMD) to display the edit instruction menu.R[4]] PL[1]=PL[R[3]] J PR[1] 100% FINE J P[1] 100% FINE LBL[1] Undo? (Edit) YES 308 NO . the undo function cannot be performed: a) Online position modification b) Fine adjustment of welding speed 309 . the undo operation cannot be cancelled.R[4]] 6: PL[1]=PL[R[3]] 7: J PR[1] 100% FINE 8: J P[1] 100% FINE 9: LBL[1] [End] [INST] [EDCMD]> 5 When an additional undo operation is performed in succession.2]=PR[R[3]. To cancel an undo operation. PROGRAMMING B--81464EN--3/01 4 To perform an undo operation. the undo operation is stopped. NOTE If an edit operation is performed after an undo operation. the undo function cannot be performed: a) Laser instruction b) Palletizing instruction c) Spot welding instruction d) Line tracking instruction If any of the following functions is executed after an edit operation. Before executing a program after an undo operation. select F5 (NO). PNS0001 JOINT 10% 1/9 1: R[1]=DI[2] 2: DO[3]=ON 3: R[R[1]]=DI[R[2]] 4: PR[1]=P[3] 5: PR[1. the edit operation is undone. The following edit operations cannot be undone: a) Teaching and editing of palletizing instructions b) Deletion of lines including palletizing instructions c) Copying of lines including palletizing instructions (reading) d) Copying of lines including palletizing instructions (insertion) e) Replacement in a program including palletizing instructions f) Number reassignment in a program including palletizing instructions If the power is turned off while an undo operation is being performed. CAUTION An undo operation automatically rewrites the program. so that the results may not be those expected by the operator. the first undo operation performed can be cancelled. If any of the following instructions is performed after an edit operation. F F F F F F F F This function can undo the following operations: a) Instruction modifications b) Line insertion c) Line deletion d) Copying of program statements (reading) e) Copying of program statements (insertion) f) Program instruction replacement g) Reassignment of position numbers An undo operation cancels all edit operations performed on the line where the cursor is currently placed. select F4 (YES). carefully check the program. and restores the state present before those edit operations were performed. The undo function is disabled when any of the following operations is performed: a) Power--off b) Selection of another program Undo operation cannot be performed in any of the following states: a) The teach pendant is disabled. b) The program is write--protected. Note that in this case. When F4 (YES) is selected. c) Program memory is insufficient. the program may become unusable. this means the state present before the first undo operation is performed is restored.5. 5.5 Program Operation This section describes the following program operations: F Changing program information F Deleting a program F Copying a program F Reading a program F Storing a program F Printing a program F Displaying the attribute of a program 5. F Interruption disable: Causes a program that has no motion group not to be paused by an alarm whose severity is SERVO or lower. Even if the size of free memory is not 0.1 ).The number of lines in a program and its memory size are displayed. F Group mask: Specifies a motion group to be controlled in a program. Display the following items on the program information screen: F Creation Date: F Modification Date: F Name of the file to be copied F Positions: FALSE/TRUE F Memory area size of program Deleting a program An unnecessary program can be deleted. F Protection -. PROGRAMMING B--81464EN--3/01 5.The settings of “Modification Date:” in header information is displayed. CAUTION All of the free memory size displayed on the directory screen might not be usable to store a program.The settings of “Copy Source:” in header information is displayed. You can also set so a program has no motion group. Copying a program A program with another name with the same content can be reproduced. for example. F Write protection: Prevents the modification of a program. 310 . F Subtype: The subtype of a program to be changed.5.The settings of “Write protect:” in header information is displayed F Last Modified -. the emergency stop. The following items can be set: F Program name: Name of program to be changed. Display of a program attribute The following program header informations can be displayed on the program selection screen: F Comment -.1 Changing program information The program header information is changed with a program detail screen (see Section 4. F Size F Copy Source -. and the hold.The comment in header information is displayed. Setting without the motion group motion group can be done. F Comments: The comments in the program to be changed. -. you will not be able to create a program. If the motion instruction is taught in the program.*. Alternatively. 1 Press the MENUS key to display the screen menu. 5 After specifying program information. you can not set the 3 “Group Mask:” of this program. 2 Select SELECT. press the F1 (END) key.*. The program information screen is displayed.1).*] 4 Write protect: [OFF ] 5 Ignore pause: [OFF ] END PREV NEXT 4 Specify each item (see Section 4. press the SELECT key to display the program selection screen. Select 1 2 3 4 5 SAMPLE1 SAMPLE2 SAMPLE3 PROG001 PROG002 JOINT 30% 61092 bytes free 3/5 JB[SAMPLE PROGRAM1 ] JB[SAMPLE PROGRAM2 ] JB[SAMPLE PROGRAM3 ] PR[PROGRAM001 ] PR[PROGRAM002 ] [TYPE] CREATE DELETE COPY DETAIL LOAD MONITOR [ATTR] > SAVE PRINT > 3 Press the NEXT key “>” to display the next page. The program selection screen is displayed. END PREV NEXT F1 311 . then press the F2 (DETAIL) key. COPY DETAIL LOAD F2 Program detail JOINT 30 % 1/6 Creation Date: 10-MAR-1994 Modification Date: 11-MAR-1994 Copy Source: [****************] Positions: FALSE Size: 312 Byte 1 Program name: [SAMPLE3 ] 2 Sub Type: [None ] 3 Comment: [SAMPLE PROGRAM 3] Group Mask: [1.5.*. PROGRAMMING B--81464EN--3/01 Procedure 5--33 Condition Step Changing program information H The teach pendant must be enabled. instead of executing steps 1 and 2 above. the program cannot be restored.5. The program selection screen can also be displayed by pressing the SELECT key. then press the F3 (DELETE) key. The program selection screen is displayed. be careful not to lose precious data. Select 1 2 3 4 5 SAMPLE1 SAMPLE2 SAMPLE3 PROG001 PROG002 [TYPE] JOINT 30% 61092 bytes free 3/5 JB[SAMPLE PROGRAM1 ] JB[SAMPLE PROGRAM2 ] JB[SAMPLE PROGRAM3 ] PR[PROGRAM001 ] PR[PROGRAM002 ] CREATE DELETE MONITOR [ATTR] > 3 Move the cursor to the name of a program to be deleted. 312 . 5 The specified program is deleted. When deleting a program. [TYPE] CREATE DELETE Select 3 SAMPLE3 F3 JOINT 30% 61092 bytes free 5/5 JB[SAMPLE PROGRAM3 ] Delete ? YES NO 4 Press the F4 (YES) key. YES NO Select 1 2 3 4 F4 SAMPLE1 SAMPLE2 PROG001 PROG002 [TYPE] JOINT 30% 61276 bytes free 2/4 JB[SAMPLE PROGRAM1 ] JB[SAMPLE PROGRAM2 ] PR[PROGRAM001 ] PR[PROGRAM002 ] CREATE DELETE MONITOR [ATTR] > CAUTION After a program is deleted. PROGRAMMING Procedure 5--34 Step B--81464EN--3/01 Deleting a program 1 Press the MENUS key to display the screen menu. 2 Select SELECT. YES F4 NO Select 1 2 3 4 5 6 SAMPLE1 SAMPLE2 SAMPLE3 PROG001 PROG002 PRG1 [TYPE] JOINT 30% 48956 bytes free 6/6 JB[SAMPLE PROGRAM1 ] JB[SAMPLE PROGRAM2 ] JB[SAMPLE PROGRAM3 ] PR[PROGRAM001 ] PR[PROGRAM002 ] JB[ ] CREATE DELETE 313 MONITOR [ATTR] > .End -- YES NO Copy OK ? 5 Press the F4 (YES) key. then press the ENTER key. 3 Press F1 (copy) on the next page and then a program copy screen is displyed. Motion Modify 1 Words 2 Upper Case 3 Lower Case 4 Options Select ---Insert--- ---Copy Teach Pendant Program--From: [SAMPLE3 ] TO: [ ] Press ENTER for next item PRG MAIN SUB TEST 4 Enter the name of the program to be copied. PROGRAM1.5. 2 Select SELECT. --- Copy Teach Pendant Program --- From : [SAMPLE3 ] To : [PRG1 ] -. The program selection screen is displayed. 6 The desired program is copied to the specified program. PROGRAMMING B--81464EN--3/01 Procedure 5--35 Step Copying a program 1 Press the MENUS key to display the screen menu. 4 Select Size. Program name Comment 1 SAMPLE1 [SAMPLE PROGRAM 1] 2 SAMPLE2 [SAMPLE PROGRAM 2] 3 PROG001 [PROGRAM001 ] 4 PROG002 [PROGRAM002 ] [ TYPE ] CREATE DELETE MONITOR [ATTR ]> COPY SAVE DETAIL LOAD PRINT > 3 Press F5.5. 5 The number of lines and size of a program is displayed at the comment field. PROGRAMMING Procedure 5--36 Step B--81464EN--3/01 Displaying the Attribute of the Program 1 Press the MENUS key. 314 . “1 SELECT” in the next page is displayed. Program Selection Screen Select JOINT 30 % 61276 bytes free 1/4 No. select the desired item in the procedure 4. Select 1 2 3 4 5 JOINT 30 % 61276 bytes free 1/2 No.next ----”. You can select a program selection screen by pressing the SELECT key instead of steps 1 to 2 above. 2 Select “0 ---.[ATTR]. Program name Size 1 SAMPLE1 [ 10/ 1000] 2 SAMPLE2 [ 10/ 1000] 3 PROG001 [ 10/ 1000] 4 PROG002 [ 10/ 1000] Comment Protection Last Modified Size Copy Source ATTR [ TYPE ] CREATE DELETE F5 MONITOR [ATTR ]> ENTER 6 When you want to display the other item. The screen menu is displayed. <<BACKGROUND>> for indicating that background editing is in progress AAA BBB 1: 2: RUNNING JOINT 10% <<BACKGROUND>> J P[1] 100% FINE [INST] [EDCMD]> a: Execution status of the program selected (status line) b: Program name selected in the background c: Indication that background editing state is set F No modifications to a program being edited in the background are reflected in the original program until the background editing is completed. F The program started during automatic operation or executed by subprogram calling is the original program selected in the background. To ensure operator safety.Program name selected in the background -. The special program name is “--BCKEDT--”. However. This function is optional. then select End_edit from the displayed menu. WARNING This function allow editing when the teach pendant is disabled. F Multiple programs can not be edited in the background at the same time. PROGRAMMING B--81464EN--3/01 5. another program can be modified and checked without stopping robot operation. and the edit screen is displayed.5. the results of background editing are preserved. the special program name for background editing can be selected from the program directory screen. F Background editing is started by selecting a special program name for background editing when the teach pendant is disabled. the user can choose whether to reflect the results of background editing in the original program or discard the results of background editing. Background editing can be restarted by reselecting the special program name (“--BCKEDT--”) for background editing on the program directory screen. thus increasing productivity and maintenance efficiency. The background editing of a program must be terminated by End_edit operation before another program can be edited in the background. Outline of this function This function is outlined below. the special program for background editing cannot be externally selected and executed. F During background editing. edit operation performed by an operator near the robot is very dangerous. 315 . the user can switch between the display of the program selected in the foreground (not background) and the display of the preserved results of background editing. F When the teach pendant is disabled. press the F5 [EDCMD] key on the edit screen to display a menu. be sure to perform edit operation outside the robot movement range. F When the teach pendant is enabled. the background editing can be continued without being interrupted. F Even if a program is externally selected with the external program selection function (PNS) during background editing. F When an external start signal is applied during background editing. when the teach pendant is disabled. F If another program is selected without performing End_edit operation during background editing. F To terminate background editing. the background editing function allows another program to be edited in the background. F When the teach pendant is disabled. the program selected in the foreground is started. With this function. Here. the following data is displayed on the top of the edit screen of the teach pendant: -. and can be executed with the teach pendant.6 Background Editing While the robot is being operated. background editing is started.5. DO NOT forget to declare End-edit in [EDCMD] OK ENTER key AAA BBB <<BACKGROUND>> 1:J P[1] 100% FINE 2: 316 RUNNING JOINT 10% . AAA Select 1 -BCKEDT2 AAA 3 BBB RUNNING JOINT 10% 1/3 [ [ [ “--BCKEDT--” ] ] ] Is any program being edited in the background? NO AAA Select YES RUNNING JOINT 10% 1/2 PREV key 1 AAA 2 BBB [ [ ] ] Select a program for the BACKGROUND EDIT ENTER key When you finish editing. the program selected in the foreground is not modified. Even if no program is selected in the foreground. PROGRAMMING B--81464EN--3/01 The operation flows of the following cases are explained using figures below: F When background editing is started with the teach pendant disabled F When background editing is started with the teach pendant enabled F When a program is externally selected during background editing F When a start signal is externally applied during background editing F When the teach pendant is enabled during background editing F When the teach pendant is disabled during background editing F When the screen is switched using the edit key on the teach pendant F When background editing is terminated with the teach pendant disabled F When background editing is terminated with the teach pendant enabled When background editing is started with the teach pendant disabled When a program is selected in background editing. The state of background editing remains unchanged. the status line displays the state of the selected program. the program is selected in the foreground. AAA Select RUNNING JOINT 10% “--BCKEDT--” 1 -BCKEDT2 AAA 3 BBB [ [ [ ] ] ] Is any program being edited in the background? NO AAA Select YES PAUSED JOINT 10% PREV key 1 AAA 2 BBB [ [ ] ] Select a program for the BACKGROUND EDIT ENTER key When you finish editing DO NOT forget to declare End-edit in [EDCMD] OK ENTER key -BCKEDTBBB JOINT 10% <<BACKGROUND>> 1:J P[1] 100% FINE 2: When a program is externally selected during background editing If a program is externally selected during background editing (with the teach pendant disabled). PROGRAMMING B--81464EN--3/01 When background editing is started with the teach pendant enabled If the special program for background editing is selected when the teach pendant is enabled.5. PNS0001 BBB 1: 2: ABORTED JOINT 10% <<BACKGROUND>> J P[1] 100% FINE 317 . and its test execution is enabled. Teach pendant : disable Teach pendant : enable PNS0001 BBB 1: 2: RUNNING JOINT 10% PNS0001 PNS0001 <<BACKGROUND>> J P[1] 100% FINE PAUSED JOINT 10% 1: 2: Disable the teach pendant. If no program is selected in the foreground. (The status line disappears. To return to background editing.) So. and the status line displays RUNNING. then press the edit key or reselect “--BCKEDT--” from the program directory screen. PNS0001 BBB 1: 2: RUNNING JOINT 10% <<BACKGROUND>> J P[1] 100% FINE When the teach pendant is enabled during background editing If a program is selected in the foreground. Press the EDIT key on the program edit screen.5. PROGRAMMING B--81464EN--3/01 When a start signal is externally applied during background editing If a start signal is externally applied during background editing (with the teach pendant disabled). then a. The state of background editing remains unchanged. for example. the program selected in the foreground is started. the foreground enters the program nonselection state when the teach pendant is disabled. The background editing can be continued without modification. The status line displays the state of “--BCKEDT--”. b. and the program selected in the foreground is displayed on the screen. background editing and the program being executed are suspended. disable the teach pendant. Select “--BCKEDT--” on the program directory screen. Teach pendant : disable BBB Teach pendant : enable -BCKEDTBBB JOINT 10% JOINT 10% <<BACKGROUND>> <<BACKGROUND>> 1: 2: 1: 2: When the teach pendant is disabled during background editing If “--BCKEDT--” is selected in the foreground. the point of alarm generation can be immediately located and corrected by enabling the teach pendant according to this function. the program being edited in the background cannot be executed externally. Teach pendant : enable BBB Teach pendant : disable -BCKEDTBBB JOINT 10% <<BACKGROUND>> 1: 2: 1: 2: 318 <<BACKGROUND>> J P[1] 100% FINE JOINT 10% . the special program (“--BCKEDT--”) is selected to allow the program being edited in the background to be executed. If an alarm is issued from the program being executed. as shown below. discarding the modifications. pressing the EDIT key switches screen display between the display of the program selected in the foreground and the display of suspended background editing. If no program is selected for background editing. the error Not editing background program occurs. the program directory screen appears. AAA BBB 1: 2: PAUSED JOINT 10% <<BACKGROUND>> 1 Insert : 7 End-edit Select 7 End--edit EDCMD Do you want the modifications which have been edited in the background to be implemented? YES NO Do you want to discard the modifications? YES What is the execution state of the program? Executing/ pausing NO Ends the background editing. and the program edit screen is displayed. the screen display switches between foreground display and background display each time the edit key is pressed. This error occurs only when the background editing option is selected.5. pressing the edit key does not switch screen display. If there is a program in the foreground and background as well. When background editing is terminated with the teach pendant disabled When background editing is terminated. the error Program is not selected occurs. pressing the edit key does not switch screen display. The program is not modified. At this time. Teach pendant : disable Teach pendant : enable PNS0001 BBB RUNNING JOINT 10% PNS0001 BBB <<BACKGROUND>> EDIT key 1: 2: RUNNING JOINT 10% 1: 2: If no program is selected in the foreground. PROGRAMMING B--81464EN--3/01 When the screen is switched using the edit key on the teach pendant If the teach pendant is disabled. You could not implement the modifications because the program was executing or pausing AAA Select 1 -BCKEDT2 AAA 3 BBB OK ENTER key 319 PAUSED JOINT 10% [ [ [ ] ] ] . END Ends the editing with the modifications reflected in the program. the user can specify whether to reflect the results of background editing in the original program. discarding the modifications. The program edited in the background is selected in the foreground. The program is not modified. PROGRAMMING B--81464EN--3/01 When background editing is terminated with the teach pendant enabled When background editing is terminated. END Ends the editing with the modifications reflected in the program. the program directory screen appears. and the status line displays the state of the program. -BCKEDTBBB JOINT 10% <<BACKGROUND>> 1: 2: 1 Insert : 7 End-edit EDCMD Do you want the modifications which have been edited in the background to be implemented? YES NO Do you want to discard the modifications? YES What is the execution state of the program? NO Ends the background editing. You could not implement the modifications because the program was executing or pausing BBB Select 1 -BCKEDT2 AAA 3 BBB OK ENTER key Operation flow The operation flow of this function is shown on the next page. 320 ABORTED JOINT 10% [ [ [ ] ] ] .5. AAA PAUSED BBB <<BACKGROUND>> 1: 2: 1 Insert 2 Delete : 7 End-edit EDCMD Select 7 End--edit Do you want the madifications which have been edited in the background to be implemented? YES NO YES NO What is the state of the program? Executing/ pausing END (End--edit) You could not implement the modifications because the program was executing or pausing Do you want to discard the modifications? (Discard--edit) OK YES NO NO END 1 AAA Select 1: 2: 3: PAUSED END 2 BBB Select END 3 ABORTED a Select 1: 2: 3: 1: 2: 3: 321 YES .5. Is any program being edited in the background? Not select Select YES NO AAA Select 1 AAA 2 BBB PAUSED [ [ When you finish editing. DO NOT forget to declare End-edit in [EDCMD] ] ] OK Select a program for the BACKGROUND EDIT Enable TP ? no (disable) yes (enable) Enable TP ? yes (enable) BBB <<BACKGROUND>> To enable TP BBB <<BACKGROUND>> 1: 2: 3: 1: 2: 3: To disable TP no (disable) AAA PAUSED BBB <<BACKGROUND>> 1: 2: 3: AAA AAA Edit key AAA AAA To enable TP PAUSED 1: 2: 3: To disable TP 1: 2: 3: END 1 PAUSED END 2 END 3 End background editing. PROGRAMMING B--81464EN--3/01 AAA Select PAUSED Select 1 -BCKEDT2 AAA 3 BBB [ [ [ 1 -BCKEDT2 AAA 3 BBB ] ] ] [ [ [ ] ] ] Select Not select Select background editing. Four cases can be considered for the timing relationship between background editing termination operation and program execution. the following error and its cause are displayed in the alarm display lines (line 2 and 3) on the teach pendant: TPIF--054 Could not end editing MEMO--126 No more available memory F When the power to the robot is turned off then back on while background editing is being terminated (while the original program is being updated) To prevent the updating of the original program from being stopped halfway. PROGRAMMING B--81464EN--3/01 Notes When using this function. If the power is turned off then back on when editing is terminated. and the robot stops: SYST--011 Failed to run task MEMO--004 Specified program is in use -. then perform another editing termination operation. the original program is backed up.Case 3:An attempt is made to start the program while the results of background editing are being reflected One of the following errors occurs. One of the following errors occurs. depending on the timing of the execution. the execution of the selected main program is started. then perform another editing termination operation. When terminating background editing. the following error is displayed: TPIF--055 Could not recover original program In this case.Case 1:The program is being executed when background editing is terminated. the selected program is internally copied to the special program for background editing. -. -.Case 2:The program is started exactly when the results of background editing have been reflected In this case. and a program is re--created to reflect the results of background editing. If program start operation is initiated here. note the points below. So. the status line continues to display the subprogram name. carefully check that the original program is not executed. F When a program is selected for background editing. the robot may stop. In this case. memory larger than the size [(original program) + (increment produced by background editing)] needs to be allocated beforehand. and the main program is selected in the foreground. one of the following errors occurs: TPIF--054 Could not end editing TPIF--008 Memory protect violation F Background editing can be terminated even when the special program for background editing is write--protected. if a subprogram being executed is terminated forcibly. the message “You could not implement the modification because the program was executing or pausing” is displayed in the central part of the teach pendant. editing cannot be terminated. restore the original program from the backup program when the power is turned on. and the status line displays the execution state of the main program.Case 4:When the original program is deleted. F The status line displays the execution state of a selected program. check the results of background editing. So. So. F If background editing cannot be terminated for a cause such as insufficient memory. check the state of the original program before starting continuous operation. an attempt is made to start the program. F When the background editing of a program is terminated. In this case. check the results of background editing. If the results of background editing need to be reflected. -. F If the original program is executed when background editing is terminated. the program reflecting the results of background editing is executed. and the robot stops: SYST--011 Failed to run task MEMO--027 Specified line does not exist F When the original program is write--protected (Write--protect is ON). memory larger than the size of a selected program needs to be allocated beforehand. and the background program is reflected in the original program.5. If an attempt to restore the original program fails. 322 . and the results of background editing cannot be reflected. the special program for background editing (“--BCKEDT--”) cannot be read from the floppy disk. If the teach pendant is disabled when a subprogram is executed from the special program. a program can be created/deleted. However. when a program is created. no selection is made in the foreground. and no direct transition to the edit screen is made: TPIF--104 Teach Pendant is disabled F If the teach pendant is disabled after the special program for background editing is selected and executed with the teach pendant enabled. the following error occurs. PROGRAMMING B--81464EN--3/01 If the disabled edit key or teach pendant is enabled on the background screen in the state above. 323 . terminate background editing.5. the following message appears: This program is being edited Before reading the special program from the floppy disk. the status line does not display the subprogram but the main program selected in the foreground. In this case. F When there is a suspended program in the background. F When the teach pendant is disabled. and the program directory screen appears. the execution is terminated. the end state is set. Select one of the two keys. the function teaches such a position according to axial type based on the user’s choice. F YES: Deletes position data according to axial type. the top two lines of the teach pendant display the following warning message: TPIF--060 Can’t record on cartesian (G:1) MOTN--023 In singularity i: Move group number at a singular point At the same time. Function To enable this function. set the system variable $MNSING_CHK to TRUE.3. (See Section 4. Notes This function is not applicable to the teaching of typical palletizing loading points and passing points. F NO: Does not perform position teaching/modification.2. PROGRAMMING B--81464EN--3/01 5. the function keys YES and NO are displayed.5. Then. position compensation instructions. If a check finds that the taught position is a singularity point. the robot may move with an attitude different from the taught attitude when the move statement is executed.7 Singularity Point Check Function If a move statement is taught. the singularity point check function checks to see if a taught position is a singularity point when the position is taught. this function checks if the taught position is a singularity point. the following prompt message is displayed at the lower part of the teach pendant: Record current position on joint At this time. If multiple groups are at singularity points.) To prevent such trouble. 324 . or a position modification is made based on rectangular coordinate position data when the robot is positioned near a singularity point. If a move statement is taught with SHIFT + POINT key or a position modification is made with SHIFT + TOUCH UP key when the robot is at a singularity point. a warning message and prompt message are displayed for each group. F The UF (user coordinate system number) of position data is 0. The position data of a program that has multiple move groups is checked for singularity points in ascending order of group numbers. F The registered position type is rectangular type. and tool compensation instructions. This check is made when the following conditions are satisfied: F The additional instructions do no include incremental instructions. 1 Program Halt and Recovery 6.2 Executing a Program 6.7 Online Position Modification 6.6 Automatic Operation 6. j Contents of this chapter 6.6. EXECUTING A PROGRAM B--81464EN--3/01 6.8 Welding Tuning 325 .5 Manually Operating Welding Equipment 6. EXECUTING A PROGRAM This chapter describes testing a program and automatic operation.3 Testing 6.4 Manual I/O Control 6. F An intentional stop of a running program by the operator. F Select 1 ABORT(ALL) from the miscellaneous menu.1 Program Halt and Recovery Program halt refers to stopping a running program. A program halt is caused by: F An alarm occurring accidentally while the program is running. The subprogram called with a program call instruction returns control to the main program. SAMPLE1 SAMPLE1 LINE 7 PAUSED JOINT 30% To start from another line in the same program or another program. SAMPLE1 SAMPLE1 F LINE 7 ABORTED JOINT 30% Halt (temporary stop): The execution of a program is stopped temporarily. EXECUTING A PROGRAM B--81464EN--3/01 6. information on return of control to the main program is lost. Program halt states are classified into two types: F Forced termination (end): The execution of a program is terminated. F Slow stop : The robot is slowly decelerated until it stops. The temporarily stopped program can be restarted. PAUSED is displayed on the screen of the teach pendant. Peripheral device I/O *CSTOPI input. Peripheral device I/O *IMSTP input F Press the HOLD button on the teach pendant or use the input signal *HOLD of the peripheral I/O: These inputs halt the execution of the program. The operating robot stops in one of the following ways: F Fast stop : The robot is quickly decelerated until it stops. ABORTED is displayed on the screen of the teach pendant. If the main program is terminated while a subprogram is being executed. This method aborts the program. There are two methods to halt a program intentionally: F Press the emergency stop button on the teach pendant or the machine operator’s panel or release the deadman switch.6. 326 . abort a program to release the paused state. This halts the running program. RESET 327 . correct the program. The emergency stop alarm message is displayed on the screen of the teach pendant. ON EMEGENCY STOP Emergency stop button OFF PORT SRVO-002 Teach Pendant E-Stop SAMPLE1 LINE 2 SAMPLE1 ABORTED JOINT 30% Recovery procedure 2 Eliminate the cause of the emergency stop. The alarm message then disappears from the screen of the teach pendant. The FAULT lamp lights. press the emergency stop button on the machine operator’s panel/box or teach pendant. Procedure 6--1 Emergency stop and recovery Emergency stop procedure Step 1 Press the emergency stop button on the teach pendant or the machine operator’s panel/box. and the FAULT lamp goes off. The emergency stop button is locked to keep it pressed (on state). For example. an emergency stop alarm occurs. Pressing the emergency stop button causes the following: F The robot stops operating immediately and the program is halted.6.1. EXECUTING A PROGRAM B--81464EN--3/01 6. 4 Press the RESET key on the teach pendant (or operator’s panel/box). and PAUSED is displayed on the teach pendant. 3 Rotate the emergency stop button clockwise to unlock the button. F An alarm occurs and the power to the servo system is turned off.1 Halt by an emergency stop and recovery To stop the robot immediately. When the emergency stop button is pressed. 1 ABORT (ALL) 2 Disable FWD/BWD FCTN ENTER 328 . (See Section 3. press the function key to display the function menu.1. select SETUP General on the general item setting screen. The halt state is released. The alarm message is only displayed when the halt alarm is enabled. To make this setting.) Procedure 6--2 Hold and recovery Hold procedure Step 1 Press the HOLD key on the teach pendant. restart the program. HOLD Recovery procedure 2 To release the halt state. Procedure 6--3 Terminating (aborting) a program forcibly Release paused state Step 1 To release the paused state and abort a program. F A setting can be made to cause an alarm to turn off the servo power.6. press the HOLD key on the teach pendant. Pressing the HOLD key causes the following: F The robot decelerates slowly until it stops (the program is halted). 2 Select ABORT(ALL). and PAUSED is displayed on the teach pendant.2 Halt by a hold and recovery To decelerate the robot slowly until it stops. EXECUTING A PROGRAM B--81464EN--3/01 6. The running program is halted.22. 7) Jump label is fail MEMO-027 Spedified line does not exist Alarm JOINT 30 % 1/7 1 INTP-224 (SAMPLE1. Alarm detail code MEMO--027 INTP-224 (SAMPLE1. 7) Jump label is fail MEMO-027 Spedified line does not exist 30-MAY-44 07:15 STOP. Display and Indication of an Alarm FAULT HOLD STEP BUSY Alarm code INTP--224 ID No.L 00000110 Alarm 1/7 1 INTP-224 (SAMPLE1. Displaying an alarm The operator can check whether an alarm has occurred by watching the FAULT lamps on the teach pendant and the first line and second line on the screen of the operator’s panel.6. it is indicated on the teach pendant. 7) Jump label is 2 SRVO-002 Teach pendant E-stop Alarm history To display the alarm history.1) Figure 6--1. 7) Jump label is fail INTP-224 (SAMPLE1. The cause and corrective action of an alarm can be known by an alarm code.(See APPENDIX C. When an alarm is generated. EXECUTING A PROGRAM B--81464EN--3/01 6.(See APPENDIX C. The kind of a alarm is recognized by an alarm code.1. select an alarm history screen [4 ALARM].3 Halt caused by an alarm An alarm is issued when a failure is detected or when the emergency stop signal or another alarm signal is input from a peripheral device while the operator teaches or plays back a program. “Alarm codes”) 3 MANUAL FCTNS 4 ALARM 5 I/O MENUS INTP-224 (SAMPLE1. 7) Jump label is 2 SRVO-002 Teach pendant E-stop 3 R E S E T 4 SRVO-027 Robot not mastered(Group:1) 5 SYST-026 System normal power up [ TYPE ] CLEAR HELP NOTE The WARN alarm history is not recorded when system variable $ER_NOHIS = 1. and processing such as robot operation and program execution is stopped to ensure safety. 329 .1. $NOALMENBLE to 1 (enabled). press F5.6. F Alarm detail code: Identifies an alarm detail.$NOALM_NUM. The alarm indicated in the first and second lines of the teach pendant disappears.) F Alarm severity: Indicates the severity of an alarm. press the RESET key to reset the alarm. 7) Jump label is fail MEMO-027 Spedified line does not exist 30-MAY-44 07:15 STOP. To display the alarm detail information. HELP in the alarm history screen [4 ALARM].$ER_CODE1 to $ER_NO_ALM.22). F Generation date: The generation date of the alarm is indicated. it is turned on. Specify the fault alarm function in [6 SETUP General] on the general item setting screen (see Section 3. 330 . Figure 6--2. Resetting an alarm After eliminating the cause of an alarm. EXECUTING A PROGRAM B--81464EN--3/01 Alarm detail information Alarm has the detail information. CLEAR HELP INTP-224 (SAMPLE1. Resetting an alarm usually enables the robot. Halt alarm The halt alarm function issues an alarm and turns off the power to the servo system when the operator presses the HOLD key to halt the robot. F Specify the number of alarms for which output is to be disabled in $ER_NO_ALM. F Specify the codes of the alarms for which output is to be disabled in $ER_NO_ALM.$ER_CODE10. (It is not supported currently. ( See Alarm code) 11 002 (Meaning: SERVO--002 alarm) Alarm ID Alarm No. F Set $ER_NO_ALM. When the servo power is turned off.L 00000110 Alarm F5 1 Alarm code 2 Alarm detail code 3 Generation date 4 Alarm severity F Alarm code: Identifies an alarm. RESET Key RESET FAULT FAULT HOLD HOLD STEP STEP Disabling the output of peripheral I/O alarm signals The output of alarm signals (FAULT output) can be disabled. Appropriate action must be taken for the alarm before the program is restarted. turn on the power again. The WARN alarm does not affect the operation of the robot. When an ABORT alarm occurs. Severity WARN PAUSE STOP SERVO ABORT SYSTEM Description of Alarm Severity Description A WARN alarm warns the operator of a comparatively minor or unimportant failure.G ABORT. Appropriate action must be taken for the alarm before the program is restarted. NOTE Some alarms do not observe the above rules. and the operation of the robot is stopped. After taking appropriate action for the alarm.G pause p decelerate the robot slowly y until it stops ABORT. every robot in the system is disabled. Table 6--1. 331 . The most common cause of a SERVO alarm is hardware failure. action should be taken for this alarm. When a PAUSE alarm occurs. Table 6--2. the execution of a program is paused(or aborted) and the power to the servo system is turned off to stop the robot immediately. When a STOP alarm occurs.L ------------------none PAUSE. and whether the servo power is turneds off depends on the alarm severity. the execution of the program is halted. Contact the FANUC Service Division.6. A SYSTEM alarm is issued when a major system failure occurs.L STOP. EXECUTING A PROGRAM B--81464EN--3/01 Alarm severity The alarm severity indicates the severity of an alarm and the cause of the alarm. and the robot is decelerated until it is stopped. When a SYSTEM alarm occurs. Local An alarm is issued only to the program that caused the alarm. the execution of the program is halted. the execution of the program is forcibly terminated. When a SERVO alarm occurs. NONE WARN Alarm Severity Program Robot operation none none Power to servo system PAUSE.L Range Global Global SERVO SERVO2 SYSTEM Local Local STOP. When a WARN alarm occurs. To prevent a possible failure in the future. and the robot is decelerated until it is stopped. Global An alarm is issued to all programs. Whether program execution and robot operation are stopped. no corresponding LED on the teach pendant or the machine operator’s panel lights.G Range abort stop the robot immediately off decelerate the robot slowly until it stops none stop the robot immediately off Global Local Global Global Global Indicates the range in which an alarm is issued when more than one program is executed (multitasking function). The start right can be switched by using the teach pendant enable switch and the remote switch on the operator’s panel.6. PROD_START input. A taught program is played back just like a recorded video tape is played back. Figure 6--4. F Using the peripheral device (RSR 1 to 4 input. Off Remote switch of operator’s panel/box Automatic operation A program is started in a peripheral.2 Executing a Program To execute a program is to play back a taught program.2. How to Set the Right to Start a Program STEP key On On Step operation Continuous operation Teach pendant enable switch Off A program is started on the teach pendant. 332 . Starting a program Teach pendant SHIFT FWD BWD For safety’s sake. any programs that are currently running are temporarily halted. CAUTION When the start right is switched by using the enable switch on the teach pendant or the remote switch on the operator’s panel/box. Cycle operation A program is started on the operator’s panel. and START input) Figure 6--3. a program can be started only in a device having the right to start a program.1 Starting a program A program can be started by: F Using the teach pendant (SHIFT key and FWD or BWD key) F Setting the START button on the operator’s panel/box. 6. EXECUTING A PROGRAM B--81464EN--3/01 6. Table 6--3. 5%. 50%. See Section 4. Screen Display for Feedrate Override Feedrate override JOINT 30% JOINT 30% VFINE FINE Very low speed Low speed 1% ↓ 5% ↓ 50% ↓ 100% In 1% increments In 5% increments A feedrate override of 100% would cause the robot to operate at the maximum speed specified in the current setting. Figure 6--6. the feedrate is decreased in the order: VFINE. as shown in Figure 6--5. “Motion Instructions”. However. FINE. the robot moves at a feedrate override of 1%.6. Feedrate Override When the override key is pressed VFINE → FINE → 1% → 5% → 50% → 100% In 1% In 5% increments increments When the override key is pressed while pressing the SHIFT key(*1) VFINE → FINE → 5% → 50% → 100% *1 Enabled only when $SHFTOV_ENB is 1 To change the feedrate override.100%. The popup window in reverse video automatically disappears a few seconds later or after another key is pressed.2. Table 6--3 shows the change in feedrate override when the override key is pressed. Note that FINE and VFINE are enabled only during a jog feed. The following factors determine the motion of the robot: F Feedrate override: Robot motion speed (operating speed) F Cartesian coordinate system: Work area where the robot moves Feedrate override The feedrate override determines the operating speed.2 Robot motion The robot moves just as it is instructed by the motion instructions in the program. The feedrate override is specified as a percentage of the feedrate specified in the program (programmed speed). Whenever the negative override key is pressed while the SHIFT key is pressed. When FINE or VFINE is specified. Override Keys +% +% --% --% +% SHIFT + OR 333 --% . Pressing the feedrate override key displays a popup window in reverse video in the upper right corner of the screen to call the operator’s attention. EXECUTING A PROGRAM B--81464EN--3/01 6. the feedrate is changed in this way only when system variable $SHFT OV_ENB = 1. Figure 6--5.3. press the override key. The current feedrate override is displayed in the upper right corner of the screen of the teach pendant. and the skill of the operator. the speed override can be increased only up to the upper limit specified in $SCR. This number determines the coordinate system for the work area. The operating speed is obtained from the following expressions: Figure 6--7.F : The coordinate system having the currently selected user coordinate system number is used. the speed override value falls to the $SCR. the program is not executed. EXECUTING A PROGRAM B--81464EN--3/01 A feedrate override must be determined according to the condition of the machining cell.3) is turned off. -. 334 .) Operating speed The operating speed is the speed at which the robot moves while the program is played back. an inexperienced robot operator should use a low feedrate override. -.F : The coordinate system having the currently selected tool coordinate system number is used. (See Section 3. The feedrate override can only be increased up to the maximum value specified in $SCR. Tool coordinate system number (UT) The number of a mechanical interface coordinate system or tool coordinate system is specified as a tool coordinate system number (UT). The system provides a function for allowing the original speed override to be restored when the safety fence is closed. When one of the coordinate system numbers 0 to 9 is specified and the specified coordinate system number does not agree with the currently selected coordinate system number. Therefore. Operating Speed Operating speed (joint control motion) (deg/sec) = Programmed feedrate 100 Coefficient of a joint feedrate Maximum joint feedrate 2000 Programmed override Feedrate override 100 100 Operating speed (motion under path control) (mm/sec) = Programmed override Feedrate override 100 100 Operating speed (motion under attitude control) (deg/sec) = Programmed override Feedrate override Programmed feedrate 100 100 Programmed feedrate Programmed override $MCR_GRP.$FENCEOVRD value. use the tool change function/coordinate system change function [option]. -.0 : The mechanical interface coordinate system is used. In this case. When the safety speed signal (*SFSPD input) (See Section 3.6. User coordinate system number (UF) The number of a world coordinate system or user coordinate system is specified as a user coordinate system number (UF).1 to 9 : The user coordinate system having the specified user coordinate system is used. type of robot motion.1 to 9 : The tool coordinate system having the specified tool coordinate system is used. -.0 : The world coordinate system is used.$RUNOVLIM. This number determines the tool coordinate system.$PRGOVERRIDE (%) Coefficient of a joint feedrate $PARAM_GROUP.$SPEEDLIMJNT Checking a Cartesian coordinate system When position data is played back according to Cartesian coordinates. To change a written coordinate system number. the coordinate system number of the Cartesian coordinate system to be used is checked.$SFRUNOVLIM. -. The coordinate system number is specified for position data when the position is taught.16. -. 3 Resuming a program Resuming a program means to restart a halted program. the tool is returned to the end point of the circular motion. EXECUTING A PROGRAM B--81464EN--3/01 Position data information Pressing the F5 (DETAIL) key displays position data information. the robot is moved by jog feed. (The locus of an arc is recalculated on the assumption that the pass point is the current position after jogging. 335 . the robot moves from the current position to the target point along the path that passes through the passing point.895 mm R: 20. Before a program is halted. After the robot motion is interrupted by program halt.) The motion is executed at the travel speed specified in the circular motion instruction. Position Detail P[1] UF:0 UT:1 CONF:FT.0 X: 1500.374 mm W: 40. the system records the program. by means of a linear motion. As a result.000 Z: 956.992 mm P: 10.000 Y: -242. Selecting a User Coordinate System Z World coodinate system Z Y Tool coodinate system Y Z Z X X Y Y X X User coodinate system 2 User coodinate system 1 6.000 EDCMD JOINT 30% deg deg deg Figure 6--8. F The path for a circular motion can be reproduced. and the program is resumed. see Section 6. the following is possible: F Control can be passed to the main program called with the program call instruction.3. Path for circular motion In circular motion.2.6. and that the start point is that used before the interruption. (For a step test. In this case. the robot moves along a path that is similar to the one that was specified before the program was halted.) When a step test halted at the end of a circular motion is resumed after jog feed.2. 1. The program is terminated. When NO is selected. see Section 5. when the program is resumed. F Switching of the start right (See Section 6. (ABORTED is displayed on the screen. then the program is halted at that line. EXECUTING A PROGRAM B--81464EN--3/01 Figure 6--9. For both YES and NO.6. For program creation. Procedure 6--4 Releasing the halt state LINE 2 Step PAUSED JOINT 30% 1 Press the FCTN key to display the miscellaneous menu. C Start point P [ 1] P [ 2] 1000mm/s FINE Releasing the halt state The halt state of the program is released when: F 1 PROGRAM ABORT is selected from the miscellaneous menu. see Section 5.4.2. the system asks the operator whether the program is to be resumed at the line to which the cursor has been moved. For program selection.) F Creating another program forcibly terminates the halted program when the teach pendant is enabled. 2 Select 1 PROGRAM ABORT. F Selecting another program forcibly terminates the halted program when the teach pendant is enabled.1. When the program is resumed P [1] When the terminated program is started Passing point Position at which the robot stops when the program is halted. the program is halted at the line to which the cursor has been moved. the cursor is returned to the line where it was located before it was moved (original line).) 1 ABORT (ALL) 2 LINE 2 ABORTED JOINT 30% FCTN 336 . When YES i s selected in response to this message. Moving the cursor in the halt state When the cursor is moved to a desired line in the halted program and the program is to be resumed. program execution starts at the line to which the cursor has been moved.3. Path for a Circular Motion Target point P[2] Current position The robot is moved by jog feed. (2) Change the mode and return the robot to the stop position. (1) Restart the program with no special action. then restart the program. the function issues a warning not to start the program. 2 Restart the program.6. (PAUSED is displayed on the screen. When restarting the program. set the tolerable distance between the current robot position and the position at which the robot was halted. This line is then specified as the current line. The system asks the operator whether the program is to be resumed at the line to which the cursor has been moved.) LINE 2 Step PAUSED JOINT 30% 1 Move the cursor to the line where the program is to be resumed. on the restart position check screen of the setting menu. YES NO SAMPLE1 SAMPLE1 1: J 2: J 3: L 4: L 5: J [End] LINE 4 P[1] P[2] P[3] P[4] P[1] PAUSED JOINT 30% 4/6 100% FINE 70% CNT50 1000cm/min CNT30 500mm/sec FINE 100% FINE Select NO to resume the program at the line where the cursor was located before it was moved (original line). select the restart method from the choices listed below. If the comparison shows that the difference in position is beyond a set tolerance. If a warning is issued. 337 . The cursor is then returned to the original line. this function compares the current robot position with the robot position present when the program was halted. YES NO Restart position check function When a program is restarted in AUTO mode. 3: L 4: L 5: J [End] The cursor is on a different line from where the program PAUSED [2]. Are you sure you want to run from this line ? YES NO P[3] 1( P[4] 5( P[1] 1( 3 Select YES to resume the program at the line to which the cursor has been moved. EXECUTING A PROGRAM B--81464EN--3/01 Procedure 6--5 Condition Moving the cursor in the halt state H The program must be halted. Make a choice with the teach pendant. and the program is not started. To resume the program. When a program is restarted. the tolerance check is executed and the pop--up menu is appeared again. After select “STOP”. Tolerance for axes: Rotation axis (deg) When the difference in angle between the current position of a rotation axis in the robot and the position at which the robot was halted is greater than the value set here at program restart. Set a target group number for setting. the following message appears on the teach pendant: The robot position is out of stop tolerance. STOP CONTINUE (1) When STOP is selected When “STOP” is selected. 6. a warning is issued.0] [ 20. When the restart position check function is enabled for more than one group. and the program is not started. Enabling/disabling tolerance check To enable the restart position check function. a warning is issued. this pop--up menu is disappeared.) 3. If the comparison shows that any of the distance. this function compares the current robot position with the position at which the robot was halted. Group For each group.0] [ 20. a warning is issued. and the program is not started. In this case. 5. when the difference in distance between the current robot position and the position at which the robot was halted is greater than the value set here.0] [250. when the difference in joint angle between the current robot position and the position at which the robot was halted is greater than the value set here.6. a warning is issued if a tolerance of one group is exceeded. Tolerance for axes: Linear axis (mm) When the difference between the current position of a linear axis in the robot and the position at which the robot was halted is greater than the value set here at program restart. then input start signal. Choosing CONTINUE will require cycle start. Please select action. if start signal input. attitude.0] [ TYPE ] 1. 4. please move the robot to the position within the tolerance by jog feed. and the program is not started. Tolerable distance (mm) At program restart. select YES. (The default setting is YES. and the program is not started. you can enable or disable the restart position check function and set tolerances. 338 . EXECUTING A PROGRAM B--81464EN--3/01 SETUP RESUME TOL 6/6 1 2 3 4 Group Enable Tolerance checking Distance Tolerance (mm) Orientation Tolerance (deg) Axes Tolerance 5 Rotary Axes (deg) 6 Translational Axes (mm) : 1 : YES [250. a warning is issued. and the program is still paused. and axis position data exceeds a tolerance. 2. Tolerable attitude (deg) At program restart. a warning is issued. and the program remains halted. EXECUTING A PROGRAM B--81464EN--3/01 (2) When CONTINUE is selected The popup menu disappears. When the start signal is input under these circumstances. checking is made again when the program is restarted next. the program is started.6. If jog feed is performed after CONTINUE is selected. CAUTION This function cannot be used with the line tracking function and the constant joint path function at the same time. 339 . When the robot lock function is ON. 3 Disable welding.000 % ENABLE STATEMENT OFF [ TYPE ] GROUP ON OFF Setting of test execution DESCRIPTIONS This function specifies whether the robot is disabled. 6. the following operation conditions must be satisfied: J The input signal ENBL for the peripheral I/O must be on. The following two methods can be used for testing: F Step test: Execute the program line by line using the teach pendant or operator’s panel. then execute low--speed continuous operation from the teach pendant. -. the operator’s panel must be in the enabled state. The teach pendant must be enabled before testing is performed using the teach pendant. 2 Disable welding. the robot can not be operated when the emergency stop button is pressed. then execute continuous operation from the teach pendant. 5 Enable welding. TEST CYCLE Setup Table 6--4. -.ON: The robot is disabled. Before test operation can be started from the operator’s panel/box. EXECUTING A PROGRAM B--81464EN--3/01 6. F Continuous test: Execute the program from the current program line to the end of the program (up to the end--of--program symbol or program end instruction) using the teach pendant or operator’s panel. program instructions. the robot moves at the speed specified with “Cart. When this function is enabled. then execute step operation from the teach pendant. Pressing the RESET key resets all the servo alarms. J The remote switch on the operator’s panel/box is set to the local position. Testing the program is very important. It must be done to ensure the safety of the workers and the peripheral devices. dry run speed. The teach pendant is enabled when: J The teach pendant enable switch is on. 4 Disable welding. Before starting a program containing motion instructions. then execute step operation from the teach pendant. dry run speed: 4 Joint dry run speed: 5 Digital/Analog I/O: 6 Step statement type: 7 Step path node: OFF OFF 300. then execute high--speed continuous operation from the teach pendant. Dry run NOTE Even when the robot lock is ON. J An alarm must not be occurring The typical test procedure is as follows: 1 Disable welding. the power to the servo system is assumed to be on.” 340 . it ignores all motion instructions.3 Testing Testing refers to checking the operation of the robot alone before automatically operating the robot in the site line. set the machine lock switch to ON. it usually accepts motion instructions. Check the program instructions and I/O. Check the operation of the robot. The operator’s panel can be placed in this state provided the following conditions are satisfied: J The enable switch on the teach pendant is set to OFF.OFF: The robot is enabled.000 mm/s 25.6. Check the welding statuses. ITEMS Robot lock JOINT 30 % 1/7 GROUP:1 1 Robot lock: 2 Dry run: 3 Cart.3. and I/O. J The peripheral device I/O *SFSPD input is on. Check the positions and operation timings of the robot.1 Specifying test execution To specify test execution is to specify the requirements for test execution of a program. When a robot motion is linear or circular. Control of the peripheral device returns to the controller.MOTION : The program execution is paused at every motion instruction. The test cycle screen is displayed. (Cont’d) Setting of test execution ITEMS Cart.“Manual I/O Control”) When you set the disable flag. the input from the peripheral device to the controller is retained by the controller. dry run speed: 4 Joint dry run speed: 5 Digital/Analog I/O: 6 Step statement type: 7 Step path node: OFF OFF 300.4.ROUTINE : Almost the same as STATEMENT. the output to the peripheral device does not change.“MOVE ALONG”. When the motion of the robot is under joint control. the robot constantly moves at the specified speed (unit: mm/ s).000 mm/s 25. Specifying test execution 1 Press the MENUS key to display the screen menu. the speed indicated in this item is used from the beginning to the end of the robot motion. 2 Select 2 TEST CYCLE. When this is set to disable. NOTE “TP & MOTION” is not used currently. press F2 GROUP. Internally. the output returns to the state it was in before the disable flag was set.(See Section 6. Step statement type specifies how to execute a program in single step mode. EXECUTING A PROGRAM B--81464EN--3/01 Table 6--4. -. When you set the disable flag.6. This parameter specifies a robot feedrate during a dry run. When the motion of the robot is under path control (linear or circular motion control). however. the pause is not done in a program that is called by a CALL instruction. 4 To change the group number. 341 OFF . the robot does not send or receive the digital I/O signal with a peripheral device.TP & MOTION : At all KAREL instruction except for motion instructions. all the I/O signals are given the simulated flag(S) and the simulated flag can not be released until the setting is set to enable. When “Step path node” is set to be ON. -. the robot constantly moves at the specified speed. 1 UTILITIES 2 TEST CYCLE 3 MANUAL FCTNS MENUS TEST CYCLE Setup JOINT 30 % 1/7 GROUP:1 1 Robot lock: 2 Dry run: 3 Cart. the robot pauses at every node during execution of the KAREL instruction.000 % ENABLE STATEMENT OFF [ TYPE ] GROUP ON 3 Specify requirements for test execution. -. You can simulate the output without changing the state of the peripheral device. Digital/Analog I/O specifies whether to communicate with a peripheral device via digital I/O and group I/O signal lines or not. -. When you set the flag to enable the input returns to the state it was in before the disable flag was set. The dry run speed (jog) indicates the robot move speed used when operation is performed with the dry run setting. dry run speed Joint dry run speed Jog dry run speed Digital/Analog I/O Step statement type Step path node Procedure 6--6 Step DESCRIPTIONS This parameter specifies a robot feedrate during a dry run. a program does not pause.STATEMENT : The program execution is paused at each line. When you set the flag to enable. 3. When a logic instruction is executed. the next line of the program is executed. Each time forward execution of the program is started. if the robot is paused just before the intermediate position. EXECUTING A PROGRAM B--81464EN--3/01 6. then press and release the FWD key on the teach pendant. SHIFT FWD When a program is started. the robot pauses near the intermediate position on an arc. After executing a logic instruction. the cursor is held at the executed line. When a motion instruction is executed. the next line becomes the current line and the cursor moves to the next line. the STEP LED on the teach pendant is lit. To perform forward execution of the program. Starting Step Operation Teach pendant SHIFT FWD BWD Step operation can be performed in two ways: Forward execution and backward execution. The STEP LED is off when continuous operation is specified. press the STEP key on the teach pendant. the program is executed in normal order. the cursor stays at the line after execution is completed. the program is executed for one line pointed to by the cursor. but for motion instructions. the cursor is moved to the next line. STEP Key Teach pendant FAULT HOLD STEP STEP BUSY Figure 6--11. After one line of the program is executed. press and hold down the SHIFT key. Moreover. the robot does not stop at the intermediate position after resuming a program. Forward execution In forward execution. 342 . When executing the circular motion instruction in step mode. the program is halted.6. then the program is halted. Specifying the step mode (single step) To specify the step mode. When the step mode is specified.2 Step test To perform a step test (step operation) is to execute the program line by line. Figure 6--10. EXECUTING A PROGRAM B--81464EN--3/01 Backward execution In backward execution. When the halt instruction is specified in the line before the line at which the cursor points. F The instruction before the line where the following program instructions are taught can not be executed in backward execution. the program is executed in reverse order. backward execution instruction. then the program is halted. press and hold down the SHIFT key. Each time backward execution of the program is started. the cursor stops at the line of the instruction that calls the subprogram taught in the main program. control cannot be returned to the main program. backward execution of the program is disabled. forward execution instruction. F When the motion instruction in the current line specifies a circular motion. insert the halt instruction (PAUSE) into the desired location.Abort instruction (ABORT) -.Jump instruction (JMP LBL[ ]) -.User alarm instruction (UALM[ ]) -. soft float instruction. control can be returned from a subprogram to the main program that called the subprogram by performing reverse operation (SHIFT + BWD). Inter--program reverse program execution With the inter--program reverse operation function. and other optional move instructions are ignored while the program is executed. the subprogram cannot be called. NOTE When program termination occurs within a subprogram. move the cursor to the line before the line having the halt instruction (two lines before the line to which the cursor points). SHIFT BWD F During backward execution. the cursor moves to the line following the line where these instructions are taught: -. To disable backward execution of the program while the program is being executed. the motion instruction in the line pointed to by the cursor is executed.Halt instruction (PAUSE) -. However. After one line of the program is executed. the cursor returns to the position where it was before the program was executed.Incremental instruction (INC) F A blank line does not affect the execution of the program (Both Forward and Backward execution) When the terminated program is restarted. only motion instructions can be executed. To restart backward execution of the program. 343 . After the halt instruction is executed. F When the motion instruction in the previous line specifies a circular motion.Execution instruction (RUN) F The following program instructions cannot be executed: -. When you execute these instructions in backward execution.Program end instruction (END) -.6. the cursor is moved to the previous line. the robot moves to the destination position specified in the previous line using the motion format and feedrate specified in the current line. When reverse execution is performed from a subprogram to the main program. the robot moves to the target point along the path which passes through the passing point (Start point of an arc motion in normal program execution) specified in the current line. and the position data and positioning path of the motion instruction in the previous line. To perform backward execution of the program. a skip instruction. then press and release the BWD key on the teach pendant. the program is executed using the motion format and feedrate specified in the current line. NOTE Even if a subprogram exists during reverse operation of a main program. when the first line of the program is finished executing during the backward execution. the operator should release the SHIFT key or deadman switch or press the HOLD or emergency stop button. H The single--step mode must be set. F To perform backward execution of the program. The execution causes the robot to make a motion. then press and release the FWD key. this program ends. JMP LBL[100] 5:CALL Sub_Prog 6: . Procedure 6--7 Condition Step test H The teach pendant must be enabled. The cursor moves from the fifth line to the third line of the main program. press and hold down the SHIFT key. Step 1 Press the SELECT key. WARNING The execution of the program instructions starts in the next step. If the program needs to be stopped before it terminates. The operator should check that no persons and no unnecessary equipment are in the work area and that each part of the protective fence is sound. The STEP LED lights.6.) 4 Move the cursor to the program start line. press and hold down the SHIFT key. H The system must be in the operation enable state. The program selection screen is displayed. All obstacles must be removed from the operating area. The cursor is positioned on the fifth line of the main program. 5 Press and hold down the deadman switch. 2 Reverse operation (SHIFT + BWS) from P[3] to P[2]. 6 Start the program. Do not release the SHIFT key until execution of the program is completed. The program edit screen is displayed. 2 Select the program to be tested and press the ENTER key. then press and release the BWD key. . F To perform forward execution of the program. The cursor is positioned on the third line of the subprogram. (Check that the STEP LED lights when the STEP key is pressed. H No one must be in the operating area. Do not release the SHIFT key until execution of the program is completed. 4 Reverse operation (SHIFT + BWS) from P[2] to P[1]. Otherwise. [End] Sub_Prog 1:DO[1]=ON 2:DO[2]=ON 3:L P[2] 1000mm/sec FINE 4:L P[3] 1000mm/sec FINE [End] 1 Start reverse operation with the cursor positioned on the fourth line of the subprogram. EXECUTING A PROGRAM B--81464EN--3/01 Sample program Example: When reverse operation is performed starting from the fourth line of a subprogram Main_Prg 1: 2:R[1]=R[1]+1 3:J P[1] 100% FINE 4:IF R[1]=100. 3 Reverse operation (SHIFT + BWS) to the fifth line of the main program (CALL SUBPROGRAM). injury or property damage could occur. then turn on the teach pendant enable switch. Program end in backward execution If the system variable $BWD_ABORT is set to TRUE. 344 . 3 Press the STEP key to select the step mode. which may produce unpredictable results. F When a motion instruction is executed. then forcibly terminated. 2 Select the program to be tested and press the ENTER key. the cursor stops at the executed line. the program is halted. the cursor moves to the next line. The execution causes the robot to make a motion. Check that the STEP LED is off. All obstacles must be removed from the operating area. which may produce unpredictable results. the program is halted. Hold down the SHIFT key until the execution of the program is completed. then release the deadman switch. The operator should check that no persons and no unnecessary equipment are in the work area and that each part of the protective fence is sound. press and hold the SHIFT key. 6 Press and hold down the SHIFT key. injury or property damage could occur. The program edit screen is displayed. the operator should release the SHIFT key or deadman switch or press the HOLD or emergency stop button. F When a control instruction is executed. NOTE The continuous test execution can be executed in the forward direction only. (The STEP lamp must be off. 6. press the STEP key.3. 3 Press the STEP key to set the continuous mode. 5 Press and hold down the deadman switch. The cursor is returned to the first line of the program. then turn on the teach pendant enable switch. the next line of the program is executed. Procedure 6--8 Condition Continuous test (using the teach pendant) H The teach pendant must be enabled. then press the FWD key. WARNING The execution of the program instructions starts in the next step. To start continuous test operation (cycle operation) from the operator’s panel/box. 4 Move the cursor to the program start line.) H The system must be in the operation enable state. To perform a continuous test using the teach pendant. 345 . Backward execution of the program is disabled during a continuous test. H The continuous mode must be set. Otherwise. then press and release the FWD key. When the SHIFT key is released.3 Continuous test To perform a continuous test is to execute the program in the normal order from the current program line to the end of the program (end--of--program symbol or the program end instruction). Program execution then starts from the current line. 9 Turn off the teach pendant enable switch.6. EXECUTING A PROGRAM B--81464EN--3/01 7 After one line of the program is executed. Step 1 Press the SELECT key. The next time forward execution of the program is performed. 8 To release the step mode. A continuous test can be started using the teach pendant or operator’s panel. The program is then executed from the current line. The program is executed to the end. The program selection screen is displayed. momentarily press the start button on the operator’s panel/box. H No one must be in the operating area. If the program needs to be stopped before it terminates. 2 Select a program to be tested. 346 . the operator should release the SHIFT key or deadman switch or press the HOLD or emergency stop button. 6 Press the start button on the operator’s panel/box. Otherwise. The program list screen is selected. (If the STEP lamp is on. EXECUTING A PROGRAM Procedure 6--9 Condition B--81464EN--3/01 Continuous test operation (started from the operator’s panel) H The operator’s panel must be in the enabled state. (For how to switch to local mode. press the STEP key to turn it off. “SYSTEM CONFIG MENU. see the description of Remote/Local setting in Section 3. If the program needs to be stopped before it terminates.) 4 Position the cursor to the first line.” WARNING The execution of the program instructions starts in the next step.16. The program edit screen appears. and press the enter key.6.) H The system must be ready for operation. 5 Place the system in local mode. Remove all obstacles from the work area. H Continuous operation mode must be set. The operator should check that no persons and no unnecessary equipment is in the work area and that each part of the protective fence is sound. Program execution is performed up to the end of the program then terminated forcibly. (The step lamp must not be lit. Check that the step lamp is not lit. H Nobody must be within the work area. which may produce unpredictable results. Step 1 Press the select key. The execution causes the robot to make a motion. injury or property damage would occur. 3 Set continuous operation mode. The cursor returns to the first line of the program. the program edit screen is displayed in place of the program monitor screen.MONITOR. EXECUTING A PROGRAM B--81464EN--3/01 6. the cursor specifies the line which is executed at that time. In the monitor screen. then the program monitor screen is displayed and the cursor of the program which is being executed stops (Program continues to execute).3. When the monitor screen is displayed. Program edit screen PROGRAM1 PROGRAM1 1:J 2:J 3:J 4:J 5:J 6:J P[1] P[2] P[3] P[4] P[5] P[6] LINE 6 100% 100% 100% 100% 100% 100% ABORTED JOINT 30 % 6/10 FINE FINE FINE FINE FINE FINE POINT TOUCHUP> 347 . Program Monitor Screen PROGRAM1 PROGRAM1 1:J 2:J 3:J 4:J 5:J 6:J LINE 1 P[1] P[2] P[3] P[4] P[5] P[6] 100% 100% 100% 100% 100% 100% RUNNING JOINT 30 % 1/10 FINE FINE FINE FINE FINE FINE LOOK Press F2. the screen of the teach pendant becomes a monitor screen by which the execution of the program is displayed. If the execution of the program is paused or ended. Program monitor screen PROGRAM1 PROGRAM1 LINE 8 1:J P[1] 100% 2:J P[2] 100% 3:J P[3] 100% 4:J P[4] 100% 5:J P[5] 100% 6:J P[6] 100% Under the LOOK MONITOR RUNNING JOINT 30 % 1/10 FINE FINE FINE FINE FINE FINE mode The message “Under the LOOK mode” is highlighted at the prompt line while looking at the program.6. To return to the monitor screen.4 Program look/monitor When the program is executed. You can look at the desired part except the line which is executed with the arrow keys. the cursor moves to follow the line which is executed and you can not edit a program. press F2.LOOK. 4. The I/O screen is displayed.1 Forced output Forced output is turning digital output signals on or off manually. The digital output screen or digital input screen is displayed. then press the F4 (ON) or F5 (OFF) key to change the signal output setting. Manual forced digital output 3 Press the F1 (TYPE) key to display the screen change menu. injury or property damage could occur. For group output and analog output. Manual I/O control refers to the following items: F Forced output F Simulated output and simulated input F Wait instruction 6.4 Manual I/O Control Under manual I/O control. signals are transmitted between the robot and peripherals before the program is executed. the operator should check which equipment is connected to the digital output and what operation the forced output would cause. Otherwise. If the input screen is displayed. Condition Step 1 Press the MENUS key to display the screen menu. 4 ALARM 5 I/O 6 SETUP I/O Digital Out # SIM STATUS DO[1] U OFF [ DO[2] U OFF [ DO[3] U OFF [ DO[4] U OFF [ DO[5] U OFF [ DO[6] U OFF [ DO[7] U OFF [ DO[8] U OFF [ DO[9] U OFF [ MENUS Digital [TYPE] [TYPE] CONFIG IN/OUT JOINT 30% ] ] ] ] ] ] ] ] ] ON OFF F1 WARNING Forced output activates connected equipment. EXECUTING A PROGRAM B--81464EN--3/01 6. specify the value. Procedure 6--10 Forced output H Assignment of the signals to be output must be completed.6. 5 Move the cursor to the status field for the signal number to be changed. 4 Select Digital. Before executing the forced output. 2 Select 5 I/O. press the F3 (IN/OUT) key to change the input screen to the output screen. IN/OUT ON F4 OFF I/O Digital Out DO[1] DO[2] U U JOINT 30% ON OFF 348 . set the simulated flag. the input enters the current state.FORMAT toggles between the decimal expression and the hexadecimal expression. and the signal state is not changed internally.. Refer to 6.3.6. I/O Group Out # SIM VALUE GO[ 1] U 3 [ GO[ 2] U 10 [ JOINT 30 % ] ] 6.4. Simulated output The simulated output function internally changes the signal state using the I/O instruction of the program or manual output. The screen change menu is displayed. 7 Select Group.2 Simulated I/O The Simulated I/O function changes the state of signals internally without making digital. analog or group I/O communicate with peripherals. 349 . Pressing F4. S. The group output screen is displayed. Simulated input The simulated input function internally changes the signal state with the I/O instruction of the program or manual input. The state of input from peripherals is ignored. analog and group I/O. but does not change the state of output to peripherals. When the simulated flag is reset. EXECUTING A PROGRAM B--81464EN--3/01 Manual forced group output 6 Press F1.1. When the simulated flag is reset. Simulated input/output can be used for digital. To enable simulated input/output.TYPE. Group [TYPE] F1 ENTER I/O Group Out # SIM VALUE GO[ 1] U 1 [ GO[ 2] U 10 [ GO[ 3] U 23 [ GO[ 4] * * [ GO[ 5] * * [ GO[ 6] * * [ GO[ 7] * * [ GO[ 8] * * [ GO[ 9] * * [ [ TYPE ] CONFIG IN/OUT JOINT 30 % ] ] ] ] ] ] ] ] ] FORMAT 8 Move the cursor to the setting field of the signal number you want to change. This function is used to execute the program or to test the I/O instruction when connection of I/O with peripherals is not completed. the output is restored to the original state. This function holds the state of output to peripherals when the simulated flag is set. and enter the value.“Specifying test execution” to specify whether I/O signal is disabled in the test execution. I/O Digital In I/O Digital In DI[1] U OFF DI[1] [TYPE] IN/OUT ON S CONFIG ON JOINT 30% [digital signal 1 IN/OUT OFF F4 350 ON OFF ] .TYPE. 2 Select I/O. Digital I/O screen is displayed. 4 ALARM 5 I/O 6 SETUP I/O Digital In # DI[1] DI[2] DI[3] DI[4] DI[5] DI[6] DI[7] DI[8] DI[9] MENUS Digital [TYPE] F1 [TYPE] SIM U U U U U U U U U JOINT 30% 1/168 STATUS OFF [digital OFF [digital OFF [digital ON [digital ON [digital OFF [digital OFF [digital ON [digital ON [digital CONFIG IN/OUT signal signal signal signal signal signal signal signal signal ON 1 2 3 4 5 6 7 8 9 ] ] ] ] ] ] ] ] ] OFF 5 Move the cursor to the SIM field for the signal number to be changed and press the F4 (S) or F5 (U) key to change the simulated setting. 4 Select Digital. I/O Digital In I/O Digital In DI[1] U OFF DI[1] [TYPE] IN/OUT SIMULATE S JOINT 30% OFF CONFIG [digital signal 1 IN/OUT SIMULATE ] UNSIM UNSIM F4 6 Move the cursor to the status field for the number of the output signal to be simulated and press the F4 (ON) or F5 (OFF) to change the simulated output setting. The screen change menu is displayed. 3 Press F1.6. I/O screen is displayed. Condition Step 1 Press the MENUS key. EXECUTING A PROGRAM Procedure 6--11 B--81464EN--3/01 Simulated input / output H The input/output signal has been allocated. The screen menu is displayed. Procedure 6--12 Condition Standby release H Program execution is currently in the I/O wait state. Standby release is enabled only when a program is being executed. When program execution is restarted. Standby release is performed by choosing from the miscellaneous function menu. Sample3 10: 11: 12: Step JOINT 30% 11/20 J P[5] 100% FINE WAIT RI[5]=ON RO[1]=ON 1 Press the function key to display the miscellaneous function menu.4.6. the standby release function skips this instruction. and the cursor moves to the next line. 7 RELEASE WAIT FCTN INPUT 351 . EXECUTING A PROGRAM B--81464EN--3/01 6. the next instruction is executed. The I/O wait is skipped.3 Standby release When a standby instruction in a program waits until the I/O conditions are satisfied. and halts program execution at the next line. The program is then halted. 2 Select 7 RELEASE WAIT. 2 Welding can be enabled or disabled using the welding enable signal (example: DI[8]) for welding I/O. Step 1 Press and hold down the DEADMAN switch. H The teach pendant must be enabled.6. The wire is rewound for as long as the SHIFT key is held down. Pressing the key again disables welding. The modes are switched by pressing the WELD ENBL key on the teach pendant while the SHIFT key is held down. welding system. Procedure 6--14 Condition Step Enabling or disabling welding H The welding I/O. 1 Press the WELD ENBL key while holding down the SHIFT key. welding equipment. SHIFT WIRE + WIRE -- 3 To rewind wire manually.5 Manually Operating Welding Equipment The manual operation of the welding equipment involves controlling arc welding using the keys on the teach pendant. The manual wire feed/rewind signal for welding I/O can also be used. welding equipment. When welding is disabled. press the WIRE+ key while holding down the SHIFT key. Then. The weld enable signal for welding I/O can also be used.key while holding down the SHIFT key. Welding enable Arc welding can be enabled or disabled. an arc welding instruction is prevented from performing arc welding. While welding is enabled.) SHIFT WELD ENBL 352 . set the teach pendant enable switch to ON. press the WIRE-. EXECUTING A PROGRAM B--81464EN--3/01 6. (This is possible only in the remote state. Wire is fed for as long as the SHIFT key is held down. and all other welding information must be set. 2 To feed wire manually. 4 The wire can also be fed or rewound using the manual wire feed (WO[4]) or rewind (WO[5]) signal for welding I/O. such that the LED goes out. welding system. and all other welding information must be set. Wire is fed and rewound when the WIRE+ or WIRE-.key on the teach pendant is pressed while the SHIFT key is held down. Procedure 6--13 Condition Manual wire feed H The welding I/O. Manual wire feed/rewind Wire can be fed and rewound manually. without having to execute a program. the WELD ENBL LED is lit. When a program is being halted or executed. It is started once the currently executed program terminates. (See Section 3. J The servo power is turned on. (Standard setting) -. “Setting Automatic Operation”. these signals are ignored. When a program is being executed or halted. 1 (CRT/keyboard).If $SHELL_CFG. the currently selected program is started from the current line if there is no program being halted. 2 (host computer).If $SHELL_CFG. When a program is being halted or executed.6. F Cycle stop signal (CSTOPI input) forcibly stops the currently executed program. J The remote switch on the operator’s panel/box is set to the remote position. (No alarm is being issued.$USE_ABORT is false. The remote mode is set when the following remote conditions are satisfied: J The teach pendant enable switch is turned off.) It is convenient to monitor the input acceptable signal (CMDENBL output) for starting a program using the peripheral I/O. any programs enqueued by RSR are canceled. F The external start signal (START input) starts a currently halted program. The program being executed is forcibly terminated immediately. NOTE The value of $RMT_MASTER may be 0 (peripheral device). the following ready conditions must be satisfied: J ENBL input of peripheral I/O must be on.If $SHELL_CFG. -.$CONT_ONLY is set to TRUE. Automatic Operation of Arc Welding System 353 . F The program number selection signals (PNS1 to PNS8 inputs and PNSTROBE input) select a program. Any programs enqueued by RSR are canceled. The CMDENBL signal is output when the following conditions are satisfied: J Remote condition J Operation enable condition J Continuous mode (step mode is disabled) Figure 6--12.$CONT_ONLY is set to FALSE. To start a program containing motion instructions. this signal is ignored if no program is currently halted. To start a program by peripheral I/O input.$USE_ABORT is true. this signal is ignored. The program being executed is not affected (standard setting).14. J ENBL input of peripheral I/O is on. EXECUTING A PROGRAM B--81464EN--3/01 6.If $SHELL_CFG.) F The robot start request signals (RSR1 to RSR4 inputs) select and start a program. -. J System variable $RMT_MASTER is 0 (peripherals).6 Automatic Operation Peripheral I/O input can be used to automatically start a program and operate a production line. the robot must be in the remote mode. the selected program is placed in the wait state. -. or 3 (no remote device). F The automatic operation start signal (PROD_START input) starts execution of the currently selected program from the first line. J Peripheral device I/O *SFSPD input is on. programs enqueued by RSR are canceled. Whether RSR is valid or invalid is set in system variables $RSR1 to $RSR8. a selected program is started. the request (job) is placed in a queue. An RSR program having the selected RSR program number is started. 2 Eight RSR registration numbers can be assigned to RSR. when the RSR2 signal is input. If the signal is invalid. in remote mode. 5 Programs in the queue are canceled (cleared) by the cycle stop signal (CSTOPI input) or forced program termination. The start of a program by RSR is enabled in the remote mode.1 Automatic operation by robot start request (RSR) The robot start request (RSR) function allows a remote device to select and start a program through the peripheral device I/O. When another program is being executed or halted. This function uses four robot start request signals (RSR1 to RSR8). or when a dedicated signal START is being executed or halted. 4 When programs are in the terminated state.6. such as a start signal from the teach pendant or the operator’s panel. RSR input is accepted. When a program is started by a non--RSR signal. (Normally. Jobs (RSR programs) are executed in the order in which the programs were enqueued. The RSR2 signal is input. For example. a program having the following name is selected: RSR + (RSR2 registration number + base number) (four digits) NOTE The name of a program to be started must be of “RSR + RSR program number” format. 3. 3 The RSR acknowledge output signal (ACK1 to ACK8) corresponding to one of the RSR1 to RSR8 input signals is output as a pulse signal. an RSR signal input is ignored. Robot Start Request RSR valid/invalid $RSR 1 Valid $RSR 2 $RSR 3 Valid $RSR 4 Valid Base number Valid $SHELL_CFG. It can be changed by using Base number on the RSR setting screen or by using a programmed parameter instruction. These values can be changed on the RSR setting screen or by using a programmed RSR instruction.) Figure 6--13. the control unit determines whether the input RSR signal is valid. (Example: RSR0121) The base number is set in $SHELL_CFG. Even when one of the ACK1 to ACK8 signals is being output.$JOB_BASE. 354 . it is ignored. the CMDENBL input is on. A base number is added to each RSR registration number to indicate an RSR program number (four--digit integer). 1 When a signal from RSR1 to RSR8 is input.6. EXECUTING A PROGRAM B--81464EN--3/01 6. It is started when the program currently being executed terminates.$JOB_BASE 100 RSR registration number RSR 1 RSR 1 12 RSR 2 ON RSR 2 21 RSR 3 RSR 3 33 RSR 4 48 RSR 4 RSR program number 0121 RSR program RSR 0121 1. 2. A check is made to determine whether RSR2 is valid. and that the safety fence is normal. There must be no obstacles in the work area. Step 1 Set the enable switch on the teach pendant to OFF. 5 To cancel a job in the queue. EXECUTING A PROGRAM B--81464EN--3/01 Procedure 6--15 Condition Automatic operation by robot start request (RSR) H RSR settings are completed. The RSR program is placed in a queue. WARNING Applying this procedure starts automatic operation which causes the robot to move. 355 . personal injury or damage to the facilities could occur. or the immediate stop (*IMSTP input). 3 Send the robot start signal (RSR1 to RSR4 input) of a target RSR number to the control unit. use the external start signal (START input).) H Remote mode is set. 6 To restart a halted program. use the emergency stop button or hold button.1. use the cycle stop signal (CSTOPI input). Also. (See Section 3. hold (*HOLD input). H Nobody must be within the work area. that there are no unnecessary objects in the work space. An unpredictable operation could occur.14. H The system is ready for operation. 2 Set the remote switch on the operator’s panel/box to the remote position. Otherwise. or cycle stop (CSTOPI input) signal. Check to ensure that nobody is in the work area. check that all the automatic operation conditions are set correctly.6. 4 To stop the program currently being executed. This signal causes the external device to read SNO1 to SNO8 output signals. from the remote controller. the remote control unit sends the automatic operation start input (PROD_START) signal. Program Number Selection PNSTROBE Base number $SHELL_CFG. PNS and PROD_START input signals are accepted.6. 2 The received PNS1 to PNS8 inputs are converted into a decimal number to obtain a PNS number. as shown below: (Program number) = (PNS number) + (base number) The selected program has the following name: PNS + (program number) When zero is input through the PNS1 to PNS8 input signals. in remote mode. A PNS program having the selected PNS program number is regarded as the currently selected program. specify a PNS program number. 1 When the PNSTROBE pulse signal is input. 4. Even while the SNACK signal is being output.$JOB_BASE PNS1 PNS2 ON PNS3 ON PNS4 00100110 Binary PNS5 PNS number 38 Decimal 100 PNS program number 0138 PNS program PNS 0138 PNS6 ON PNS7 PNS8 SNACK PROD_START 1. Figure 6--14.6. The PNSTROBE signal is input. When a program is being executed or halted. It can be changed by using Base number on the PNS setting screen or a programmed parameter instruction. 4 When confirming that the output values of SNO1 to SNO8 match the input values of PNS1 to PNS8. A program number (four digits) can be obtained by adding a base number to the PNS number. no program can be selected from the teach pendant. Eight input signals. the control unit reads the PNS1 to PNS8 input signals. The PNS acknowledge output (SNACK) signal is output as a pulse signal. then starts the program. the signals are ignored. NOTE The name of a started program must be of (PNS + PNS program number) format. using the peripheral I/O.) 356 . The PROD_START input signal starts the selected PNS program. 5 The control unit receives the PROD_START input signal.$JOB_BASE. 2. EXECUTING A PROGRAM B--81464EN--3/01 6. The PNS1 to PNS8 signals are read and converted into a decimal number. Program start by PNS is enabled in remote mode. PNS1 to PNS8. no program is selected on the teach pendant. the CMNDENBL input signal is on. While the PNSTROBE pulse input signal is on. (Example: PNS0138) The base number is set in $SHELL_CFG. 3 The selected program number output signals (SNO1 to SNO8) are output for PNS confirmation.2 Automatic operation with program number selection (PNS) The program number selection (PNS) function enables selection or checking of a program. 3. (Normally. an unexpected situation may occur. All obstacles must be removed from the operating area. The selected program is then started.6. The control unit outputs the selected program number signals (SNO1 to SNO8 inputs) and PNS acknowledge signal (SNACK output) for confirmation. or cycle stop (CSTOPI input) signal. WARNING Start automatic operation as follows: When the robot starts operation. 5 To stop the program currently being executed. “SYSTEM CONFIG MENU. H No one must be in the operating area. 357 . 2 Place the system in remote mode. be sure to check that no one is in the work area. H The remote condition must be satisfied. that the safety barrier is in place. hold (*HOLD input). Step 1 Turn off the teach pendant enable switch. the robot may injure a person or damage the equipment in the work area. that the work area is free from unnecessary equipment. 6 To restart a halted program.” 3 Send the program number selection signals (PNS1 to PNS8 inputs) indicating a target PNS number and the PNS strobe signal (PNSTROBE input) to the control unit. EXECUTING A PROGRAM B--81464EN--3/01 Procedure 6--16 Condition Automatic operation by program number selection H PNS setting must be completed (See Section 3. use the emergency stop button or hold button. H The operation enable condition must be satisfied. and that all the automatic operation conditions are correctly specified. A PNS program is then selected.14. (For how to switch to remote mode. use the external start signal (START input). see the description of Remote/Local setup in Section 3. Otherwise. To prevent any problem from occurring. or the immediate stop (*IMSTP input).16. 4 Send an external start signal (PROD_START input).2). Two DI signals are defined. F It is possible to specify the same number as two SDI signal numbers. (OVERRIDE SELECT on the setting screen) J The remote mode must be set. the following requirements must be satisfied: J The external override selection function must be enabled. So four types of feedrate override can be selected. the popup menu is not displayed at the upper right corner of the screen.6. only the combination of ON--ON or OFF--OFF has the meaning. the override will be assigned the value which had been set by this function when turning on it again. the following occurs: F The override key of the teach pendant is practically disabled. F You can not change the settings of SDI signal number and Override. 358 . note the following: F After this function is disabled because the remote condition is not satisfied. Before these settings can be modified. OVERRIDE SELECT JOINT 30% 1 Function Enable: 2 3 Signal1: Signal2: 4 5 6 7 Signal1 OFF OFF ON ON ENABLE SDI[ 1][ON ] SDI[ 32][OFF] Signal2 OFF ON OFF ON [TYPE] ENABLE Override 15% 30% 65% 100% DISABLE When the function changes the feedrate override.3 External override selection function The external override selection function changes feedrate override by turning on or off digital input (DI) signals. EXECUTING A PROGRAM B--81464EN--3/01 6. F When this function is effective at turning off the power of the controller. (The changed value is quickly returned to the setting value by the external override selection. To enable the external override selection function. These two signals can be combined in four different ways. When the external override selection function is enabled. the feedrate override is not displayed. namely. Function Enable:DISABLE must be set.) F The override instruction has no effect to the override value.6. Set this function on the external override selection setting screen (6 OVERRIDE SELECT). the override keeps the value specified by this function in effect until the value is changed by the teach pendant or override instruction. Moreover. In this case. When *** is displayed. a Enable or disable the function. c Feedrate override can be changed by turning on or off the signals OVERRIDE SELECT JOINT 30% 1 Function Enable: 2 3 Signal1: Signal2: 4 5 6 7 Signal1 OFF OFF ON ON [TYPE] ENABLE DI[ 11][ON ] DI[ 12][OFF] Signal2 OFF ON OFF ON ENABLE 359 Override 15% 30% 65% 100% DISABLE .6. then select 6 SETUP. OVERRIDE SELECT 2 3 JOINT 30% Signal1: Signal2: DI[ 11][ON ] DI[***][***] [TYPE] ENABLE DISABLE The states of SDI signals are indicated. 2 Select Ovrd Select from the screen change menu. External override selection setting screen 5 I/O 6 SETUP 8 FILE OVERRIDE SELECT MENUS Ovrd Select TYPE F1 JOINT 30% 1 Function Enable: 2 3 Signal1: Signal2: 4 5 6 7 Signal1 OFF OFF ON ON DISABLE DI[***][***] DI[***][***] Signal2 OFF ON OFF ON [TYPE] Override 10% 10% 10% 10% ENABLE DISABLE 3 Set items. EXECUTING A PROGRAM B--81464EN--3/01 Procedure 6--17 Step Selecting an external override 1 Press the MENUS screen to display the screen menu. the setting of the function cannot be changed. b Assign SDI signals. $X_LIMIT to $R_LIMIT. Y. This state is indicated when no position modification condition is set or when a valid position modification condition is edited.6. Up to ten position modification conditions can be defined. according to the position modification condition. during program execution. The move speed for axial movement is replaced by the value specified in Joint speed. It is not reflected in the program. A movement speed is modified by rewriting it. R). P. The following program information can be modified: F Position data (position compensation) F Move speed Position data is modified by adding a position compensation value. The standard value is +/--26 mm for (X. Position modification status The position modification statuses are classified into the following three types: -. Online position modification is set by using 1 UTILITIES Prog Adjust on the utility screen.ENABLED indicates that the current position modification condition is reflected in the program. an alarm is generated when the program is executed. Move speed Move speeds in the move instructions within a specified range of a program are replaced with specified speeds. -. The result of ENABLED is reflected immediately if the program is being executed. it may take a while for the compensation to be reflected in actual operation.EDIT indicates that the current position modification condition is being edited. the original speed cannot be restored. The specifiable ranges (+/--) for the position compensation values are set in system variables $PRGADJ.7 Online Position Modification Online position modification [optional function] replaces all the position data and move speeds in the move instructions within a certain range in a program at one time. Online position modification conditions include the following information: 360 .DISABLED indicates that the position modification condition reflected in the program has been canceled. changes made to the program are determined. -. Z) and +/--0. If the position data resulting from modification falls outside the allowable axial movement range.5 degrees for (W. while the move speed for linear and circular movement is replaced by the value specified in Motion speed. Any position compensation value falling outside these ranges cannot be set. CAUTION Once a speed has been rewritten. Position compensation value A position compensation value is the difference between the current position and the correct position. The position data coded in the move instructions within a specified range of a program is rewritten by adding a position compensation value to the data. CAUTION If position compensation is performed during execution. EXECUTING A PROGRAM B--81464EN--3/01 6. When the position modification condition is modified after ENABLED. and state EDIT is indicated. while values (W.000deg 8 P adjustment: 0. The position modification status indicates whether a specified position modification condition is reflected in the program. F DISABLED : The position modification condition is not reflected in the program. R) are in degrees. Tool Modification is performed in reference to the tool coordinate system. JOINT UNIT CLR_ADJ SCHED ENABLE CLR_ALL > > Online Position Modification Settings Item Program Range Description Specifies the name of the target program for position modification. 361 . the end line number must equal the start line number.500mm 7 W adjustment: 0. Offset relative to Status X to R adjustment Motion speed Joint speed User Modification is performed in reference to the user coordinate system.” only the robot can be selected. The direction of the additional built--in axis is indicated in motion group. Robot: Modify only the position of the robot. All: Modify both the positions of the robot and the additional axis. When only one line is to be modified.000mm 6 Z adjustment: -2. Z) are in mm or inches. If offset relative to is set to “Tool. This item is displayed only when an additional built--in traveling axis is set up as the seventh axis in group 1. F EDIT : The position modification condition is being edited. Additional axis: Modify the position of the additional axis.000mm 5 Y adjustment: 0. F ENABLED : The position modification condition is reflected in the program.000deg 10 Motion speed: mm/s 11 Joint speed: % > [TYPE] COPY Table 6--5. EXECUTING A PROGRAM B--81464EN--3/01 Position modification condition list screen UTILITIES Prog Adj Program Lines 1 Sample 1 22-29 2 Sample 1 39-49 3 Sample 3 10-14 4 Sample 4 123-456 5 ******* 0-0 6 ******* 0-0 7 ******* 0-0 8 ******* 0-0 9 ******* 0-0 10 ******* 0-0 [TYPE] COPY DETAIL CLR_ADJ CLR_ALL Position modification condition detail screen JOINT 10% Status 5/10 ENABLED ENABLED DSIABLED EDIT ******* ******* ******* ******* ******* ******* UTILITIES Prog Adj 10% > Carrent schedule:5 status:EDIT 1 Program name: Sample 2 2 Starting line number: 1 3 Ending line number: 30 4 X adjustment: 5. Specifies the range (the start and end lines) of the program lines to which position modifications are to be applied. Joint speed replaces the axial movement speed with a specified speed. P. NOTE The end line number must be greater than or equal to the start line number specified in item 2. These speed items replace the move speeds. Values (X. the original speed cannot be restored. The values specified here are included in the position data. Y.6. Motion speed replaces the linear and circular movement speed with a specified speed. [TYPE] COPY Motion group Adjust Y for UNIT CLR_ADJ SCHED CLR_ALL ENABLE > > Select an operation group to be subjected to modification. Compensation values X to R indicate the position compensation amounts. Specify the compensation target for the indicated direction. CAUTION Once the move speed is rewritten.000deg 9 R adjustment: 0. the modified program is not restored to its original state. ENABLED reflects the current position modification condition in a target program.6. The program name and range are not erased. EXECUTING A PROGRAM Table 6--6. This function key can be specified only when EDIT or DISABLED is indicated. The position data and move speeds are rewritten according to the position modification condition. This function key erases a selected position modification condition entirely including the program name and range. The position modification condition erase function erases all the position modification and speed values set in a selected position modification condition. DISABLED cancels the current position modification condition reflected in a target program. This function key can be specified only when ENABLED is indicated. When erase is performed. 362 . The original move speed cannot be restored. The schedule function is used to input the number of the position modification condition to be edited next. The position modification condition copy function copies a selected position modification condition into another condition number. EDIT is indicated as the modification status. The position data used before modification is restored. When erase is performed. After copying. the modified program is not restored to its original state. Online Position Modification Function Key Menu Function key label UNIT SCHED ENABLE DISABLE COPY CLR_ADJ CLR_ALL B--81464EN--3/01 Description The position modification unit function changes the units of the position modification values (mm or inches). then.000deg 9 R adjustment: 0. 3 Press F1. Position modification condition detail screen UTILITIES Prog Adj Program Lines 1 Sample 1 22-29 2 Sample 1 39-49 3 Sample 3 10-14 4 Test-pro 123-456 5 ******* 0-0 [TYPE] DETAIL F2 UTILITIES Prog Adj JOINT 10% Carrent schedule:5 status:EDIT 1 Program name: Sample 2 2 Starting line number: 0 3 Ending line number: 0 4 X adjustment: 0. EXECUTING A PROGRAM B--81464EN--3/01 Procedure 6--18 Condition Step Online position modification H There is a program to be modified. select “***”. the position modification condition list screen appears. Position modification condition list screen 1 UTILITIES 2 TEST CYCLE MENUS Prog Adjust type F1 UTILITIES Prog Adj Program Lines 1 Sample 1 22-29 2 Sample 1 39-49 3 Sample 3 10-14 4 Sample 4 123-456 5 ******* 0-0 6 ******* 0-0 7 ******* 0-0 8 ******* 0-0 9 ******* 0-0 10 ******* 0-0 [TYPE] COPY JOINT 10% Status 5/10 ENABLED ENABLED DSIABLED EDIT ******* ******* ******* ******* ******* ******* DETAIL CLR_ADJ > CLR_ALL > 5 Position the cursor on the line number of a program to be modified. the position modification condition detail screen appears.000deg 8 P adjustment: 0.000mm 6 Z adjustment: 0.000deg 10 Motion speed: mm/s 11 Joint speed: % [TYPE] COPY UNIT CLR_ADJ SCHED CLR_ALL 363 ENABLE > > . 4 Select Prog Adjust.000mm 7 W adjustment: 0. EDIT is indicated as the status. Then.000mm 5 Y adjustment: 0. 1 Press the menus key to display the screen menu. [TYPE] to display the screen selection menu. 2 Select 1 UTILITIES. If the program to be modified is not indicated. When “***” is selected.6. 6 Press F2 DETAIL. 000deg 9 R adjustment: 0. 9 To cancel a set modification condition. SCHED DISABLE > F5 CAUTION Once a move speed has been changed. NOTE When move instructions include a position register or incremental instruction. press F5 DISABLE. then modify it. press F3 SCHED.6. UTILITIES Prog Adj JOINT 10% Carrent schedule:5 status:EDIT 1 Program name: Sample 2 2 Starting line number: 1 3 Ending line number: 30 4 X adjustment: 5. The result of ENABLE is reflected immediately if the program is being executed. 10 To set the position modification condition of another condition number. SCHED ENABLE > F4 NOTE To modify a position modification condition after making it valid. the original speed cannot be restored even by pressing DISABLE.000mm 6 Z adjustment: -2. press F4 ENABLE to reflect the position modifications in the target program. SCHED DISABLE > F3 364 . NOTE When only one program line is to be modified.000mm 5 Y adjustment: 0. EXECUTING A PROGRAM B--81464EN--3/01 7 Set items. the current position modification condition must be valid. modifications are not reflected. cancel the condition once.000deg 10 Motion speed: mm/s 11 Joint speed: % [TYPE] COPY UNIT CLR_ADJ SCHED CLR_ALL ENABLE > > 8 After completing the modification condition settings. enter the same value for both the start and end lines.000deg 8 P adjustment: 0. When DISABLE is used.500mm 7 W adjustment: 0. Enter the condition number of the copy destination. UTILITIES Prog Adj Program Lines 1 Sample 1 22-29 2 Sample 1 39-49 3 Sample 3 10-14 4 Sample 4 123-456 5 ******* 0-0 6 ******* 0-0 7 ******* 0-0 8 ******* 0-0 9 ******* 0-0 10 ******* 0-0 [TYPE] COPY DETAIL CLR_ADJ JOINT 10% Status 5/10 ENABLED ENABLED DSIABLED EDIT ******* ******* ******* ******* ******* ******* > CLR_ALL > 12 To copy the set modification condition to another modification condition number. COPY CLR_ADJ CLR_ALL F1 13 To erase the set modification condition. press F2 CLR_ADJ on the next page. EDIT is indicated as the status.6. Modify the items as necessary. COPY CLR_ADJ CLR_ALL F2 365 . position the cursor on the condition number of the copy source. EXECUTING A PROGRAM B--81464EN--3/01 11 Press prev key to redisplay the position modification list screen. Immediately after a copy operation. and press F1 COPY on the next page. This setting can be changed to SAVING by pressing the F5 (SAVE) key. 366 . CMND The CMND column indicates the values to be tuned. such that the program is not affected. The following current values are displayed: PRGM The PRGM column indicates the values for specified program instructions. FDBK The FDBK column indicates the values set for the welding equipment (values according to which actual welding is executed) after tuning. The Speed value is the travel speed specified in the motion instruction. The Voltage. EXECUTING A PROGRAM B--81464EN--3/01 6. This function can be used to adjust the following welding condition data: F Welding speed (travel speed) F Welding voltage F Welding current F Wire feed speed NOTE Depending on the set model of welding power supply or the welding control type setting (on the welding equipment screen). SAVING SAVING means that the values specified as part of the current tuning are saved as new values for the program. This setting can be changed to NOT SAVING by pressing the F5 (NO SAVE) key. and Wire values indicate the welding conditions specified in the arc start instruction. only welding current or wire feedrate is valid.8 Welding Tuning The welding tuning function adjusts the welding condition data in real time while a program is running.6. These values can be increased and decreased by means of key input from the teach pendant. Current. NOT SAVING NOT SAVING means that the values specified as part of the current tuning are not saved as new values. INCR DECR SAVE > UTILITIES OnTheFly COMMAND F5 JOINT 10 % FEEDBACK 200. In save mode. 1 UTILITIES 2 TEST_CYCLE UTILITIES OnTheFly JOINT COMMAND 10 % FEEDBACK 200. select save mode by pressing the F5 (SAVE) key.0 Volt 19.6.0 Amps 0.0 1800. 3 Press the F1.5 Volt 210. press the F3 (INCR) or F4 (DECR) key.0 Amps 0. 4 Select OnTheFly. 2 Select 1. UTILITIES. EXECUTING A PROGRAM B--81464EN--3/01 Procedure 6--19 Condition Welding tuning H The program must be running.0 R0B0T CM/MIN Group: 1 [ TYPE ] Equip: 1 INCR GROUP NOT SAVING DECR SAVE > HELP > 6 To change a programmed value.0 Amps 200.0 Volt 19.0 1800.5 Volt 210. The welding tuning screen is displayed. Changing a programmed value causes the feedback from the welding equipment to be displayed on the screen.0 Amps 200.0 R0B0T CM/MIN MENUS Group: 1 Equip: 1 NOT SAVING OnTheFly [ TYPE ] INCR DECR GROUP [TYPE] SAVE > HELP F1 5 To update the program with the results of tuning. H Arc welding must be in progress. 367 . the results of turning incorporated into the program.0 cm/m 0. Step 1 Press the MENUS key to display the screen menu.0 cm/m 0. [TYPE] key to display the screen change menu. 1 LEDs on the Teach Pendant 7.7 System Variables 7.11 Memory Use Status Display 368 .7.5 Arc Welding Status 7. j Contents of this chapter 7.3 Registers 7.8 Program Timer 7.6 Current Position 7. STATUS DISPLAY The user can check various statuses of the robot with status display.4 Position Registers 7. STATUS DISPLAY B--81464EN--3/01 7. Several types of screens are used for status display.10 Execution History 7.9 System Timer 7.2 User Screen 7. STATUS DISPLAY B--81464EN--3/01 7. *HOLD. HOLD STEP XYZ TOOL Figure 7--1.7. JOINT This LED goes on when the manual--feed coordinate system is a joint jog coordinate system. LEDs on the Teach Pendant FAULT HOLD STEP BUSY RUNNING WELD ENBL ARC ESTAB DRY RUN JOINT XYZ TOOL OFF ON 369 . WELD ENBL This LED indicates that the system is ready to start arc welding. This LED indicates that a program or other processing is being executed. this LED goes off. This LED goes on when the manual--feed coordinate system is a Cartesian jog coordinate system (jog coordinate system or cartesion coodinate system or user coordinate system). This LED goes off when the continuous operation mode is set. This LED goes on while the HOLD key on the teach pendant is pressed or while the peripheral I/O signal. LEDs on the Teach Pendant LED FAULT Description BUSY This LED indicates that an alarm has been issued. DRY RUN This LED lights during dry run mode. When the alarm is released. This LED goes on when the single step mode is set. RUNNING This LED indicates that a program is being executed. ARC ESTAB This LED indicates that arc welding is currently in progress. is applied. This LED goes on when the manual--feed coordinate system is a tool jog coordinate system.1 LEDs on the Teach Pendant The LEDs on the teach pendant indicate the following statuses: Table 7--1. the message remains on the screen.7. nothing is displayed on this screen.6.) Procedure 7--1 Step User screen display 1 Press the MENUS key. The message instruction is used to display a program message. 370 . see Subsection 4. NOTE Even after the program is forcibly terminated.” NOTE When a message instruction is not executed.14.2 User Screen The user screen displays messages from a program being executed. 2 Select “9 USER. STATUS DISPLAY B--81464EN--3/01 7. (For the message instruction. JMP LBL[1] CALL PRG_B ABORT [ INST ] [EDCMD ]> 371 Program A is repeated 11 times. then enter a desired value. then press the ENTER key.3 Registers A register is a variable for holding an integer or fraction. The register screen is used to display and set registers. the user can press the DATA key. b Select a comment input method. program B is executed.” Alternatively.1) -.” The register screen appears. d Upon completion of input. ” then select “DATA.Indirect specification of arguments (See Section 4. 1 2 ENTER DATA Registers R R R R R R [ [ [ [ [ [ JOINT 30% 1/200 1: 2: 3: 4: 5: 6: ] ] ] ] ] ] = 12 = 0 = 0 = 0 = 0 = 0 [TYPE] Programming example 7 Registers are used in programs when the following are specified: -.2) SAMPLE4 1: 2: 3: 4: 5: 6: 7: [End] JOINT 30 % 1/8 R[1]=0 LBL[1] CALL PRG_A R[1]=R[1]+1 IF R[1]<=10. instead of steps 1 and 2 above. DATA Registers R R R R R R [ [ [ [ [ [ JOINT 30% 1/200 1: 2: 3: 4: 5: 6: ] ] ] ] ] ] = = = = = = 0 0 0 0 0 0 [TYPE] WARNING Registers are used in a program. the program can be adversely affected. Procedure 7--2 Step Displaying register screen 1 Press the MENUS key to display the screen menu. c Press a desired function key. 2 Press “NEXT.” 4 Select “Registers. 6 To change the value of a register. Two hundred registers are provided. 3 Press F1 “TYPE. use the following procedure: a Move the cursor to a desired register number field. Otherwise. then program execution terminates. press the ENTER key.5. Never change the value of a register before checking how the register is used in the system. then enter a comment.Register instruction (See Section 4. STATUS DISPLAY B--81464EN--3/01 7. 5 To enter a comment.7. . move the cursor to the register value field. DATA Position Reg PR[ PR[ PR[ PR[ PR[ PR[ JOINT 30% 1/10 1: 2: 3: 4: 5: 6: ] ] ] ] ] ] [ TYPE ] = = = = = = * * * * * * RECORD POSITION CLEAR WARNING Position registers are used in a program. move the cursor to the position register value field. Otherwise. 6 To change the value of a position register. the user can press the DATA key. 3 Press F1 “TYPE” to display the screen change menu.” The position register screen appears. instead of steps 1 and 2 above. Procedure 7--3 Step Position register setting 1 Press the MENUS key to display the screen menu. press F3 “RECORD” while holding down the SHIFT key. NOTE In a multi--motion group system. the program can be adversely affected. -.” Alternatively. 5 To enter a comment. 372 .An asterisk (*) indicates that it does not. [ TYPE ] RECORD DATA Position Reg SHIFT F3 PR[ PR[ PR[ PR[ PR[ PR[ JOINT 30% 1/10 1: 2: 3: 4: 5: 6: [ TYPE ] ] ] ] ] ] ] = = = = = = R * * * * * RECORD POSITION CLEAR -. teaching a position register records the position data for all axes regardless of the current motion group. b Select a character input method.4 Position Registers A program register [option = position register] is a variable for holding position data. use the following procedure: a Move the cursor to a desired position register number field. then press ENTER key.“R” indicates that a position register already holds a taught value. The position register screen is used to display and set registers. then enter a comment. One hundred position registers are provided. press the ENTER key. 2 Press “0 NEXT. STATUS DISPLAY B--81464EN--3/01 7. 4 Select “Position Reg.” then select “3 DATA. Never change the value of a position register before checking how the register is used in the system. Then. c Press a desired function key.7. d Upon completion of input. 000 deg Y: -342. press F5.089 deg -10.895 mm R: 20.7.000 deg Z: 956. O. RECORD POSITION CLEAR Position Detail JOINT 30% PR[1] GP:1 UF:F UT:F CONF: FUT O X: 1500. YES NO DATA Position Reg JOINT 30% 1/10 PR [ 1:REF POSITION F4 ] = * PR[1] has been cleared [ TYPE ] RECORD POSITION CLEAR 9 To find out the current values of position data.895 mm R: 20.374 mm W: 40. then change joint placement data using the ↓ and ↑ keys. 1= * 1 Cartesian 2 Joint CONFIG DONE [REPRE] F5 Position Detail PR[1] J1 34.008 deg J3 -121. STATUS DISPLAY B--81464EN--3/01 7 To delete position data loaded into a position register. then enter a new value. move the cursor to the desired field. 373 . press F4 “POSITION. RECORD POSITION CLEAR DATA Position Reg F5 SHIFT JOINT 30% 1/10 PR [ 1:REF_POSITION ] = R PR[1] will be cleared.K ? YES NO 8 Select “YES.992 mm P: 10.” Move the cursor to a desired field. press F5 “CLEAR” while holding down the SHIFT key.[REPRE] and select the storage form.672 deg DATA Position Reg JOINT J4 J5 E1 30 % 27.503 deg 0.992 mm P: 10.000 deg DATA Position Reg 1/10 PR [ 1:REF POSITION ] = R Select Flip or Non-fliip by UP/DOWN key CONFIG DONE [REPRE] 11 To change the storage form of the position data.000 deg NOTE JOINT display is valid when the robot is adjusted to the zero--degree position or when non--kinematic operation such as table operation control is executed.000 deg DATA Position Reg 1/10 PR [ 1:REF POSITION ] = R F4 CONFIG DONE [REPRE] 10 To change the configuration.” The position data of the desired position register is cleared.” The position detail data screen appears. CONFIG DONE [REPRE] F3 Position Detail JOINT 30% PR[1] GP:1 UF:F UT:F CONF: FUT O X: 1500. To change a value.000 deg Z: 956. press F3 “CONFIG.374 mm W: 40.304 deg J2 56.000 deg Y: -342. 000 mm E2 100. Position Detail PR[1] UF:F UF:F E1 0.” CONFIG DONE [REPRE] DATA Position Reg F4 PR[ PR[ PR[ PR[ PR[ PR[ 1:REF 2:REF 3:REF 4:REF 5: 6: [ TYPE ] POS POS POS POS JOINT 1 2 3 4 30 % 1/10 ]=R ]=R ]=R ]=R ]=* ]=* RECORD POSITION CLEAR 14 The position register can be used in the program as the following case: -.Position register instruction and offset instruction.2) -. press F4 “DONE.5 and Section 4. press F2 PAGE.6) Programming example SAMPLE5 12: 13: 14:L 15: 16:L 17:L JOINT 30 % 1/8 LBL[1] OFFSET CONDITION PR[1] PR[2] 1000cm/min CNT100 Offset PR[3.3.etc.3.204 mm E3 -0.7. STATUS DISPLAY B--81464EN--3/01 12 To change the display to the additional axes (subgroup).Position data of motion instruction(See Section 4.6]=R[10] PR[3] 1000mm/s CNT100 PR[4] 1000mm/s CNT100 Offset [ INST ] [EDCMD]> 374 .894 mm DATA Position Reg CONF:NUT 000 1/100 PR[ 1: PR[ 2: PR[ 3: PR[ 4: PR[ 5: PR[ 6: Enter value ]=R ]=* ]=* ]=* ]=* ]=* PAGE CONFIG DONE [REPRE] 13 Upon completion of setting. (See Section 4. FEED BACK This item indicates the current feedback value of each item. 4 Select “Weld. STATUS Weld JOINT COMMAND 0. STATUS DISPLAY B--81464EN--3/01 7.” Alternatively. When not enabled. The indicated time can be reset to 0 by pressing F2 “RESET. Arc on time Indicates the total welding time.0 Volts 0.0 cm/min ON ON 0: 0: 0 H:M:S RESET HELP 375 . Arc Welding Status ITEMS DESCRIPTIONS COMMAND This item indicates specified values such as a voltage and current. Table 7--2. Arc detect Indicates whether an arc is detected.0 cm/min Arc enable: Arc detect: Arc on time [ TYPE ] 10 % FEEDBACK 0.0 Volts 0. the user can simply press the STATUS key.5 Arc Welding Status The arc welding status screen displays the current arc welding status. Arc enable Indicates whether arc welding is enabled. arc welding cannot be performed by issuing an arc welding instruction. 2 Select “6 STATUS. 3 Press F1 “TYPE” to display the screen change menu. instead of performing steps 1 and 2 above.” The arc welding status screen appears.7.0 Amps 0.0 Amps 0.” Procedure 7--4 Step Displaying the arc welding status 1 Press the MENUS key to display the screen menu. The meaning of each item and the number of items depend on the model of welding power supply and the number of analog input/output signals. Joint coordinates Joint coordinates represent the current position by the angular displacement from the base side of each axis. Joint Coordinate System Displaying joint coordinates POSITION Joint J1: J2: E1: JOINT 30 % Tool: 1 0. Figure 7--2. STATUS DISPLAY B--81464EN--3/01 7.6 Current Position The current position of the robot shows the location and the orientation of the robot in the work space.000 USER WORLD NOTE If the system has an additional axis. 4 STATUS 5 POSITION 6 SYSTEM MENUS 376 . Displaying Cartesian coordinates The current position represented in cartesian coordinates is defined by the tool frame which is defined on the wrist to specify the location and orientation of the tool . The current position can be represented in the cartesian frame and the joint frame.and the cartesian frame which is fixed in the work space.000 J2: 0.7. E2 and E3 indicate the position data of the additional axis.000 J5: ***** [ TYPE ] JNT 0. E1.000 J3: 0. Cartesian coordinates is represented by the world frame or the user frame. 992 w: 40.895 w: 40.To display joint coordinates. Cartesian coordinate system Z Z Tool coodinate system World coodinate system Y X Y Z Z User coodinate system 1 Y User coodinate system 2 X Y X X Displaying world coordinate system POSITION World Configuration: FUT O x: 1380.NEXT -- 4 STATUS 5 POSITION 6 SYSTEM 3 The current position screen can be also displayed by pressing the POSN key.000 p: -12.000 y: -380.000 r: 20.000 p: 10. STATUS DISPLAY B--81464EN--3/01 Figure 7--3.” -. 2 Select NEXT. -. press F2 “JNT.8--1) 377 WORLD .” -.7.374 y: -342.000 E1: ***** [ TYPE ] WORLD JNT USER Displaying the current position screen 1 Press the MENUS key to display the screen menu.PA (p.” .To display world coordinates. MENUS 9 USER 0 -.676 E1: ***** [ TYPE ] Procedure 7--5 Step JNT USER Displaying user coordinate system JOINT 30 % Tool: 1 z: r: 956.To display user coordinates.895 20. press F4 “WORLD. press F3 “USER. then select POSITION from the next menu.000 POSITION JOINT 30 % User Frame: 0 Tool: 1 Configuration: FUT O x: 1500.992 z: 956. 3 Press F1. Settings of the system are stored in the system variables. The system variable screen is displayed.7. injury or property damage could occur. Then the list of items which belongs to this variable is displayed. If a person without detailed knowledge attempts to set the system variables. WARNING The operation of the robot and control unit is controlled with system variables. 378 .move the cursor to the desired field and press the ENTER key after entering the value. SYSTEM Variables 1 2 3 4 5 6 7 8 9 10 $AP_MAXAX $AP_PLUGGED $AP_TOTALAX $AP_USENUM $AUTOINIT $BLT $CRT_DEFPROG $CSTOP $DEFPULSE $DEVICE JOINT 10 % 1/98 536870912 4 16777216 [12] of Byte 2 19920216 *uninit* TRUE 4 ’P3:’ [ TYPE ] 5 To change the settings of the system variables. Procedure 7--6 Step Displaying the system variable screen 1 Press the MENUS key. The screen select menu is displayed. Only a person who knows details of the influence of changes in system variables should set system variables. SYSTEM Variables 47 48 49 50 ENTER JOINT 10 % 49/98 $ORIENTTOL $OVRDSLCT $PARAM_GROUP $PASSWORD 10. then select SYSTEM. 2 Select NEXT. the robot and control unit would malfunction.[TYPE]. WARNING Power should be turned on again to make a new setting valid.7 System Variables All the system variables can be seen with the system variable screen. or select the desired item from the function labels 6 When one of the system variables has plural items which belong to this variable (hierarchical structure). Otherwise. press the PREV key.000 OVRDSLCT_T MRR_GRP_T PASSWORD_T SYSTEM Variables $PARAM_GROUP 1 $BELT_ENABLE 2 $CART_ACCEL1 3 $CART_ACCEL2 4 $CIRC_RATE 5 $CONTAXISNUM 6 $EXP_ENBL [ TYPE ] JOINT 10 % 49/98 FALSE 192 0 1 0 TRUE 7 To return to the upper layer. move the cursor to the desired system variable and press the ENTER key. 4 Select Variables. STATUS DISPLAY B--81464EN--3/01 7. 3). 379 . The program timer detail screen displays the following information: F Program name and line number for which a timer was started most recently F Program name and line number for which a timer was stopped most recently Figure 7--4. STATUS DISPLAY B--81464EN--3/01 7.7. MAIN1 ⋅ ⋅ ⋅ ⋅ 34 : TIMER[1]=STOP ⋅ ⋅ ⋅ ⋅ Program timers are indicated by using 4 STATUS/Prg Timer on the program timer screen. It also stops at forced termination and upon a halt. Ten program timers can be used as standard. A program timer can be started and stopped by using a timer instruction (see Section 4.14.8 Program Timer A program timer [option = hour meter] is a timer for measuring the execution time from one line to another in a program. Program Timer Measurement SUB3 ⋅ ⋅ ⋅ ⋅ 12 : TIMER[1]=START ⋅ ⋅ ⋅ ⋅ Measures the time from the start of a timer until it stops. and enter characters using function keys. 7 As the start program. [TYPE] to display the screen selection menu. Then. the program timer detail screen appears. PRG TIMER DETAIL JOINT Timer[1] Comment Count Start program line Stop program line [TYPE] :[ : :[ : :[ : 10% 1/1 TIMER TEST] 3. press F2 DETAIL.00(s)[ 0. STATUS DISPLAY Procedure 7--7 Step B--81464EN--3/01 Displaying program timers 1 Press the menus key to display the screen menu.00(s)[ Timer[1] Timer[2] Timer[3] Timer[4] Timer[5] Timer[6] Timer[7] Timer[8] Timer[9] [TYPE] JOINT 10% 1/10 ] ] ] ] ] ] ] ] ] DETAIL 5 To display detail information. position the cursor on the comment field.00(s)[ 0. and press the enter key. a program for which the timer was stopped most recently is indicated. NEXT. the program timer screen appears. 4 Select Prg Timer.20(sec) TEST] 1 TEST] 3 LISTING 6 To enter a comment.00(s)[ 0. PRG TIMER LISTING 1 2 3 4 5 6 7 8 9 count comment 3. Then.00(s)[ 0. and select 4 STATUS.20(s)[TIMER TEST 0.7. a program for which the timer was started most recently is indicated.00(s)[ 0. 2 Press 0. Select the input method. 380 .00(s)[ 0. 3 Press F1. As the stop program.00(s)[ 0. The times for four items are indicated. and enter a group number.2 Servo on time: 0.0[OFF] 0.0 [TYPE] GROUP# ON/OFF 10% 1/4 Lap(m) 0. [TYPE].0 Waiting time: 0. Table 7--3.0[OFF] 0. Program execution time.0[OFF] RESET 5 To switch between operation groups. and press F3 ON/OFF to switch the setting. 381 . The halt period is not included. 3 Press F1.7. press F2 GROUP#. position the cursor to a desired item.0[OFF] 0. 6 To enable or disable lap time measurement. Four types of timer are provided for each operation group. and press F4 RESET.2 Running time: 0. System Timer Display Item Description Power--on time Time during which the power to the control unit is on Servo--on time Operation time Time during which the system is ready for operation (servo on) after the release of an alarm. position the cursor to a desired item. 2 Select 4 STATUS on the next page. 4 Select Sys Timer. Procedure 7--8 Step Displaying the system timer screen 1 Press the menus key to display the screen menu. Then. Standby time Time required to execute a standby instruction To display the system timers. SYS TIMER JOINT GROUP:1 Timer type Total(h) On Power time: 0. the system timer screen appears. STATUS DISPLAY B--81464EN--3/01 7.9 System Timer A system timer [option = hour meter] is a timer for indicating the system operation time. 7 To reset the lap time. use 4 STATUS Sys Timer on the system timer screen. user key. is recorded in the execution history. starting from the oldest. NOTE You can not see the execution history of the program which is been executed. this function enables you to see the execution status of the program at power failure after the cold start is done in case that power supply was turned off for any cause while the program was executing. The maximum number of lines of execution history which can be recorded is 200.Not exec: The line was read but the line has not been executed. such as manual function.Done: The execution of the line has been completed. -. For example. not the macro name. If a program assigned to a macro is executed from the program edit screen. the execution history is not recorded. The following informations can be referred with the execution history screen. its execution history is not recorded. Note the following when you use this function: F When a macro is executed by using a method other than a program. and enables you to see the execution history after the program is finished or paused.7. When the maximum number of lines that can be recorded has been reached.FWD: The line was executed by forward execution. When the execution history exceeds the number of the lines which can be recorded.BWD: The line was executed by backward execution. F The execution history of a program that is automatically started at power on is not recorded.Aborted: The program was terminated. 382 .) F Direction of execution -. F Executed program name and line number (The status of the latest executed program is displayed at the first line. -.. -.Paused: The program was paused while executing the line. subsequent history data recording is performed by automatically erasing the recorded data. the older execution histories which exceed the limit are cleared automatically. etc. F Status of execution -. STATUS DISPLAY B--81464EN--3/01 7. F When a KAREL program is executed.10 Execution History The function of the program execution history records the execution history of the most recently executed or halted program. the assigned program name. -. 4 Select Exec--hist. Stat. PNS0001 3 FWD Done PNS0001 6 BWD Paused PNS0001 7 FWD Paused PNS0001 6 FWD Done PNS0001 5 FWD Done [ TYPE ] CLEAR NOTE If a single program has been executed. F2 NEXT TASK and F4 ALL CLEAR are not displayed on the execution history screen. the execution history of all the tasks can be cleared by SHIFT+F4 ALL CLEAR provided Abort is indicated for all the tasks. pressing F2 NEXT TASK displays the history of another task.CLEAR. 5 Only when the displayed status of a program is “Aborted”. 6 When multitasking is used. STATUS DISPLAY B--81464EN--3/01 Procedure 7--9 Step Displaying program execution history 1 Press the MENUS key. The execution history screen is displayed. Execution history JOINT 10 % Program name Line. The screen select menu is displayed. the execution history can be cleared by pressing SHIFT + F5. 2 Select STATUS from the next page. 383 .7. 3 Press F1.[TYPE]. 7 When multitasking is used. Dirc. 3 KB SYSTEM 985. the following screen appears on the teach pendant. Memory Status List Screen STATUS Memory JOINT 10 % Total Available Pools ---------------------TPP CMOS 550. A list screen displays the use status of program area. To display the previous screen. Explanation of each area is displayed by pressing F5.4 KB TEMP DRAM 1726.7.PR PERM: Used by .9 KB 1216.0 KB 540.8 KB 364.1 KB IEMP 255. HELP on both screens. STATUS DISPLAY B--81464EN--3/01 7. RD:. DETAIL. The display includes the following information: Table 7--4. BASIC. 384 .2 KB Hardware ----------------------------FROM 2.8 KB 364. NOTE This function indicates the use status of the memory. Options [ TYPE ] DETAIL HELP A detailed screen displays use status of all the areas mentioned above and displays the hardware information. press F2. To move from a detailed screen to a list screen.VR. TEMP Displays the use status of work area used by system software. PERM Displays the use of area to hold system variables and registers.0 MB S-RAM 1. permanent area and temporary area.11 Memory Use Status Display This screen displays the use status and hardware configuration of the control unit memory.8 KB 9.PC. Memory Status Detailed screen STATUS Memory JOINT 10 % Total Free Lrgst Free Pools ----------------------------TPP 550. .JB.VR.0 MB DRAM 4.0 KB PERM 999. press F2.2 KB FR FROM 1581.4 KB 364. .5 KB 1100. Options TEMP: Used by . Memory Use Status Display( Hardware ) ITEMS DESCRIPTIONS F--ROM Storage capacity of the F--ROM module used in control unit D--RAM Storage capacity of the D--RAM (RAM) module used in control unit S--RAM Storage capacity of the S--RAM (RAM) module used in control unit When the [STATUS memory] screen is selected.0 KB 540.9 KB 89. Memory Use Status Display( Pools ) DESCRIPTIONS ITEMS TPP Displays the use of area to hold programs.1 KB 9.5 KB Description: TPP: Used by . .0 KB PERM CMOS 999.0 KB 540. This screen indicates the information collected immediately before it appears.TP.2 KB 1213. Table 7--5.9 KB 1216. It does not change the use status.MR. SYSTEM Displays the use status for a part of the system software.0 MB (C-MOS) [ TYPE ] BASIC HELP To move from a list screen to a detailed screen.6 KB 89. . press PREV key.6 KB FR 1726. 3 Files 8. FILE INPUT/OUTPUT This chapter describes file transfer to and from a communication device. j Contents of this chapter 8.2 Setting a Communication Port 8.7 Automatic Backup 385 .4 Saving Files 8.8.6 Printing Files 8.1 File Input/Output Units 8.5 Loading Files 8. FILE INPUT/OUTPUT B--81464EN--3/01 8. 8. the following screen appears: Set Device LOAD [BACKUP] UTIL F5 JOINT 10% 1 Floppy disk 2 Mem Card (MC:) 3 4 FILE 1 * * (all 2 * KL (all 3 * CF (all 4 * TX (all 5 * LS (all 6 * DT (all Press DIR to generate [TYPE] [DIR] LOAD files) KAREL source) command files) text files) KAREL listings) KAREL data files) directory [BACKUP] [UTIL] > 4 Select a file I/O device to be used.2. which can greatly improve the work efficiency. FILE INPUT/OUTPUT B--81464EN--3/01 8. Procedure 8--1 Step Changing file I/O devices 1 Press MENUS to display the screen menu. 2 Select 7 FILE. An abbreviation for the currently selected file I/O device appears in the upper left part of the screen. The use of a memory card allows files to be saved and read quickly. 6 SETUP 7 FILE 8 FILE MC: *. When floppy disks are to be used. follow the steps shown below to change the file I/O device.1 File Input/Output Units With the robot control unit. the following file I/O devices can be used: F Memory card F Floppy disk The standard setting specifies the use of memory cards. The file screen appears. (See Section 8.) 386 . FILE FLPY: Abbreviation MC : FLPY : File I/O device Memory card Floppy disk FRA : Area used for automatic backup of the F--ROM in the controller NOTE When selecting FLPY:.* 1 * * (all 2 * KL (all 3 * CF (all 4 * TX (all 5 * LS (all 6 * DT (all 7 * PC (all 8 * TP (all 9 * MN (all 10 * VR (all Press DIR to generate [TYPE] [DIR] LOAD MENUS JOINT 10% 1/17 files) KAREL source) command files) text files) KAREL listings) KAREL data files) KAREL p-code) TP programs) MN programs) variable files) directory [BACKUP] [UTIL] > 3 Press F5 UTIL. Then. and select Set Device. set the floppy disk drive on the port setting screen beforehand. 1.1 Memory card With the robot control unit.8.1). Therefore. Memory Card Insertion Memory card insertion When a memory card is to be used. select the memory card according to the description of changing the file I/O devices (see Section 8. CAUTION Flash ATA memory card 1 It is recommended that files on a flash ATA memory card be backed up to media such as floppy disks to protect the flash ATA memory card contents against accidental loss. SRAM memory card 1 The SRAM memory card requires a backup battery. a flash ATA memory card and SRAM memory card can be used. the data on the card will be lost. Figure 8--1. always make a backup of the card contents. FILE INPUT/OUTPUT B--81464EN--3/01 8. When an SRAM memory card is purchased. 2 Once the battery in the SRAM memory card reaches the end of its service life. Always install the battery in the card before attempting to use it. 387 . the battery is not installed. 71 files maximum 2HD. you could damage the contents of the floppy disk. vision system. 71 files maximum Handy File 2HD. the device should be turned on after the robot is turned on. MS--DOS format 2DD. it must be formatted by the following method: Table 8--1. Before a new floppy disk can be used.5--inch. In addition. 388 . see Section 8. Table 8--2. select the floppy disk according to the description of changing the file I/O devices (see Section 8. FILE INPUT/OUTPUT B--81464EN--3/01 8.5--inch floppy disk is used. the device can be damaged. set the floppy disk drive used for communication port setting (see Section 8. otherwise.1. floppy disk drive.1).8. or other device is connected to the control unit. 2HD or 2DD Floppy Cassette adapter 2HD. Standard Settings for Floppy Disk Drives Speed Stop bit Parity bit Data code Floppy Cassette adapter 9600 baud 2 bit None ISO Time--out value 0 sec Handy File 9600 baud 2 bit None ISO 0 sec Handy FMS--DOS 9600 baud 1 bit None ISO 0 sec Device When a floppy disk is to be used. Port 1 on the disk drive is used for connection.2). (For communication port setting. CAUTION Do not eject the floppy disk from the external memory device accessing the floppy disk.) Table 8--2 lists the standard disk drive settings. FANUC format.2.2 External memory unit Two types of floppy disk drive (FDD) are available: F Floppy Cassette adapter (A16B--0150--B001) F Handy File (A16B--0159--B002) A 3. Otherwise. Format Specification of Floppy Disk Type of disk 3. MS--DOS format The disk drive is connected via the RS--232--C port. CAUTION If a printer. FANUC format. Button Function CLEAN Used to clean the head INIT Used to format a floppy disk RESET Used to release an alarm NOTE *1 Turned off when the disk is write protected. On On(*1) Ready (with write protection not applied) On Blinking The floppy disk is being formatted. Figure 8--2. Status Indicator LEDs and Switches Green Yellow Status Blinking alternately No floppy disk is inserted. refer to the “FANUC FLOPPY CASSETTE ADAPTER Operator’s Manual” (B--66040E). Floppy Cassette Adapter Status indicator LED ALARM OVER HEAT CLEAN INIT RESET ON OFF Power switch Alarm indicator LED Disk insertion slot Rotary switch Rotary switch setting For port setting on the Floppy Cassette adapter. On Blinking Data is being written. The standard settings for connection with the robot controller are “3. Port Setting on Floppy Cassette Adapter Speed Standard setting Stop bit 9600 Switch 2 bit (1)3 Parity bit None Number of files 71 (2)1 (3)0 (4)0 Status indicator LEDs The status indicator LEDs on the Floppy Cassette adapter indicate operation statuses. Green Yellow ALARM OVER HEAT Red CLEAN INIT Button RESET ON OFF Table 8--4. 0” from right side. rotary switches 1 to 4 on the side panel are used. Blinking simultaneously A file is being deleted. or the door is not closed.8. 389 Data code ISO . Blinking On The floppy disk is being cleaned.3 Floppy Cassette adapter The Floppy Cassette adapter is an external memory unit connected to the robot controller to save files stored in the internal memory of the controller to a floppy disk or read files from a floppy disk. 0. 1. For detailed information about the Floppy Cassette adapter (A16B--0150--B001).1. Table 8--3. FILE INPUT/OUTPUT B--81464EN--3/01 8. Blinking On(*1) Data is being read. press the RESET button. FILE INPUT/OUTPUT Procedure 8--2 Step B--81464EN--3/01 Setting of the Floppy Cassette adapter 1 Connect the Floppy Cassette adapter to the controller. 390 . press and release the RESET button while holding down the INIT button. then close the door. The green LED and yellow LED blink alternately. open the cover which is on the left side of the floppy cassette adapter and adjust the rotary switches. The green LED and yellow LED light to indicate that the Floppy Cassette adapter is ready for operation. Turning on the power to the Floppy Cassette adapter ALARM OVER HEAT Green Yellow CLEAN ALARM INIT Red RESET ON OVER HEAT OFF CLEAN Button INIT RESET POWER ON OFF OFF ON 3 Insert a floppy disk. If the disk is write protected. Yellow LED starts blinking to inform you of the start of initialization. Figure 8--4. 2 Turn on the power to the Floppy Cassette adapter. Setting ports 4 To set the port.8. the yellow LED does not light. CLEAN INIT RESET ON OFF 6 If an alarm is issued. NOTE The Floppy Cassette adapter cannot be used if the door is not closed. Rotary switches on the Floppy Cassette adapter RSW4 E D C B A F 0 1 9 8 7 2 3 4 5 6 RSW3 E D C B A F 0 1 9 8 7 2 3 4 5 6 RSW2 E D C B A F 0 1 9 8 7 2 3 4 5 6 RSW1 E D C B A F 0 1 9 8 7 2 3 4 5 6 Initializing the floppy disks 5 To format the floppy disks. Figure 8--3. communication with the robot controller might be broken during operation with the Handy File. the disk can be initialized without changing the protocol. Handy File Cable connector Power switch Display Keyboard Disk insertion slot The settings of the Handy file are as follows. After initialization. For detailed information about the Handy File (A16B--0159--B002). In this case. Figure 8--5. press the following keys on the Handy File: SHIFT WRITE SET END 391 .8. FILE INPUT/OUTPUT B--81464EN--3/01 8. After initializing it. set the protocol to ROBOT again. even though all the settings have been made correctly.use the protocol B. Table 8--5. refer to the “FANUC Handy File Operator’s Manual” (B--61834E). there are some differences between FANUC format and MS--DOS format. Port Setting for Handy File Setting item FANUC format MS--DOS format Protocol Protocol B Robot ISO parity bit exist none Speed 9600 baud 9600 baud Stop bit 2 bits 2 bits Parity bit none none Data code Receive ISO / EIA Receive ISO / EIA Send ISO Send ISO Channel RS--232--C RS--232--C Subprogram none none NOTE To initialize the floppy disk in MS--DOS format. NOTE When ROBOT is set as the protocol. set the robot as the protocol.1. When the FANUC format is set. In the way of setting.4 Handy file The Handy File is an external memory unit connected to the robot controller to save files stored in the internal memory of the controller to a floppy disk or read files from a floppy disk. press the ENTER key. END Select setting item #3 : Baud rate 8 Set all the setting items in the same way as the above. To select an item.8. press the END key. When all menu items have been set. The setting item menu appears. ENTER NOTE Use “1 Protocol B” to use FANUC format and Use “2 Robot” to use MS--DOS format. 7 Upon completion of protocol setting. 6 Select “1 Protocol B”. END No file Ready 392 . press the END key. RS--232--C interface connector 2 Turn on the power to the Handy File. then close the door. No file Ready Port setting 4 The setting menu is used for port setting. press the ENTER key. The Handy File is now ready for operation. FILE INPUT/OUTPUT Procedure 8--3 Step B--81464EN--3/01 Setting a Handy File 1 Connect the Handy File to the controller. Press the WRITE/SET key while holding down the SHIFT key. switch between menu items with the ↓ and ↑ keys. Select setting item #2 : Protocol 5 Select “#2: Protocol” to display the protocol setting menu. To select an item. switch between menu items with the ↓ and ↑ keys. 3 Insert a floppy disk. The setting item menu is displayed. WRITE SET SHIFT Select setting item #1 : Input/Output In setting. ENTER Protocol : #1 : Protocol B In setting. 393 . END No file Ready NOTE When you initialize the floppy disk in MS--DOS format. press the READ/FUNC key while holding down the SHIFT key. For this example. enter the maximum number of the files. Cleaning the head 17 The function menu is used to clean the head. Select function #2 : Cleaning 18 Press the START key to start cleaning the head. press the END key. END Select function #1 : Initialize FD 16 To terminate the function menu.8.” NOTE Only when the FANUC format is selected. READ /FUNC SHIFT Select function #1 : Initialize FD 11 Select “#1 : Initialize FD” to format the floppy disk. select Robot as the communication protocol again. >FUNC: SELECT FUNCTI. 7 1 ENTER Set number of file > Maximum = 71 Initialize FD : Press START key 14 Press the START key to start the formatting of the floppy disk. press the END key. To display the function menu. START Initialize FD : > Executing Initialize FD : > Complete 15 Upon completion of floppy disk formatting. enter “71. After initializing it. press the END key. 1. Set number of file > Maximum = 13 Set a maximum number of files. select Protocol B as the communication protocol. ENTER Select format of FD #1 : 2HD. Upon completion of head cleaning.02MB FANUC 12 Select a format. ! FD format error Initialize FD. FILE INPUT/OUTPUT B--81464EN--3/01 Formatting the floppy disk 9 When the floppy disk is not formatted. 10 The function menu is used to format the floppy disk. a message is displayed. Select “#2: Cleaning” to clean the head. port setting] on the port setting screen. FILE INPUT/OUTPUT B--81464EN--3/01 8. the RS--422 standard allows a cable to be extended to about 50 m. NOTE It is impossible to use port 3 (RS--232--C) and port 4 (RS--422) simultaneously.2 Setting a Communication Port The control unit performs data transfer to and from external devices through communication ports by performing serial communication via the RS--232C or RS--422 interface.) F Port 1: RS--232--C On the operator’s box (standard) F Port 2: RS--232--C JD5B connector on the main CPU printed circuit board F Port 3: RS--232--C JD17 connector on the main CPU printed circuit board F Port 4: RS--422 JD17 connector on the main CPU printed circuit board Figure 8--6. Communication ports are set by using [6 Setting. (Operator’s panel/box.3. The following communication ports are used. Table 8--6. F RS--422 is less susceptible to noise than RS--232C.2. When the robot control unit and a personal computer are connected via the RS--422 interface. Communication Ports Main CPU printed circuit board JD5A RS--232--C (port 1) JD5B RS--232--C (port 2) JD17 RS--232--C/RS--422 (port 3/port 4) Operator’s panel printed circuit board JNA10P Teach pendant RS--422 The use of the RS--422 interface has the following advantage: F While the RS--232--C standard supports a cable length of only about 10 to 20 m. Application example F When the communication cable must be routed over a long distance. see Section 2.8. a commercially available RS--422--to--RS--232--C converter may be required since personal computers do not generally have an RS--422 interface. use the RS--422 interface. Standard Communication Devices for Communication Ports Communication port Port 1 Port 2 Port 3 Communication device Handy File (FANUC format) Printer Not used 394 . NOTE The RS--422 interface uses electrical signals that are completely different from those of the RS--232--C interface. -.1. No use KCL/CRT Debug Console Factory Terminal TP Demo Device Current position Development CIM PLICITY NOTE When the communication device is changed.8. Stop bit This item specifies the number of stop bits to be added at the end of the transferred characters. this item sets a mode of vertical parity check. which adds one extra bit to each transferred character. -.None : No parity check is made. FILE INPUT/OUTPUT B--81464EN--3/01 Table 8--7. The standard communication devices that can communicate with the robot controller are listed below: F FANUC Handy File (A13B--0159--B002) NOTE The Handy File can be set to the MS--DOS or FANUC format.5 bits : One and a half stop bits are added. Later on. Time--out value (sec) Table 8--8. for data transfer synchronization. F F F F F F F F F F F F F Speed (Baud rate) FANUC FLOPPY CASSETTE ADAPTER (A13B--0150--B001) PS--100/200 Disk FANUC PRINTER (A86L--0001--0103) Sensor Fanuc Eye V120 Host Comm Used when the robot controller is connected to the host computer to use the data transfer function.1 bit : One stop bit is added. If no data transfer occurs for a specified period of time. the user can change each setting as desired. Enter the transmission rate specified for the peripheral unit being used. Setting a Communication Port ITEMS DESCRIPTIONS Device This item specifies a communication device to communicate with the robot controller. This item sets a maximum time during which control over transfer with a communication device must be exercised. Parity bit Enter the parity check mode specified for the peripheral unit being used.Even : The number of 1’s in each transferred character must be an even number. other settings such as a baud rate are changed to the corresponding standard values. -. -. Standard Settings for Communication Devices Speed Parity bit Stop bit Time--out value Handy File 9600 None 2 bits None Handy FMS--DOS 9600 None 1 bit None FANUC Floppy 9600 None 2 bits None Printer 4800 None 1 bit None Sensor 4800 Odd parity 1 bit None Host Comm 4800 Odd parity 1 bit None Factory Terminal 9600 None 1 bit None KCL/CRT 9600 None 1 bit None TP Demo Device 9600 None 1 bit None Device 395 . To detect an error in data transfer. -. Enter the number of stop bits specified for the peripheral unit being used.Odd : The number of 1’s in each transferred character must be an odd number. the communication line is disconnected. -. Baud rate is the transmission rate and it is the number of codes which can be transmitted per second.2 bits : Two stop bits are added. then press F4 [CHOICE]. 2 Select “6 SETUP. When the “Device” field is changed to another communication device. [CHOICE] 1 Handy File 2 FANUC Floppy 3 PS-100/200 Disk 4 Printer SETUP Port Init 1 Device F4 5 6 7 8 JOINT 30 % Sensor Host Comm No Use ---next page--[ Handy File] 7 Select a communication device whose settings need to be changed.8. [TYPE] DETAIL F3 SETUP Port Init 1 Device [ 2 Speed(Baud rate) 3 Parity bit 4 Stop bit” 5 Time out value(sec) [ TYPE ] LIST JOINT 30 % Handy File] [ 9600] [ None] [ 2bits] [ 0] [CHOICE] 6 To set a communication device. Select a desired communication device from the menu. the standard values for that device are entered in the other setting fields.” The port setting screen appears. move the cursor to the “Device” field. 5 I/O 6 SETUP 7 FILE SETUP Port Init Connector 1 RS-232-C MENUS [ TYPE ] JOINT Port P3: [ 30 % 1/3 Comment Handy File] DETAIL Port Init TYPE F1 5 Move the cursor to a desired connecter port field. 396 . set “No Use” in the corresponding field of communication equipment. NOTE To indicate that a port is not used. FILE INPUT/OUTPUT Procedure 8--4 Step B--81464EN--3/01 Setting a communication port 1 Press the MENUS key to display the screen menu.” 3 Press F1 “TYPE” to display the screen change menu.” The port selection screen appears. 4 Select “Port Init. When the communication device is entered. 1 Handy file 2 FANUC floppy 3 PS-100/200 floppy 4 Printer SETUP Port Init SETUP Port Init JOINT 30% PORT 1 Device [FANUC floppy ] 2 Speed (Baud late) [ 9600 ] 3 Parity bit [ None ] 4 Stop bit [ 2bits ] 5 Time out value (sec) [ 0 ] ENTER [ TYPE ] LIST [CHOICE] The other setting fields can be changed field by field. then press F3 “DETAIL. the standard values are entered in the other setting fields. In this case.3. [ TYPE ] LIST F3 SETUP Port Init Connector port 1 PORT [TYPE] JOINT 30% Comment 1/1 [FANUC floppy ] DETAIL NOTE When setting the communications device. the sensor interface option is required. F For setting a sensor. If a communication unit is set at port 4.“The port was not initialized. “Controlled Start”). set port 3 to “No use. using controlled start (see Appendix B. the error message. change the system variable $RS232_NPORT from 4 to 5 on the system variable screen. is needed. F It is impossible to use port 3 (RS--232--C) and port 4 (RS--422) simultaneously. enabling a communication unit to be set at port 4. data transfer. confirm the following. Port 4 is added to the port selection screen. F To set ”Host Comm” to the field of device.8. software option. The port selection screen displays all ports up to port 3 by default.” and refrain from using it.”.1.” The port selection screen appears. F Has the communication device to be set already been set for another port? ! The same communication device cannot be set for more than one port.may be displayed and the settings of the port are returned to the previous settings. 397 . To enable port 4 (RS--422). press F3 “LIST. FILE INPUT/OUTPUT B--81464EN--3/01 8 Upon completion of setting. 8.DF ) F System file (*.) F Registering a program (See Subsection 5. F Modification Date : Indicates the latest date when the program was modified.) A program file also includes the information items listed below.1 Program file A program file ( *. The default logic file is divided to the following kinds: F DEF_MOTN0.DF Stores the settings of the default motion instructions. and each application. -. A program file is automatically stored in the S--RAM of the controller.TP) F Default Logic File (*.DF F3 key -.DF) includes the settings of the default logic instruction assigned to each function key (F1 to F4 key) in the program edit screen. 8. The default logic files listed above and the default logic files listed below are switched by pressing the next page key. The following types of files are typically used.2 Default logic file The default logic file (*. Program instructions control robot operations.DF F2 key -. F1 key The following three files store the settings of the default logic instructions assigned to each function key.) F Changing program detail information (including the renaming of a program) (See Section 5. F Date file (*.DF F4 key 398 .DF_ARCWL. NOTE The directory of program files is not displayed on the file screen. On the program selection screen.5.MN) contains a sequence of instructions for the robot.3 Files A file is a unit of data storage in the memory of the robot controller.VR) Used to store data such as register data Used to store the settings of the system. F Comment : The function of a program is summarized.5. These information items can be checked on the program selection screen by pressing F5 [ATTR].3. see Section 5.3.) F Copying a program (See Section 5.1. FILE INPUT/OUTPUT B--81464EN--3/01 8. A directory of program files is displayed on the program selection screen (“SELECT”).DF_ARCST. F Write protection : This prevents the program from being modified and deleted.5. this information item is blank. peripheral devices.DF F4 key The following default logic files are prepared as standard for an application. and rename can be performed.IO ) Used to store the settings of Input/Output configuration.3.) F Deleting a program (See Section 5. F Copy source : The name of the source program from which the program was copied is indicated. The file screen enables you to select the external memory device which includes the desired files and manipulate the files. F DF_LOGI1. operations such as copy. F When an arc application is used.DF F3 key F DF_LOGI3. F Program file (*.8.5.DF_ARCED. (For program operations. delete. F Program size : The size of the program is indicated in bytes. the following files are provided. These instructions are called program instructions. When the program is an original program.SV) F I/O Config Data File (*.DF F2 key F DF_LOGI2. 399 .POSREG. ASCII files cannot be read.DT) This file is used to store those settings that are made on the robot setting screen.VR : Used to store the data of the position register. The contents of an ASCII file can. joint operating area and brake control.NUMREG. reference points.SV : Used to store servo parameter data F SYSMAST.SV: Used to store the settings of the system variables related to frames.VR : Used to store the data of the pallet register. however.VR. F FRAMEVAR.SV : Used to store the settings of the macro command.*.5 ASCII file An ASCII file (*.8. IO: Used to store the settings of the I/O assignment.SV F SYSMACRO. be displayed or printed using a personal computer. The following kinds are in the data file: F Data file (*.PALREG. -. (Only when position register software option is used.SV : Used to store the settings of the reference position which is used at setting the frame. : Used to store mastering data 8.) -.SV ) contains a system control program for operating the application tool software. 8. The file name varies depending on the model.VR) -. etc. FILE INPUT/OUTPUT B--81464EN--3/01 8.3.3. comments. The following types of system file are used: F SYSVARS. (only when the palletizing option is used) F I/O configuration data file (*.3.4 Data file Date file (*.LS) is in ASCII format.IO) is the file which stores the data used by the system. F SYSSERVO.IO) F Robot setting data file (*.DIOCFGSV.3 System file A system file ( *.VR : Used to store the data of the register. or contains data used with the system. -. Standard command file 8.) F Program selection screen: A specified program is saved to the default device as program files.1). Files are saved to the default device. -. of the program and the data. 2 Select NEXT and then select “1 SELECT” on the next page.1 Saving with the program selection screen The program selection screen enables you to save the specified program as the program file.Data file -. F File screen: The specified program file. and a correct port setting is already made (Section 8. system file. program files.Program file -.1.4 Saving Files The function of saving files stores the data which exists in the RAM memory in the controller to the external storage device such as a memory card or floppy disk.4. The following screens on the teach pendant can be used to save the files. (See Section 8.System file -. Procedure 8--5 Condition Requirements for saving program files H The file input/output device is set correctly.8.1. system files. etc. etc. etc. the floppy disk drive is ready (Section 8. (See Section 8. The following files can be saved: When a batched save operation is executed. FILE INPUT/OUTPUT B--81464EN--3/01 8.System file -. etc can be saved to the default device.) Step 1 Press the MENUS key to display the screen menu. The following files can be preserved: -. The program selection screen appears.) H When a program is to be saved to a floppy disk. 1 SELECT 2 EDIT MENUS Select 1 2 3 4 5 PROG1 PROG2 SAMPLE1 SAMPLE2 SAMPLE3 JOINT 30% 56080 bytes free 5/5 PR [PROGRAM001 ] PR [PROGRAM002 ] JB [SAMPLE PROGRAM1 ] JB [SAMPLE PROGRAM2 ] JB [SAMPLE PROGRAM3 ] [TYPE] CREATE DELETE MONITOR COPY DETAIL LOAD SAVE 400 [ATTR] > PRINT > .2.Standard command file F “5 SAVE” in the function menu: It is possible to preserve it on the default device as a program file and a system file. and application files can all be saved at the same time.Default logic file -.Default logic file -. displayed on the screen.Program file -. the save function cannot overwrite that file. 6 When the media is filled. Before a new file is saved. The program save screen appears. File already exists CAUTION If the current device already has a file having the specified name.>. and press F4. change the media and press F4. The specified program is saved to the floppy disk.CONTINUE. No room to save file CONTINUE CANCEL 401 . 5 When a program having a same name as you want to save exists in the specified media. LOAD SAVE PRINT > JOINT 30% 1 Words 2 Upper Case 3 Lower Case 4 Options Select F4 ---Insert--- ---Save Teach Pendant Program--Program Name [SAMPLE3 ] Enter program name PRG MAIN SUB TEST 4 Enter the name of a program to be saved.SAVE on the next page. then press the ENTER key. FILE INPUT/OUTPUT B--81464EN--3/01 3 Press NEXT. the current file should be deleted from the device. Select ---Save Teach Pend Program Name [SAMPLE3 ENTER NOTE Do not include a file extension in the program name.8. the file can not be saved. SV ) -.SV ) -. The following files can be saved by pressing F4.8.2 Saving all the program files using the file screen File screen enables you to save a program file or system file which is saved in RAM memory to a floppy disk.1). 2 Select “7 FILE. FCTN 2 SAVE Procedure 8--6 Condition Saving files using the file screen H The file input/output device is set correctly. and a correct port setting is already made (Section 8.VR) F Robot setting data file (*.Frame setup file (FRAMEVAR.2. BACKUP is displayed for F4. FILE INPUT/OUTPUT B--81464EN--3/01 8.1.) Step 1 Press the MENUS key to display the screen menu.SV) F I/O configuration data file (DIOCFGSV. press the PREV key while saving. BACKUP: F Program file (*.” The file screen appears.Servo parameter file ( SYSSERVO.Mastering data file ( SYSMAST.Macro data file ( SYSMACRO. F4 is set to ALL SAVE instead of BACKUP. NOTE At control start time.DF): Used to store the settings of default logic instructions.TP): Used to store all teach pendant program files.4. the floppy disk drive is ready (Section 8.) H When a program is to be saved to a floppy disk.DT) To interrupt the saving.System variable file ( SYSVARS. (See Section 8. F Default logic file (*.IO) F Register data file (NUMREG. 6 SETUP 7 FILE 8 MENUS FILE P3: *. When SAVE is selected from the function menu.SV ) -.* 1 * 2 * 3 * 4 * 5 * 6 * Press DIR to JOINT * (all KL (all CF (all TX (all LS (all DT (all generate [ TYPE ] [ DIR ] DELETE COPY files) KAREL source) command files) text files) KAREL listings) KAREL data files) directory LOAD DISPLAY 402 30 % [BACKUP][UTIL ]> > . F System file (*.SV ): Used to store the following files: -.SV ) -. SYSVARS.* Saving the following files to FLPY:\ DIOCFGSV.SV F4 403 . the following message is displayed.MN) is saved to the default device.IO FRAMEVAR.F4. default logic instruction). -.8.F2. 1 System files 2 TPE programs 3 Application LOAD BACKUP [UTIL] > F4 FILE Backup JOINT 30 % FLPY:\*.F5.TP already exists OVERWRITE SKIP CANCEL -. ALL Saves all the program files and default logic instruction files.F3.VR.SYSMACRO.SV SYSSERVO. After the file has been saved. YES NO Backing up to disk: FLPY:\SYSVARS..TP.SKIP Does not save the specified file.. 4 Select the desired function key.SV.YES.SV) are saved to the default device.F4 YES Saves the specified file (program. -. NUMREG. press F4. FLPY:\SAMPLE1.F3. -. In this case.SV SYSMACRO. F3 5 When a file which has the same name as you specified already exists on the default device.SYSSERVO.IO. FRAMEVAR. default logic instruction). then select “TPE programs.SV NUMREG.SV.SV. EXIT ALL Saving FLPY:\SAMPLE1. the system asks whether the next program file is to be saved. Saving the system file. FILE INPUT/OUTPUT B--81464EN--3/01 Saving program files 3 Press F4 “BACKUP”.SV Backup to disk? YES NO 7 To save all the system files.F5.” 1 System files 2 TPE programs 3 Application LOAD BACKUP FILE 7 8 9 10 [UTIL] > F4 * * * * PC TP MN VR (all (all (all (all JOINT 30% 1/13 KAREL p-code) TP programs) MN programs) variable files) Save FLPY:\SAMPLE1.TP ? EXIT ALL YES NO -.SYSMAST.SV. please wait. EXIT Ends saving program files -.CANCEL Ends saving files. The following file is displayed. NO Does not save the specified file (program.VR SYSVARS. System files (DIOCFGSV. 6 Press F4.SV SYSMAST.OVERWRITE The specified file is overwritten and saved. -. program file (*.SAVE and select System files. F4. FILE INPUT/OUTPUT B--81464EN--3/01 8 When the file having the same name as you want to save exists on the default device. CAUTION Before a batched save operation.CANCEL Saving files is ended. Processing is interrupted using the backward key.OVERWRITE The specified file is saved by overwriting. all files in the external memory unit are erased. -.F5. An interrupt occurs once the current file has been processed. exchange the floppy disk and press R4. backup all files? YES NO NOTE Since F4 BACKUP does not appear in the control start (not control start 2). YES NO F4 404 . change to empty disk CONTINUE CANCEL Batched save 10 Press F4 BACKUP. FILE JOINT 10% FLPY: *. Before executing a batched save operation. then all the data is saved.F3. Disk is full. 9 When the floppy disk is filled with files. FLPY:\SYSVARS. check the files in the external memory unit. all the files in the external memory unit are erased.* 1/17 1 * * (all files) 2 * KL (all KAREL source) 3 * CF (all command files) 4 * TX (all text files) 5 * LS (all KAREL listings) 6 * DT (all KAREL data files) 7 * PC (all KAREL p-code) 8 * TP (all TP programs) 9 * MN (all MN programs) 10 * VR (all variable files) Del Handy File.SKIP The specified file is not saved.8. batched save operation cannot be used. -. 11 When F4 YES is selected. then select ALL of above. the following message is displayed.SV already exists OVERWRITE SKIP CANCEL -.CONTINUE. Select JOINT 30 % 49828 bytes free 1/5 No.SV) F Positioning screen Mastering data file ( SYSMAST. the file can not be saved.3 Saving with a function menu By selecting SAVE from a function menu. 3 Select ”2 SAVE.TP) F System variable screen System variable file (SYSVARS.2. File already exists 5 When the floppy disk is filled with the files.VR ) F Position register screen Position register data file ( POSREG. the floppy disk drive is ready (Section 8.IP) F Edit screen for each default logic instruction. and a correct port setting is already made (Section 8. Step 1 Display the program edit screen or the program selection screen.1). change to empty disk.4. All the data being saved is saved into the exchanged floppy disk.SV ) F Macro instruction setting screen Macro data file ( SYSMACRO. The data of the following screens can be saved: F Program edit screen Program file (*.1. ( *. press the FCTN key.CONTINUE.SV ) F Register screen Register data file ( NUMREG.VR ) F I/O screen I/O configuration data screen ( DIOCFGSV. exchange the floppy disk and press F4. 1 QUICK/FULL MENUS 2 SAVE 3 PRINT SCREEN FCTN 4 When a program having the same name as you want to save exists in the floppy disk.) Saving program files. the data of a screen currently displayed can be saved to the floppy disk.8.) H When a program is to be saved to a floppy disk.DF) Procedure 8--7 Condition Saving with a function menu H The file input/output device is set correctly. (See Section 8.” A selected program file is saved. FILE INPUT/OUTPUT B--81464EN--3/01 8. Disk is full. CONTINUE CANCEL 405 .SV ) F Frame setup screen Frame setup data file ( FRAMEVAR. Program name Comment 1 PROG001 PR [PROGRAM001 ] 2 PROG002 PR [PROGRAM002 ] 3 SAMPLE1 JB [SAMPLE PROGRAM 1] 4 SAMPLE2 JB [SAMPLE PROGRAM 2] 5 SAMPLE3 JB [SAMPLE PROGRAM 3] [ TYPE ] CREATE DELETE MONITOR [ATTR ]> 2 To display a function menu. Each default logic instruction. the file is overwritten. All the data being saved is saved into the exchanged floppy disk.CONTINUE. exchange the floppy disk and press F4. 1 QUICK/FULL MENUS 2 SAVE 3 PRINT SCREEN FCTN 4 When a file having a same name exists on the media. 3 Select ”2 SAVE.” The contents of the screen being displayed are saved. Step 1 Display the screen you want to save. FILE INPUT/OUTPUT B--81464EN--3/01 Saving other files. DATA Registers R[ R[ R[ R[ R[ R[ JOINT 1:COUNTER1 2: 3: 4: 5: 6: 30 % 1/32 ]=12 ]=0 ]=0 ]=0 ]=0 ]=0 [ TYPE ] 2 Display the function menu by pressing the FCTN key. 5 When the floppy disk is filled with the files. FLPY-005 Disk is full DATA Registers JOINT 406 30 % .8. * 1 PRG1 TP 768 2 PRG2 TP 384 3 SYSVARS SV 25600 4 SYSMACRO SV 324 5 NUMREG VR 708 6 DIOCFGSV IO 476 7 * * (all files) 8 * KL (all KAREL source) DELETE COPY DISPLAY > WARNING Before a program set as a macro instruction is copied from a control unit onto another control unit. 3 Press F2. and a correct port setting is already made (Section 8. Procedure 8--8 Condition File manipulation H The file input/output device is set correctly.DT *. The file screen is displayed. the floppy disk drive is ready (Section 8. FILE JOINT 30 % FLPY: *. 6 SETUP 7 FILE 8 FILE JOINT 30 % FLPY: *.2. The program should be copied only when the lists match.LS *.1.* 2 *. files saved on a memory card or floppy disk can be listed and a file can be copied or deleted.[DIR].* 1 * * (all files) 2 * KL (all KAREL source) 3 * CF (all command files) 4 * TX (all text files) 5 * LS (all KAREL listings) 6 * DT (all KAREL data files) Press DIR to generate directory [ TYPE ] [ DIR ] LOAD [BACKUP][UTIL ]> FCTN DELETE COPY DISPLAY > Displaying the list of files. Otherwise. FILE INPUT/OUTPUT B--81464EN--3/01 8. 1 *.The list of the files being saved onto the media is displayed.KL 3 *.TX FILE 5 6 7 8 JOINT 30 % *. an unpredictable result will be produced and you could injure personnel or damage equipment. 407 .) H When a program is to be saved to a floppy disk.4.8. It should be ensured that the lists of the two control units match. the macro setting screens of the two control units should be compared.*”(all files). 2 Select 7 FILE.1).CF 4 *.4 File manipulation On the file screen. (See Section 8.) Step 1 Press the MENUS key.PC ---next page--- 4 Select ”*. The screen menu is displayed. TP? 384 768 25600 YES NO DISPLAY F1 NOTE Deleting a program from memory of the control unit does not automatically delete the identical program from the default media. Otherwise.DELETE.8. 6 Press F4. CAUTION The operator should check that the current device contains the file to be deleted. FILE JOINT 30 % FLPY:\*. The file will be deleted.* 3/19 1 PROGRAM1 TP 768 2 PROGRAM2 TP 384 3 <Deleted> 4 SYSVARS SV 25600 5 SYSMACRO SV 324 Deleted file FLPY:\PROGRAM3. an incorrect file can be deleted.YES. FILE INPUT/OUTPUT B--81464EN--3/01 Deleting files 5 Select the file you want to delete and press F1.TP DELETE COPY DISPLAY > 408 . 2 PROGRAM2 MN 3 PROGRAM3 MN 4 SYSVARS SV DELETE COPY Delete FLPY:\PROGRAM3. you should use the floppy disk which has been initialized according to the format of the computer. CAUTION Files saved in ASCII format on a FANUC format disk cannot be read into the personal computer.) Preparation for ASCII save operation Before an ASCII save operation. proceed to Operation 8--9 for ASCII save execution.(When it is converted to the internal expression by other option software on the personal computer. (See Section 8.1. which are saved to the floppy disk using this function. use the floppy disk with the Handy File after initializing it in MS--DOS format with the personal computer etc. it can be loaded into the controller. Therefore. Set the FANUC Handy File so the floppy disk initialized in MS--DOS format can be used. Necessary devices and software version The programs.(For details. If a printer is connected to a port. FILE INPUT/OUTPUT B--81464EN--3/01 8. Initializing floppy disks When a floppy disk which has been already initialized is prepared. the program which is saved to the floppy disk in ASCII format can not be directly loaded into the Robot controller. and so cannot be sent back to the robot controller. Settings of Handy File The software version of the FANUC Handy File needs to be 07G or more.2. Example for port setting of Handy File Setting items MS--DOS format Protocol Robot Speed 9600 baud Stop bit 1 bit Parity bit None Data code Receive ISO / EIA Send ISO Channel RS--232--C Subprogram None Select Handy F MS--DOS as the port settings on the R--J3 controller side and set the Handy File according to the above table. set the port to No Use.5 ASCII save ASCII save function saves the program which is saved in the robot controller in binary (internal) format to the external memory device in ASCII format.8. can be loaded to the personal computer and can be edited by it.4. check that no printer is connected to any port on the port setting screen.refer to FANUC Handy File OPERATOR’S MANUAL. When you want to use files in the floppy disk on the personal computer side. always use MS--DOS format. (Refer to the FANUC Handy File operator’s manual for operation) Or. File input/output device The ASCII save function saves a file of ASCII format to a file input/output device selected according to Section 8. Moreover. The floppy cassette adaptor cannot be used. Setting of robot controller Select Handy F MS--DOS as the port connected to the FANUC Handy File with the port setting screen.) A printer is connected to port 2 as standard. there is no need to initialize. 409 .) Table 8--9. perform the operation described below. When using other file input/output devices. When using the Handy File. This ASCII format is like the output of the printer. and a correct port setting is already made (Section 8.) 4 ALARM 5 I/O 6 SETUP SETUP Port Init JOINT Connector Port Comment 1 RS-232-C P2: [Handy File 2 PORT B P3: [Printer 3 JD17 RS-232-C P4: [No Use MENUS [ TYPE ] Port Init 30 % 2/3 ] ] ] DETAIL TYPE F1 [ TYPE ] DETAIL F3 LIST 1 Handy File 2 FANUC Floppy 3 PS-100/200 Disk 4 Printer SETUP Port Init 5 6 7 8 JOINT 30 % Sensor Host Comm No Use ---next page--- [CHOICE] F4 1 2 3 4 5 Device [Printer ] Speed(Baud rate) [4800 ] Parity bit [None ] Stop bit [2bit ] Time out value(sec) [ 0] [ TYPE ] LISE [CHOICE] 2 Press the MENU key to display the screen menu. Program name Comment 1 SAMPLE1 [Sample program 1] 2 SAMPLE2 [Sample program 2] 3 SAMPLE3 [Sample program 3] 4 PROG001 [Program001 ] 5 PROG002 [Program002 ] [ TYPE ] CREATE DELETE 410 MONITOR [ATTR ]> . The program directory screen appears.8.) Step 1 If a printer is set on the port setting screen. FILE INPUT/OUTPUT Procedure 8--9 Condition B--81464EN--3/01 Execution of ASCII save function H The file input/output device is set correctly. Select JOINT 30 % 49828 bytes free 3/5 No.1). set the port to No Use. 3 Select Select on the next page. the floppy disk drive is ready (Section 8.2.1. (See Section 8. (See Section 8.) H When a program is to be saved to a floppy disk.2. 2). In the same way. FILE INPUT/OUTPUT B--81464EN--3/01 4 Press PRINT on the next page. print data can be output as a file of ASCII format by print operation based on the auxiliary menu (Section 8. 411 . then press ENTER.8. LOAD SAVE PRINT > F5 Select 1 Words 2 Upper Case 3 Lower Case 4 Options Select --- JOINT 30 % --Insert-- Print Teach Pendant Program --- Program Name [SAMPLE3 ] Enter program name PRG MAIN SUB TEST 5 Enter the name of the program to be saved with the ASCII save function. Select --- Print Teach Pendant Program --ENTER Program Name [SAMPLE3 ] 6 The specified program is saved with the ASCII save function. The program print screen appears.6. A file is saved with extension LS. CAUTION If a program having the same name exists during a program read operation.SV and *. F File screen --The specified program files and system files can be loaded. Files stored in an external memory unit are read in the following order: 1 Files having the same names as those saved when System files is selected 2 Files having the same names as those saved when Application is selected 3 *.SV) -. the existing program is overwritten automatically.MN) -.IO ) NOTE Selecting F4 RESTOR on the file screen in the control start (not control start 2) enables batched read.DF.System file (*.TP.5 Loading Files Loading files is to load the files being saved to the floppy disk to the S--RAM memory in the controller.DF) -. The following files can be loaded.VR files are automatically read by selecting YES.Program file (*. The files can be loaded with the following screens on the teach pendant: F Program selection screen --The specified program file is loaded from the floppy disk as the program. and *.*.MN files in the external memory unit *. 412 .Default logic instruction (*.Data file (*. FILE INPUT/OUTPUT B--81464EN--3/01 8. -.8.VR. *. >. then press the ENTER key.1. LOAD SAVE PRINT > 1 Words 2 Upper Case 3 Lower Case 4 Options Select F3 ---Insert--- ---Load Teach Pendant Program--Program Name [ ] Enter program name PRG MAIN SUB TEST 4 Enter the name of a program to be loaded.1 Loading using program selection screen In the program selection screen. select function OVERWRITE -. PRG1 already exists. 5 When the program having the same name as you want to load exists in the memory. Program load screen is displayed. Program name Comment 1 SAMPLE1 JB [SAMPLE PROGRAM 1] 2 SAMPLE2 JB [SAMPLE PROGRAM 2] 3 SAMPLE3 JB [SAMPLE PROGRAM 3] 4 PROG001 PR [PROGRAM001 ] 5 PROG002 PR [PROGRAM002 ] 1 SELECT 2 EDIT MENUS [ TYPE ] CREATE DELETE MONITOR [ATTR ]> COPY SAVE DETAIL LOAD PRINT > 3 Press ”NEXT”. 413 CANCEL . Select JOINT 30 % 49828 bytes free 3/5 No.2. Procedure 8--10 Condition Loading a program file using the program selection screen H The file input/output device is set correctly. 2 Select ”0 ---. the specified program file can be loaded from the floppy disk as the program. Program selection screen is displayed. (See Section 8.8.) Step 1 Press MENUS key to display the screen menu. and press F3.LOAD. on the next page. A specified program is loaded from the default device.1).OVERWRITE Loads the new file and overwrites it.NEXT ----” and select ”1 SELECT” from the next page. Program Name PROG001 Enter program name ENTER PRG MAIN NOTE Do not include a file extension in the program name. the following message is displayed. FILE INPUT/OUTPUT B--81464EN--3/01 8. the floppy disk drive is ready (Section 8.5.) H When a program is to be saved to a floppy disk. and a correct port setting is already made (Section 8. 2 Select ”7 FILE” to display the file screen. and a correct port setting is already made (Section 8.1.1. The method of loading is the same as the program file.Frame setup data file( FRAMEVAR.2. F Default logic file (*.VR ) -.I/O config data file (DIOCFGSV.TP or *. 6 SETUP 7 FILE 8 MENUS FILE FLPY:\*.SV ) -.8.*.System variable file ( SYSVARS.MN) --Program file having contents of the program can be loaded.5. The following files can be read: F Program file (*.) Step 1 Press the MENUS key to display the screen menu.(See Section B. the floppy disk drive is ready (Section 8.Register data file ( NUMREG. (See Section 8.DF) --Default logic file having the settings of the default logic instruction can be loaded.Macro data file ( SYSMACRO.3.Servo parameter file ( SYSSERVO. ”Controlled start”) -.2.1).SV ) Procedure 8--11 Condition Loading a program file using the file screen H The file input/output device is set correctly. F Data file (*.Position register data file ( POSREG.) H The file is saved to a floppy disk (Section 8. However.IO ) --The following data file can be loaded. -. system files can be loaded only at the controlled start.SV ) -.) H When a program is to be saved to a floppy disk.SV ) -.SV ) --The following system files can be loaded.2 Loading a specified program file using the file screen In the file screen. FILE INPUT/OUTPUT B--81464EN--3/01 8. the specified file is loaded from the default device to the memory.VR ) -.SV ) -.VR.Mastering data file ( SYSMAST.* 1 * * (all 2 * KL (all 3 * CF (all 4 * TX (all 5 * LS (all 6 * DT (all 7 * PC (all 8 * TP (all 9 * MN (all 10 * VR (all Press DIR to generate [ TYPE ] [ DIR ] LOAD DELETE COPY DISPLAY 414 JOINT 30% 1/13 files) KAREL source) command files) text files) KAREL listings) KAREL data files) KAREL p-code) TP programs) MN programs) variable files) directory [BACKUP][UTIL ]> > .IO) F System file (*. TP. -.DF *.SV 5 6 7 8 * * * -- JOINT 30 % 1/17 1 PROGRAM1 TP 768 2 PROGRAM2 TP 384 3 TEST1 TP 6016 4 TEST2 TP 704 5 * * (all files) 6 * KL (all KAREL source) [ TYPE ] [ DIR ] LOAD [BACKUP][UTIL ]> 5 Move the cursor to the program file you want to load and press F3.* 2 *.CF 4 *.TX FILE F2 5 6 7 8 1 *.DT *.” [ TYPE ] [ DIR ] LOAD 1 *. Prev to exit.VR *.TP 3 *. Loaded PROGRAM1. The directory of program files stored on the default device is displayed.TP already exists OVERWRITE SKIP CANCEL -.IO *. the following indication is provided: PROGRAM1.8.VR 4 *. FILE INPUT/OUTPUT B--81464EN--3/01 Loading a program file 3 Press F2 “DIR.LOAD. FILE 8 * 9 * 10 * JOINT 30% 8/13 TP (all TP programs) VR (all variable files) SV (all system files) Press DIR to generate directory [TYPE] [DIR] LOAD [BACKUP] 415 [UTIL] . F3 Selected program is loaded from the default device. [ TYPE ] [ DIR ] LOAD Loading PROGRAM1.LS *.MN 2 *.TP *.TP” (program file).KL 3 *.SV FILE 5 6 7 8 JOINT 30 % *.PC ---next page--- JOINT 30 % *.SKIP Skips to the next file.ASCII Files ---next page--- 4 Select “*. FILE 1 2 3 4 *.MN *.TP 6 If a program with the same name already exists in the RAM.OVERWRITE Loads the new file and overwrites it. MN 3 *. Prev to exit.SV FILE 1 NUMREG VR 2 POSREG VR 3 * * 4 * KL 5 * CF 6 * TX [ TYPE ] [ DIR ] JOINT 30 % 1/15 868 1024 (all files) (all KAREL source) (all command files) (all text files) LOAD [BACKUP][UTIL ]> 10 Select a program file you want to load and press F3. FILE INPUT/OUTPUT B--81464EN--3/01 7 If you want to load a group of program files. Loaded data is set as the current data.VR 4 *.TP” and press F3. [ TYPE ] [ DIR ] LOAD Loading NUMREG.VR.8.VR ENTER 4 *. When the PREV key is pressed.VR”.LOAD.TP 2 *. Loaded NUMREG. The directory of variable data files stored on the default device is displayed. LOAD.MN 3 *. DIR.LOAD. Select a program to be loaded. select ”*. the operation is canceled after the file being loaded at this time is loaded. The selected program is loaded from the default device.VR” (variable data file). [ TYPE ] [ DIR ] LOAD F3 Loading a data file 8 Press F2. F3 The specified program is loaded from the default device.etc and press F3. FILE JOINT 30 % 9/13 8 * MN (all MN programs) 9 * VR (all variable files) 10 * SV (all system files) Press DIR to generate directory [ TYPE ] [ DIR ] LOAD [BACKUP][UTIL ]> 416 .SV FILE 5 6 7 8 JOINT 30% *. Sub--menu is displayed.”*. Directory Subset 1 *.VR 11 If you want to load all the files which have the same extension.IO ASCII Files Loadable Files ---next page--- 9 Select “*. Select ”*.IO”. [TYPE] [DIR] LOAD F2 Directory Subset 1 *.TP 2 *. ”Controlled start”) The following simplified system starts. When you press the PREV key while the system files are loaded by selecting ”*.SV JOINT 30% 5 6 7 8 ---next page--- 14 Select “*.TP 2 *.MN 3 *.1.SV” (system variable data file).8. FILE INPUT/OUTPUT B--81464EN--3/01 Loading system variable files Condition H Turn on the power by controlled start (See Section B. loading continues until the file being loaded at pressing the PREV key has finished loading.3.* 1 SYSVARS 2 SYSSERVO 3 SYSMAST 4 SYSMACRO 5 * 6 * CNTRL START MENU 1/17 SV SV SV SV * KL [ TYPE ] [ DIR ] 768 384 6016 704 (all files) (all KAREL source) LOAD [BACKUP][UTIL ]> 15 Select the file you want to load and press F3. 1 Variables 2 File 3 FILE FLPY: *.* 1 * 2 * 3 * 4 * 5 * 6 * Press DIR to MENUS * (all KL (all CF (all TX (all LS (all DT (all generate [ TYPE ] [ DIR ] LOAD CNTRL START MENU 1/13 files) KAREL source) command files) text files) KAREL listings) KAREL data files) directory [BACKUP][UTIL ]> 13 Press F2 “DIR” to display the submenu. then select “2 File. FILE FLPY: *.SV”.VR 4 *. The list of the system files which are saved to the default device is displayed.LOAD. SYSTEM Variables 1 2 3 4 5 6 CNTRL START MENU 1/98 536870912 4 16777216 [12] of Byte 2 19920216 $AP_MAXAX $AP_PLUGGED $AP_TOTALAX $AP_USENUM $AUTOINIT $BLT [ TYPE ] 12 Press the MENUS key. [TYPE] [DIR] LOAD F2 Director Subset 1 *. [TYPE] [DIR] LOAD F3 417 .” The file screen appears. TEST LINE 0 FILE CONTROLLED START MENUS FLPY: *. Normally. select YES. 418 . Then. An interrupt occurs once the current file has been processed. Processing is interrupted using the backward key. the read operation starts. 2 Select F4 RESTOR. it is necessary to specify whether conversion is to be performed to maintain compatibility with the old system. select “1 START (COLD)” from the function menu. Then. The system is cold started. FILE INPUT/OUTPUT B--81464EN--3/01 16 When a system file is read.8. 3 A message asking the user for confirmation appears on the prompt line.* 2/17 1 * * (all files) 2 * KL (all KAREL source) 3 * CF (all command files) 4 * TX (all text files) 5 * LS (all KAREL listings) 6 * DT (all KAREL data files) 7 * PC (all KAREL p-code) 8 * TP (all TP programs) 9 * MN (all MN programs) 10 * VR (all variable files) Restore from Handy File(OVRWRT)? YES NO 4 Select F4 YES. Convert ? YES NO F4 17 Turn off the power again. 1 START (COLD) 2 FCTN Batched read Step 1 Select a file screen in the control start (not control start 2). Connection of Communication Cable to Controller 419 Data code ISO Time--out value 0 sec . data file.6 Printing Files 8. FILE INPUT/OUTPUT B--81464EN--3/01 8. desktop dot--matrix printer which can print at high speed. see Section 8. Device Printer Standard Port Setting for the Printer Speed 4800 baud Stop bit 1 bit Parity bit None Figure 8--8.6.8.) Port 2 is located on the rear of the operator’s box. FANUC Printer Power switch LINE FORM FEED FEED TOP SET SELECT ALARM POWER The Printer must be connected to an RS--232--C port.2. system variable. A FANUC standard printer is available for connection with the robot controller. and so forth.1 Printer The printer prints out the contents of a program. F FANUC Printer (A86L--0001--0103) The FANUC PRINTER is a serial. Table 8--10. (For communication setting. Figure 8--7. the printer is used by connecting it to port 2. Normally. refer to the “FANUC Printer Operator’s Manual. Functions when the local state is set. Status Switch POWER Turns on and off the power. FORM FEED LINE FEED For detailed information about the FANUC Printer (A86L--0001--0103). FILE INPUT/OUTPUT Table 8--11. The SELECT lamp lights. SELECT 420 .8. So position the form on the first line. B--81464EN--3/01 Functions of LEDs and Switches LED indication Status POWER (green) Is lit when the power goes on. 3 Set an ink ribbon cartridge and form. Power connector RS--232--C interface connector 2 Turn on the power to the Printer. This switch advances the form one line. and goes off in the local state. This switch feeds the form to the first line of the next page.” Procedure 8--12 Step Operating the Printer 1 Connect the Printer to the controller. TOP SET Functions when the local state is set. Press the SELECT switch to set the receive state. SELECT (green) Is lit in the receive state (SELECT). The position of the first line is memorized. ALARM (red) Lights when a form is used up. Functions when the local state is set. SELECT Switches between the receive state and local state. The SELECT switch is used to switch between the receive state and local state. ) H The Printer must be connected to the controller.System variable screen: System variable data NOTE If the control unit is not connected to a printer but to a PC or disk drive. Select 1 2 3 4 5 PROG001 PROG002 SAMPLE1 SAMPLE2 SAMPLE3 JOINT 30% 56080 bytes free 3/5 PR [PROGRAM001 ] PR [PROGRAM002 ] [SAMPLE PROGRAM1 ] [SAMPLE PROGRAM2 ] [SAMPLE PROGRAM3 ] [TYPE] CREATE DELETE MONITOR COPY DETAIL LOAD SAVE [ATTR] > PRINT > 3 Press F5 “PRINT” on the next page. (See Sections 8. press the PREV key. Program Name SAMPLE3 Enter program name ENTER PRG MAIN SUB 5 The specified program file is printed out. Procedure 8--13 Condition Printing files using program selection screen H Communication port setting must be completed.6. FILE INPUT/OUTPUT B--81464EN--3/01 8. the operator should check that the current printer is a serial printer. The image being displayed on the teach pendant screen can also be printed out (print screen). The program selection screen appears. To stop printing. F Program selection screen: Can print the program files. the control unit or printer could be damaged.LS on the device. The program print screen appears.1. Printing files can be executed by the following screens.5. 421 . CAUTION Before starting to print a file.2 Printing files The contents of a file stored in the RAM can be printed out.2 and 8. If not. Printing out a program file using the program selection screen Step 1 Press the MENUS key to display the screen menu.8. 2 Select “1 SELECT” on the next page. -. LOAD SAVE PRINT > F5 JOINT 30% 1 Words 2 Upper Case 3 Lower Case 4 Options Select ---Insert--- ---Print Teach Pendant Program--Program Name [SAMPLE3 ] Enter program name PRG MAIN SUB TEST 4 Enter the name of a program file to be printed out. printing creates a file TPSCRN. F ”4 PRINT” on the second page of the FCTN menu: Can print the contents of the following screens: -. then press the ENTER key.Program edit screen: Program detail information and contents of program. To interrupt printing. SAMPLE1 1:J 2:J 3:L 4:L 5:J [End] POINT Step JOINT P[1] P[2] P[3] P[4] P[5] 10% 1/6 100% FINE 70% CNT50 1000mm/sec CNT30 500mm/sec FINE 100% FINE SINGLE DUAL BACKUP TOUCHUP > 1 Press the function key to display the miscellaneous function menu. FILE INPUT/OUTPUT Procedure 8--14 B--81464EN--3/01 Printing using the miscellaneous function menu Program printing Condition H The program edit screen is displayed. and select 4 PRINT.NEXT -- 3 PRINT SCREEN 4 PRINT 5 FCTN 3 The currently displayed program is printed.8. 9 0 -.NEXT ----. then select 4 PRINT. To interrupt system variable printing. 422 . 2 Press 0 ---. 9 0 -. SYSTEM Variables 1 2 3 4 5 6 JOINT 10% 1/98 536870912 4 16777216 [12] of Byte 2 19920216 $AP_MAXAX $AP_PLUGGED $AP_TOTALAX $AP_USENUM $AUTOINIT $BLT [TYPE] Step 1 Press the function key to display the miscellaneous function menu. press PREV key.NEXT -- 3 PRINT SCREEN 4 PRINT 5 FCTN 3 A list of system variables is printed. 2 Press 0 NEXT. NOTE It takes at least three hours to print all the system variables. press the backward key. System variable printing Condition H The system variable screen is displayed. press the PREV key. and perform steps 1 and 2 above. SYSTEM Variables 47 48 49 50 $ORIENTTOL $OVRDSLCT $PARAM_GROUP $PASSWORD SYSTEM Variables $PARAM_GROUP 1 $BELT_ENABLE 2 $CART_ACCEL1 3 $CART_ACCEL2 4 $CIRC_RATE 5 $CONTAXISNUM 6 $EXP_ENBL JOINT 10% 49/98 FALSE 192 0 1 0 TRUE ENTER [TYPE] Procedure 8--15 Condition Step Printing the displayed screen ( print screen ) H The desired screen to be printed out is displayed. 423 . to print the system variables in $PARAM_GROUP. open the screen of the target level. 1 Press the FCTN key to display the function menu and select “3 PRINT SCREEN. ”¥” is printed as the part of the highlight display on the teach pendant. for example.8. FILE INPUT/OUTPUT B--81464EN--3/01 4 To print only lower level system variables. To stop printing.” 2 3 PRINT SCREEN 4 PRINT FCTN 2 The displayed screen is printed out. since it is previously initialized. FILE INPUT/OUTPUT B--81464EN--3/01 8. (Default is 2. No incomplete backup file is left in the storage unit.) F The memory card (MC:) and the automatic backup area (FRA:) of F--ROM in the control unit can be specified as a backup copy destination.7. NOTE 2 The required storage capacity is “(program size + 200 Kbytes) ¢ (number of backup copies + 1). The number of versions to keep can be set from 1 up to 99. NOTE This function automatically saves all files. Type Recommended product Flash ATA memory card PCMCIA Flash ATA Card manufactured by SanDisk and sold by I--O Data Device.8. or automatic backup is stopped immaturely. if an attempt is made to cause a backup copy to be automatically created on a memory card that has not be initialized for automatic backup. the latest backup copy is automatically restored into the system. Even if you backup the wrong programs or settings. 13 backup copy versions of it can be made on a 10--Mbyte memory card. 424 .The specified DI is turned on. Compact flash memory card + PC card adapter CompactFlash MEMORY CARD manufactured by SanDisk CompactFlash PC CARD ADAPTER manufactured by SanDisk SRAM memory card Available from FANUC. It is recommended to use the Flash ATA or CompactFlash memory card for this function. The FRA: need not be initialized. NOTE 3 If a memory card other then those recommended is used. and the latest backup file can be read at any time. you can load the previous version of backup.” If the size of a program is 500 Kbytes. A87L--0001--0150#256K (with a capacity of 256 Kbytes) A87L--0001--0150#512K (with a capacity of 512 Kbytes) A87L--0001--0150#1M (with a capacity of 1 Mbyte) A87L--0001--0150#2M (with a capacity of 2 Mbytes) NOTE 1 The SRAM card will lose its contents when the life of its built--in battery expires. 8. -. The FRA: is specified by default. If the storage device used for automatic backup becomes faulty.1 Overview of Automatic Backup F Automatic Backup function performs the transaction of “all backup” in File menu automatically at the following timing. Therefore. Inc.7. F Automatic Backup function can manage many versions of backup in one device. a normal operation is not guaranteed. its content will not be lost.) F A storage device to be used for automatic backup need be previously initialized for automatic backup. Neither the Flash ATA memory card nor the CompactFlash memory card need batteries. and a bad influence may occur on the control unit. -. (Interval can be specified.7 Automatic Backup 8. the data saved in it may not be read. F If the control unit is turned off during automatic backup. Automatic backup will not be performed for any external storage device that has not been initialized for automatic backup. In case such an unforeseen accident takes place.The specified time (Up to 5 settings) -.Start up of the controller.2 Usable Memory Cards The following table lists memory cards usable for automatic backup. it is necessary to save backups to another storage device such as a memory card as well. The period range is 7 days by default. The interval can be set. The unit of interval can be selected from “Day. Please enter the number (1 to 99) of versions to keep. Initializing of the storage device * To use Memory Card for Automatic Backup. Up to 5 settings. (2) Press F2 (INIT_DEV) (3) Message “Initialize the device for auto backup?” is displayed. Please format the device in file menu ( F5 (UTIL)→“Format”) 425 . or when error occurs at backup. Automatic Backup works only when it is ENABLE. no backup copy is made at power--on time. press F4 (CLEAR). It is to protect to write to the other Memory Card. If the default value is left unchanged. NOTE INIT_DEV deletes all files in the device. (4) Message “Enter number of versions to keep:” is displayed. (→8.8.” If the “Interval” is reset to 0. Default is “Backup (FRA:)” [TY PE]INIT DEV Settings to manage versions of backup. and create the special files and directories. If the date of the latest backup copy in the storage device is within a period range (specified in “Interval”) from the current date.” “Time.3 Setting of Automatic Backup MENU→“7 FILE”→F1([TYPE])→“Auto Backup”. since it is previously initialized. Press F4 (YES).6 Restore the backup) Current status of the device is displayed. the Memory Card must be initialized for Automatic Backup.7. (If index is 0. (→8. The status of device is displayed in ”Status” line. Set the time to backup. Pressing only the enter key sets the number of backup copy versions to 2.4 Perform Automatic backup) CLEAR Power--on time backup If “Backup at Power up” is enabled.” and “Minute. it is disabled.7. The FRA: need not be initialized. backup is performed at start up. AUTO BACKUP JOINT 100% 1/ 13 1 Automatic Backup: ENABLE 2 Device: Backup (FRA:) Status: Ready for auto backup Backup Schedule------------------------3 Backup time 1: 12:00 4 Backup time 1: 23:30 5 Backup time 1: **:** 6 Backup time 1: **:** 7 Backup time 1: **:** 8 Backup at DI rising: DI[ 0] 9 Backup at Power up: DISABLE 10 Interval: 7 Day Status Output--------------------------11 Backup in progress: DO[ 0] 12 Error occurs at backup: DO[ 0] Version Management---------------------13 Maximum number of versions: 1 14 Loadable version: 01/01/30 12:00 Device to save. The following menu is displayed. When the specified DI is turned on.5 Version management) (→8. (1) If the device is not formatted. The specified DO is turned on when backup is performed. NOTE INIT_DEV does not format the device. a backup copy is made when the power is turned on.7.7. To clear setting. FILE INPUT/OUTPUT B--81464EN--3/01 8. Ready for auto backup Device is initialized for automatic backup Device is not ready! Device is not ready or device is not initialized for automatic backup Device is initialized by the following operation. please format the device in file menu. If it is ENABLE. a back--up copy is made every time the power is turned on. a backup copy is made at power--on time once every 7 days provided that “Backup at Power up” is enabled. backup is performed. The number of versions exceeds the specified number. backup is cancelled and the previous menu is displayed. AUTO BACKUP JOINT 100 % 1/9 Automatic backup in progress Please wait Device: FRA: To stop backup. Please wait for Automatic backup is completed. the robot will not enter an alarm state. FILE INPUT/OUTPUT B--81464EN--3/01 8. backup is performed again. If it is impossible to hold a specified number of backup versions on a memory card because of an insufficient storage capacity.7. If a program is already running. the menu is displayed. And you can change the number of versions to keep by the item “Maximum number of versions” anytime.8. F If an attempt is made to perform automatic backup during program execution. Any key except PREV is not accepted while automatic backup is performed. Also in this case. an error is detected during automatic backup execution. F If the backup--in--progress signal is set. for example. this menu is displayed and any key except PREV is not accepted. it continues running. an error is detected during automatic backup execution. SV (3/48) F While automatic backup is performed. the specified signal becomes on while this menu is displayed. F By pressing F5(RETRY). the oldest version is deleted automatically. the specified signal becomes on while this menu is displayed. In this case. when automatic backup is performed. press [PREV] key. F In this case. 8. the oldest backup version is deleted automatically.4 Perform Automatic backup When the specified condition is satisfied.” 426 . If the device is FRA: If the size of a free storage area in F--ROM in the control unit becomes smaller than 1 Mbyte. the previous menu is displayed. F Even if you are using Teach Pendant. it is performed while the program is running.7. Specify an appropriate number of backup versions by assuming the storage capacity required to hold one backup version is “program size + 200 Kbytes. F If you press PREV key. because no memory card has been inserted. press [PREV] key Saving File Saving MC:SYSVARS. It is also possible to start a program from the outside during backup. F If a backup error signal is set. AUTO BACKUP JOINT 100 % 1/9 Error occurred at Automatic Backup! Check device (FRA:) To stop backup. F Pressing the PREV key resumes the previous menu.5 Version management Automatic Backup function can keep many backups in one device. The number of versions to keep is set at initializing the device. the number of back versions actually held becomes smaller than “Maximum number of versions. automatic backup is performed. it is possible to start a program from the outside.” If the size of a free storage area in F--ROM is too small to hold an additional backup version. Reason why backup is impossible RETRY F This menu appears if backup is impossible. When automatic backup is completed. pressing all of above on the file menu of the controlled start menu enables all backup files to be read simultaneously. or backup is stopped prematurely. You can load the previous version by the following operation. the files of the selected version of backup are copied to root directory. The menu that contains the backup time of all versions in the device is displayed. and the last backup version selected is restored to the root directory. You can also load the older versions.” it cannot be restored by increasing the value. Backup is stored in individual sub directories. decrease the value specified in “Maximum number of versions. FILE INPUT/OUTPUT B--81464EN--3/01 If an error is detected because of an insufficient storage area during automatic backup. (1) Press F4 (CHOICE) on the “Loadable version” item. thus increasing a free area in the storage device. When automatic backup is performed. Usually the latest version of backup is in root directory and the version can be loaded by file menu. Once a backup version is deleted by decreasing the value specified in “Maximum number of versions. Pressing all of above on the file menu of the controlled start menu enables all files to be read simultaneously. the files are copied to the appropriate sub directory as same as automatic backup.7.7. then the item “ Loadable version ” shows the time of the selected version. (3) You can load the files of the selected version in file menu. 427 . 8. File menu can access the files only in root directory. (→ 8. all backup files created during the current backup session are deleted.6 Restore the backup Backup files saved by Automatic Backup can be loaded by file menu. If the control unit is turned off during backup. 1_99/06/16_12:00___ _5_99/06/14_12:00 2_99/06/15_23:30___ _6_99/06/13_23:30 3_99/06/15_12:00__ __7_99/06/13_12:00 4_99/06/14_23:30_ _ __8_--_Next Page_-AUTO BACKUP JOINT 100 % Version Management-------------------_13_Maximum number of versions:________1 _14_ Loadable version: ___99/06/16_12:00 [ TYPE ]INIT_DEV_________[CHOICE] (2) Please select the version to load.” This will causes an old backup version to be deleted. then these files are copied to the appropriate directory.6 Restore the backup) When “all backup” is performed in file menu to the device that is initialized for Automatic Backup. At this time. so the latest version of backup can be loaded by file menu. When controlled start is performed.8. backup files are saved to the root directory. 24 Arc Smart High--speed Recovery Function 9.22 Collision Detection for Auxiliary Axis 9. UTILITIES This chapter explains special functions of the R--J3 controller.1 Macro Instruction 9.7 Operation Group DO Output Function 9.23 Gravity Compensation 9.13 Torch Posture Adjustment 9.30 Servo Torch Control Function 9.31 Servo Torch Fine Adjustment Function of Wire Velocity Commands 428 .20 Load Setting 9.2 Shift Functions 9.6 Position Register Look--Ahead Execution Function 9.16 Root Pass Memorization and Multipass 9.11 Automatic Error Recovery Function 9.26 ARC START Synchronization for Arc Multi--equipment Configutarion 9.9.8 Pre--Execution Instruction Function 9.9 Distance before operations 9.28 Welding Parameter Grade Function 9.25 Multi Equipment Control for Arc Welding 9.15 Automatic Voltage Control Tracking 9.12 Torch Posture Conversion 9.3 Coordinate System Change Shift Functions 9.17 Coordinated Motion Function 9.29 Welder Program Select Function 9.4 Soft Float Function 9. j Contents of this chapter 9. UTILITIES B--81464EN--3/01 9.10 State Monitoring Function 9.27 Adjustment of Analog Output Conversation Factor by Multiple Points 9.18 Data Monitor 9.5 Continuous Rotation Function 9.14 Tast Tracking Function 9.19 Touch Sensing 9.21 Load Estimation 9. RDI or UI. Existing programs can be registered as macro instructions. Macro Instructions Macro instruction Macro program Clamp open CLOPN.9. Figure 9--1. when taught in a program. F A macro instruction can be started using the manual operation screen on the teach pendant. can be started as a program instruction. (The operation box can not be used because it does not have a user key. UTILITIES B--81464EN--3/01 9. 3 Execute the macro instruction. 2 Register the created macro program as a macro instruction and determine from which device the macro instruction is to be called. F A macro instruction can be started using a user key on the teach pendant.TP 1: SDO [ 1 ] = ON 2: SDO [ 2 ] = OFF 3: WAIT D I Controller [ 1 ] = ON To open the clamp SDO [ 1 ] SDO [ 2 ] SD I [ 1 ] To check that the clamp is open A macro instruction has the following capabilities: F A macro instruction. 429 . F A macro instruction can be started using the user button on the operator’s panel. Macro] is used for setting a macro instruction.1 Macro Instruction A macro instruction is a function for registering a program consisting of a sequence of instructions as one instruction. Up to 20 macro instructions can be registered.) F You can start the macro command using SDI. A macro instruction can be used according to the following procedure: 1 Create a program to be executed as a macro instruction. and calling such a set of instructions for execution as required. The macro instruction setting screen [6 SETUP. (For the group mask. see Section 4. 430 . (See Section 5.9. (For information about the subtypes. F A program not including a motion (group) can be started even when the motion enabled state is not set (even when an alarm is issued). is changed to MR (macro). A macro program can be taught and played back (when played back as a program) in the same way as an ordinary program.) F A macro program registered as a macro instruction cannot be deleted.) F The macro command not having the motion instruction should be made as the program which does not contain the motion group. the program information screen is used.1. when registered as a macro program.3.1 Setting macro instructions The setting of a macro instruction involves the following items: F Macro program F Name of a macro instruction F Assignment of a device used to start the macro instruction Macro program A macro program is a program started by a macro instruction.1.1.1. A macro instruction name must consist of an alphanumeric character string not longer than 16 characters. UTILITIES B--81464EN--3/01 9.) For group mask setting. see Section 4.3.4. When the registration of the macro program is canceled. And then the macro command can be started while the robot is moving. except for the following restrictions: F The subtype of a program. Name of a macro instruction The name of a macro instruction is used to call the macro program in the program. the subtype returns to the original one. but no more than 20 macro instructions can be assigned to MF items. UI NOTE If a macro instruction is allocated to a key switch on the teach pendant. The item to which a macro instruction is assigned is called a device. NOTE The number which can be actually used is only logical number allocated to the input signal line. an unpredictable result will be produced or you could injure personnel or damage equipment. RDI. screen item.9. UTILITIES B--81464EN--3/01 Assignment of a device A macro instruction must be assigned to a key. so it can be called. The following devices are available: F Items on the manual operation screen on the teach pendant (MF) F User keys on the teach pendant (UK and SU) F User buttons and other buttons on the operator’s panel (not provided on the operator’s box) F SDI. CAUTION The operator should check that no macro instructions are allocated to user keys of the teach pendant. Macro] is used for setting a macro instruction. Otherwise. trouble could occur during execution. The macro instruction setting screen [6 SETUP. The program should be copied only when the lists match. NOTE The total number of the assign to the DI and RI is up to 5. Macro instructions can be assigned to the following devices: F MF[1] to MF[99] : Items on the manual operation screen F UK[1] to UK[7] : User keys 1 to 7 on the teach pendant F SU[1] to SU[7] : User keys 1 to 7 + SHIFT key on the teach pendant F SP[4] to SP[5] : User button 1 to 2 on the teach pendant F DI[1] to DI[99] : SDI 1 to 99 F RI[1] to RI[24] : RDI 1 to 24 F UI[7] HOME signal NOTE MF numbers from 1 to 99 can be used. WARNING Before a program set as a macro instruction is copied from a control unit onto another control unit. If some instructions are allocated. the function previously allocated to the key becomes unavailable. etc. the macro setting screens of the two control units should be compared. It should be ensured that the lists of the two control units match. 431 . NOTE The allocation of macros to UI signals other than the HOME signal can be enabled with system variable $MACRUOPENBL. Program detail 1 2 3 4 5 6 END Program name: Sub Type: Comment: Group Mask: Write protect: Ignore pause: PREV [ * JOINT 30% 1/7 [HOPN1 ] [None ] [Open HAND1 ] * * * * ] [OFF ] [OFF ] NEXT Changing the motion group (setting a group mask) Step 1 The program information screen is used to change the group mask. 3 Select “1 SELECT” on the next page. NOTE If the program to be modified contains a motion instruction. 4 Press F2 “DETAIL” on the next page. 5 Move the cursor to group 1 of “Group Mask.” Press F5 “*” to set (*. HOPN1 JOINT 30% 2/6 1: RDO[1]=ON 2: RDO[2]=OFF 3: WAIT RI[1]=ON [END] POINT Condition TOUCHUP > H Macro program detail information is set.*. UTILITIES Procedure 9--1 Condition B--81464EN--3/01 Setting macro instructions H A macro program is created. The program selection screen appears. the group mask cannot be set. The program information screen appears.*. 1 * F5 Program detail 4 END Group Mask: PREV [ * NEXT * 1 JOINT 30% 4/7 * * * ] * NOTE If a motion instruction is already taught in a program to be modified. 432 .*). 2 Press the MENUS key to display the screen menu. no group mask can be set. a group mask can be set for a program not including motion instructions.*.9. NOTE For greater convenience. [ ] -. Macro Command Instruction name 1 [hand1open ] [ ENTER Macro Command Instruction name Program 1 [hand1open ][ ] [TYPE] CLEAR JOINT 30% Assign -.” 3 Press F1 “TYPE” to display the screen change menu. 4 Select “Macro.” The macro instruction setting screen appears. then enter characters using the function key. > MNOP F1 Upon completion of input.9.[ ] CLEAR 5 For macro instruction input. press the ENTER key to display the character string input screen. 433 . 2 Select “6 SETUP. UTILITIES B--81464EN--3/01 Setting a macro instruction Step 1 Press the MENUS key to display the screen menu.[ ] -. Macro Command Instruction name Program 1 [ ][ ] 2 [ ][ ] 3 [ ][ ] 4 [ ][ ] 5 [ ][ ] [TYPE] JOINT 30% Assign -. Macro Command Instruction name 1 [ ] [ 2 [ ] [ ENTER Macro Command Instruction name 1 [ ] [ ABCDEF GHIJKL JOINT 30% 1 Words 2 Upper Case 3 Lower Case 4 Options ---Insert--Macro Command Instruction name Program Assign 1 [hand ][ ] -.[ ] -.[ ] -.[ ] abcdef ghijkl mnopqr stuvwx yz-@*. press the ENTER key.[ ] [CHOICE] NOTE No duplicate macro instruction definition is allowed. the current setting information will be lost when it is changed. the program name will be used as the macro name. Otherwise.[ ] [CHOICE] F4 [TYPE] 1 2 3 4 -UK SU MF 5 6 7 ENTER 8 CLEAR [CHOICE] Macro Command Instruction name Program 1 [hand1open ][HOPN1 ] [TYPE] CLEAR JOINT 30% Assign MF [ ] [CHOICE] 8 Enter a desired device number. JOINT 30% 1 -5 SP 2 UK 6 DI 3 SU 7 RI 4 MF 8 ---NEXT--Macro Command Instruction name Program Assign 1 [hand1open ][HOPN1 ] -.9. press F4 “[CHOICE]” to display a directory of programs. When the macro program name is entered without the macro name. press F4 [CHOICE] to display a directory of programs. 434 . then choose a program from the directory.[ ] [CHOICE] 7 For device assignment. JOINT 30% Program Assign ] [HOPN1 ] MF[ ] 1 ENTER Macro Command Instruction name Program 1 [hand1open ][HOPN1 ] [TYPE] JOINT 30% Assign MF [ 1 ] CLEAR CAUTION After all macro instructions are set.[ ] [CHOICE] F4 [TYPE] 1 2 3 4 PROGRAM1 PROGRAM2 HOPN1 HCLS1 5 6 7 8 ENTER CLEAR Macro Command Instruction name Program 1 [hand1open ][HOPN1 ] [TYPE] CLEAR JOINT 30% Assign -. the setting information should be saved in external storage (floppy disk. for example) in case the information needs to be re--loaded. UTILITIES B--81464EN--3/01 6 For macro program input. JOINT 30% 1 PROGRAM1 5 SAMPLE1 2 PROGRAM2 6 SAMPLE2 3 HOPN1 7 4 HCLS1 8 ---next page--Macro Command Instruction name Program Assign 1 [hand1open ][ ] -. then choose a program from the directory. 7.9. the motion enabled state need not be set.[ ] -. When no motion group is possessed. the motion enabled state must be set to execute the macro instruction.1. Macro Instruction Execution Conditions MF [ 1 to 99 ] SU [ 1 to 7 ] TP enabled UK [ 1 to 7 ] Without a motion group With a motion group Executable(*1) Executable Executable -- Executable Executable SP [ 4 to 5 ] DI [ 1 to 99 ] RI [ 1 to 24 ] TP disabled UI [ 7 ] NOTE (*1) Even when the teach pendant is disabled. move the cursor to a desired field.To delete the macro instruction. “Arguments. For details.” -.5. UTILITIES B--81464EN--3/01 9 For macro instruction deletion. press F5 “NO. The motion enabled state is set when: J J ENBL is on. The macro program is always executed starting from the first line. The macro program is always aborted without the pausing status.[ ] CLEAR F2 10 “Clear OK?” appears. a macro instruction that does not possess a motion group can be executed from an MF or SU by setting system variable $MACRTPDSBEXE = TRUE. When a macro program includes a motion instruction (possesses a motion group). see Section 4.To cancel deletion of the macro instruction. SYSRDY output is on.2 Executing macro instructions A macro instruction can be executed by: F Selecting an item on the manual operation screen on the teach pendant (with the SHIFT key held down) F Pressing user keys on the teach pendant (without pressing the SHIFT key) F Pressing user keys on the teach pendant (with the SHIFT key held down) F SDI.” 435 . *) It is possible to supply an argument in a macro instruction call in a program and use it in a macro program.” Clear OK? YES NO YES NO F4 9. RDI. except for the following restrictions: F F F The single step mode is disabled. press F4 “YES. UI F Calling the macro instruction from the program When a macro instruction is started. (Servo power supply is on) Table 9--1. -. The continuous operation mode is always used. Macro Command Instruction name Pros 1 [hand1open ] [HOPN1 2 [hand1close ] [HCLS1 [TYPE] CLEAR Macro Command Instruction name Program 1 [ ][HOPN1 ] 2 [hand1close ][HCLS1 ] 3 [ ][ ] 4 [ ][ ] [TYPE] JOINT 30% Assign MF [ 1 ] MF [ 2 ] -. the macro program is executed in the same way as an ordinary program is executed. then press F2“CLEAR” while holding down the SHIFT key. program execution continues even if the shift key is released. NOTE When the macro program contains a motion group. When the macro program does not contain a motion group. MANUAL MACROS Instruction 1 hand1open 2 hand1close [TYPE] JOINT 30% 1/3 EXEC WARNING The macro program is started in the next step. If the shift key is released while the macro is being executed. The macro program is started. 436 . a macro instruction that does not possess a motion group can be executed from an MF or SU by setting system variable $MACRTPDSBEXE = TRUE. Note that when execution is interrupted and F3 “EXEC” is pressed again. the macro program is stopped.” 3 Press F1 “TYPE” to display the screen change menu. the macro program is executed from the first line again. Macro Command Instruction name Program 1 [hand1open ][HOPN1 ] 2 [hand1close ][HCLS1 ] 3 [ ][ ] 4 [ ][ ] JOINT 30% Assign MF [ 1 ] MF [ 2 ] -. the operator should check that no persons and no unnecessary equipment are in the work area. you could injure personnel or damage equipment. causing the robot to make a motion. NOTE Even when the teach pendant is disabled. CAUTION If the SHIFT key is released during execution. [TYPE] SHIFT EXEC F3 Hold down the SHIFT key until the execution of the macro program is completed. the macro program is terminated forcibly.[ ] -. press F3 “EXEC” while holding down the SHIFT key. Before executing the operation.” The manual operation screen appears. H A device from MF[1] to MF[99] is set using the macro instruction setting screen.9. 4 Select “Macros. 2 Select “3 MANUAL FCTNS. Otherwise. UTILITIES B--81464EN--3/01 Procedure 9--2 Condition Executing a macro instruction using the teach pendant (manual operation screen) H The teach pendant is enabled. 5 To start a desired macro instruction. hold down the shift key until execution of the macro program terminates.[ ] [TYPE] Step 1 Press the MENUS key to display the screen menu. 9. press the user key while holding down the SHIFT key. NOTE A macro instruction that contains a motion group cannot be executed using a device from UK[1] to UK[7]. CAUTION If the SHIFT key is released during execution. A device from SU[1] to SU[7] must be assigned to such a macro instruction. 2 When a user key from UK[1] to UK[7] is assigned to a macro instruction. H A device from UK[1] to UK[7] or SU[1] TO SU[7] is set on the macro instruction setting screen. the macro program is terminated forcibly. NOTE Even when the teach pendant is disabled. STATUS SHIFT 437 . injury or property damage could occur. 3 When a device from SU[1] to SU[7] is assigned to the macro instruction. Before executing the operation. hold down the shift key until execution of the macro program terminates. WARNING The macro program is started in the next step. When the macro program does not contain a motion group. UTILITIES B--81464EN--3/01 Procedure 9--3 Condition Executing a macro instruction using the teach pendant (using a user key) H The teach pendant is enabled. the operator should check that no persons and no unnecessary equipment are in the work area. the macro program is stopped. program execution continues even if the shift key is released.[ ] -. Macro Command Instruction name Program 1 [hand1open ][HOPN1 ] 2 [hand1close ][HCLS1 ] 3 [ ][ ] 4 [ ][ ] JOINT 30% Assign SU [ 1 ] SU [ 2 ] -. causing the robot to make a motion. Otherwise. use the assigned user key on the teach pendant. press the assigned user key to start the macro instruction. Note that when execution is interrupted and F3 “EXEC” is pressed again. a macro instruction that does not possess a motion group can be executed from an MF or SU by setting system variable $MACRTPDSBEXE = TRUE. the macro program is executed from the first line again. If the shift key is released while the macro is being executed. NOTE When the macro program contains a motion group.[ ] [ TYPE ] CLEAR Step 1 To start a macro instruction on the teach pendant. it becomes that macro instruction’s device. H DI[1 to 99]. and the key can no longer be used for its original function. Macro Command JOINT 30 % Instruction name Program Assign 1 [RETURN TO REFPOS][REFPOS ]UI[ 7] 2 [WORK1 CLAMP ][CLAMP1 ]DI[ 2] 3 [PROCESSING PREP ][PREP ]RI[ 3] 4 [ ][ ]--[ ] [ TYPE ] CLEAR Step 1 To start the macro command using SDI or RDI or UI. input the digital signal from the external device or directly input these signals in the I/O screen on the teach pendant. NOTE $MACROUOPENBL can be changed in the system variable screen displayed at the controlled start. UTILITIES B--81464EN--3/01 Figure 9--2. 438 . the macro command which is assigned to the signal will be started. 2 When SDI or RDI or UI which is set in the macro instruction setting screen is inputted. Procedure 9--4 Condition Execution of macro command using SDI. RI[1 to 24] or UI[7] is specified as the device in the macro instruction setting screen.9.RDI and UI H The teach pendant must be disabled. User Keys on Teach Pendant POSN STATUS WELD ENBL UK[1] or SU[1] WIRE + UK[2] or SU[2] WIRE -- UK[3] or SU[3] MAN FCTN UK[4] or SU[4] MOVE MENU UK[5] or SU[5] UK[7] UK[6] or or SU[7] SU[6] CAUTION When a key on the teach pendant is assigned to a macro instruction. 439 . a user coordinate system number (UF) of 0 is used.2 Shift Functions The shift functions shift the specified positions for the operation instructions within a certain range of a previously taught program to other locations. F For the turn number. The shift functions perform the following: F Shift the position data for the operation instructions within the entire range or within a certain range of an existing program. the turn number for the axis is optimized. F Angle--input shift : Performs a rotation shift about a specified rotation axis. Shift P1 P2 P3 P1 P4 Linear shift P2 P3 P4 The following rules apply to converted position data: Rules governing position data: F Position data having Cartesian coordinates is converted to Cartesian coordinates. F Repeat the same shift on another program. if the conversion causes rotation about the wrist axis by 180_ or greater. F If converted joint coordinate position data falls outside the variable axis area. F Position data in the position registers is not converted. UF) in position data having Cartesian coordinates: F The Cartesian coordinate system number is not changed due to conversion. Rules governing the Cartesian coordinate system number (UT. Position data is converted to data in the Cartesian coordinate system with a UF of 0 (world coordinate system) and displayed. Converted Cartesian coordinate position data is stored as is even if it falls outside the variable axis area. Position data with joint coordinates is converted to joint coordinates. The following shift functions are available: F Program shift : Performs a 3--dimensional linear shift or linear rotation shift. UTILITIES B--81464EN--3/01 9.9. Figure 9--3. F Mirror shift : Performs a 3--dimensional symmetrical shift about a specified mirror plane. it is stored as unspecified. Rules governing the configuration (joint placement and turn number) of position data having Cartesian coordinates: F The configuration is not changed as a result of the conversion. F During conversion (on the shift information input screen). F The position data with joint coordinates for operation instructions involving incremental instructions is stored as unspecified. F Insert the shift results into a new or existing program. and a message appears so that the user can determine whether to accept it. three source points (P1.1 Program shift function The program shift function performs a linear shift or linear rotation shift on the specified positions for the operation instructions within a certain range of a previously taught program. the user indicates (specifies) representative source and destination points to determine the shift direction and amount. Figure 9--5.2. the range of lines on which the shift is to be performed. P2. Q2. 440 . Two types of shift are supported: linear shift and linear rotation shift. and P3) and three destination points (Q1. For a linear shift. UTILITIES B--81464EN--3/01 9. The shift direction and amount can be specified in either of two ways: representative point specification and direct specification. as well as the name of the program into which the shift results are to be inserted and the line at which they are to be inserted. Figure 9--4. one source point (P1) and one destination point (Q1) must be indicated (specified).9. Linear Rotation Shift P1 (Linear rotation shift) P2 P4 P6 The program shift function requires the following setup: Program name setting Program name setting specifies the name of the source program. F In representative point specification. Shift information input Shift information input specifies the direction and amount of the program shift function. and Q3) must be indicated (specified). Specifying a Linear Shift Z Z Q1 P1 Y Y X X For a linear rotation shift. this item cannot be specified. F PART = Performs shift on part of the program.9. UTILITIES B--81464EN--3/01 Figure 9--6. linear rotation shift cannot be specified. End line New Program Insert line Specifies the line at which the shift results are to be inserted. Start line Specifies the start line of the desired range of the source program. If the name of an existing program is specified. use the program shift screen PROGRAM SHIFT. if insertion of the results are to be into an existing program is specified. Specifies the program into which the shift results are to be inserted. Y. Specifies the type of the desired range of the source program. Contents of the Program Name Input Screen Item Original Program RANGE Description Specifies the name of the source program. this item cannot be specified. F WHOLE = Performs shift on the entire program. Program Shift Screen Program name setting screen SHIFT + ↓ SHIFT + ↑ Shift information input Representative point specification screen F2 Direct input screen F2 EXECUTE Execution of the program shift function The program name input screen contains the following items: Table 9--2. If WHOLE is set to all. a new program is created with that name. the user directly specifies the direction and amount (X. The figure below shows how to navigate through the program shift screen. the results are inserted into that program. If a new program name is specified. Specifying a Linear Rotation Shift Z Q1 Z P1 Q3 P3 P2 Y Q2 Y X X F In direct specification. To execute the program shift function. 441 . If WHOLE is set to all. Figure 9--7. Specifies the end line of the desired range of the source program. Z) of linear shift. In direct specification. If the program is a new one. this item cannot be specified. Specifies whether rotation is to be performed. [TYPE] The screen switching menu appears. Specifies the position of a representative source point. The screen menu appears. F4 REFER allows the use of a position variable or position register in the source program as the position of a representative point. TEST2 Step JOINT 1:J 2:J 3:L 4:L 5:J [End] P[1] P[2] P[3] P[4] P[1] POINT ARCSTRT 30% 1/6 100% FINE 70% CNT50 1000cm/min CNT30 500m/sec FINE 100% FINE WELD_PT ARCEND TOUCHUP > 1 Press the screen selection key. 3 Press F1. 442 . 1 UTILITIES 2 TEST CYCLE MENUS Program shift TYPE F1 PROGRAM SHIFT Program 1 Original Program: 2 Range: 3 Start line: (not used) 4 End line: (not used) 5 New Program: 6 Insert line:(not used) JOINT 10% 1/6 [Test1 ] WHOLE *** *** [Test1 ] *** Use shifted up. down arrows for next page [TYPE] > CLEAR > 5 Specify the necessary items. Rotation Source position Destination position REFER Procedure 9--5 Condition Specifies the position of a representative destination point. Executing the program shift function H The program on which the shift is to be performed exists. UTILITIES B--81464EN--3/01 The representative point specification screen contains the following items: Table 9--3. 4 Select Program shift.9. 2 Select 1. UTILITIES. The program name input screen appears. The position is always represented by coordinates in the world coordinate system. Contents of the Representative Point Specification Screen Item Position data Description Indicates the position of the point where the cursor is currently located. To return to the previous screen.9.4 Y JOINT 100. set “Rotation” to ON. REFER RECORD > F4 P[] 3 Destination position [TYPE] PR[] EXECUTE Q1 Q2 Q3 P[] > F4 443 Recorded P[5] PR[] > . Select F4 P[] or F5 PR[] to enter arguments. SHIFT PROGRAM SHIFT Shift amount/Teach Position data P1 X ***** Y ***** JOINT Z 1 Rotation 2 Source position P1 3 Destination position Q1 [TYPE] 10% ***** OFF EXECUTE ON OFF > 7 For a shift with rotation.0 ON EXECUTE P1 P2 P3 Q1 Q2 Q3 REFER Recorded Recorded Recorded Recorded RECORD > 9 For reference point input. go to the next screen with SHIFT + ↓. UTILITIES B--81464EN--3/01 6 After specifying the items. The representative point specification screen appears. PROGRAM SHIFT Shift amout/Teach Position data X ***** Y JOINT ***** 1 Rotation 2 Source position 3 Destination position [TYPE] Z 10% ***** ON P1 P2 P3 Q1 Q2 Q3 EXECUTE ON OFF > 8 Specify representative source and destination points. use SHIFT + ↑. REFER SHIFT RECORD > F5 PROGRAM SHIFT Shift amount/Teach Position data Q1 X 1234. press F4 REFER.0 1 Rotation 2 Source position 3 Destination position [TYPE] Z 10% 120. F3 uninit causes the data to become unspecified data.87 50. [TYPE] EXECUTE F2 Execute transform? YES NO TEST2 JOINT 1:J 2:J 3:L 4:L 5:J [End] POINT P[1] P[2] P[3] P[4] P[1] ARCSTRT 30% 1/6 100% FINE 70% CNT50 1000cm/min CNT30 500m/sec FINE 100% FINE WELD_PT ARCEND TOUCHUP > F4 11 The direct input screen appears with F2 DIRECT on the next page. UTILITIES B--81464EN--3/01 10 After setting shift information. the currently selected program is specified as the source program. press F2 EXECUTE and then F4 YES. 12 After setting the shift amount. F2 indicates the axial angle associated with the original turn number. 13 If the turn number is changed due to the shift. press F2 EXECUTE to execute the shift. Specify the shift amount directly. 15 To erase all the shift information. the user is notified and asked which to select. press F1 CLEAR on the next page. PROGRAM SHIFT Shift amount/Direct entry 1 X (mm) 2 Y (mm) 3 Z (mm) [TYPE] CLEAR JOINT 10% 1888. Then.92 239. The conversion results are written into the program.52 EXECUTE > TEACH > NOTE Set the shift amount using coordinates in the world coordinate system. F5 QUIT interrupts the conversion.9. CLEAR TEACH F1 444 . Select P[3]:J5 angle (183°) 183° -177° uninit QUIT > 14 F1 indicates the axial angle associated with the changed turn number. Figure 9--8. the attitude is returned to the right--handed coordinate system by inverting the Y--axis because no left--handed coordinates exist.2 Mirror shift function The mirror shift function shifts the specified positions for the operation instructions in a certain range of an already taught program symmetrically about a plane. Figure 9--9. Otherwise.2. the points resulting from the shift will contain offset values. 445 . In reality. The mirror shift function requires that the Z--axis match the tool direction. therefore. the mirror shift function converts the attitude of the tool from right--handed coordinates to left--handed coordinates. The mirror shift function. Conversion from One Tool Coordinate System to Another with the Mirror Shift Function Z Destination tool coordinate system Z Source tool coordinate system Y X Y X CAUTION The tool coordinate system must be established accurately. UTILITIES B--81464EN--3/01 9. Mirror Shift Function Symmetrical shift of position data P[1] P[2] P[4] P[6] Theoretically. however. performs conversion most naturally when the plane of symmetry is parallel to the XZ plane of the tool coordinate system.9. The mirror shift function requires the following setup: Program name setting Program name setting specifies the name of the source program. CAUTION The TCP must be set accurately to ensure correct operation with the points resulting from a symmetrical shift. the range of lines on which the shift is to be performed. as well as the name of the program into which the shift results are to be inserted and the line at which they are to be inserted. six points in total. one source point (P1) and one destination points (Q1). three source points (P1. Q2. two points in total. must be indicated (specified). Two types of shift are supported: symmetrical shift and symmetrical rotation shift. P2.9. use the mirror screen MIRROR IMAGE SHIFT. Specifying the Mirror Shift Function Z Q1 P1 Z Q2 P2 Q3 P3 X Y Y X To execute the mirror shift function. the user indicates (specifies) representative source and destination points to determine the shift direction and amount. Figure 9--10. and P3) and three destination points (Q1. For a symmetrical rotation shift. For a symmetrical shift. must be indicated (specified). and Q3). F In representative point specification. The explanation of the program shift screen also applies to the mirror screen. UTILITIES B--81464EN--3/01 Shift information input Shift information input specifies the direction and amount of the mirror shift. 446 . down arrows for next page [TYPE] > CLEAR > NOTE The program selected last with the list screen is automatically selected as the source program. 5 Specify the necessary items. UTILITIES 3 Press F1. To return to the previous screen. 1 UTILITIES 2 TEST CYCLE MENUS Mirror Image TYPE F1 MIRROR IMAGE SHIFT Program 1 Original Program: 2 Range: 3 Start line: (not used) 4 End line: (not used) 5 New Program 6 Insert line:(not used) JOINT 10% 1/6 [Test1 ] WHOLE *** *** [Test1 ] *** Use shifted up. 4 Select Mirror Image. 6 After specifying the items. SHIFT MIRROR IMAGE SHIFT Shift amount/Teach Position data X ***** Y ***** JOINT Z 1 Rotation 2 Source position P1 3 Destination position Q1 [TYPE] CLEAR 10% ***** OFF EXECUTE DIRECT 447 ON OFF > > . use SHIFT + ↑. The representative point specification screen appears. go to the next screen with SHIFT + ↓. TEST2 JOINT 1:J 2:J 3:L 4:L 5:J [End] P[1] P[2] P[3] P[4] P[1] 100% FINE 70% CNT50 1000cm/min CNT30 500m/sec FINE 100% FINE POINT Step 30% 1/6 TOUCHUP > 1 Press the screen selection key. [TYPE] The screen switching menu appears.9. The screen menu appears. UTILITIES B--81464EN--3/01 Procedure 9--6 Condition Executing the mirror shift function H The program on which the shift is to be performed exists. 2 Select 1. The program name input screen appears. CLEAR TEACH F1 448 . serious problems can occur. see the explanation of the program shift function. For details. CLEAR on the next page. EXECUTE to execute the shift. MIRROR IMAGE SHIFT Shift amount/Teach Position data X ***** Y ***** 1 Rotation 2 Source position 3 Destination position [TYPE] JOINT Z 10% ***** ON EXECUTE P1 P2 P3 Q1 Q2 Q3 ON OFF > 8 Specify representative source and destination points. [TYPE] EXECUTE F2 Execute transform? YES NO F4 WARNING Avoid moving the robot to a position that is not correctly shifted. 9 After setting the shift amount. set “Rotation” to Yes. Otherwise.9. Check the shift results before moving the robot. press F1. 10 To erase all shift information. UTILITIES B--81464EN--3/01 7 For shift with rotation. press F2. P2.3 Angle--input shift function The angle--input shift function allows the user to perform a program shift by directly entering three or four representative points and an angular displacement. Rotation center P0. If many locations on the same circumference are subject to the same machining. The direction of rotation is regarded as being positive when the rotation is from representative point P1 to P2. The intersection of the rotation plane and axis (rotation center) is set as representative point P0. The figure below shows how to navigate through the angle--input shift screen. (P1. Figure 9--12. the more precise the conversion. The representative points can be specified in either of two ways: one in which the rotation axis is specified and one in which it is not specified. P2. P2. can be changed directly later. the rotation plane and axis are automatically calculated. Specifying the Angle--Input Shift Function P0 P2 P2 Positive direction of rotation Positive direction of rotation P3 P1 P3 Rotation plane P1 Rotation plane Rotation axis Rotation axis When the rotation axis is not specified When the rotation axis is specified To execute the angle--input shift function.) The rotation plane is determined with representative points P1. Shift information input Shift information input specifies the representative points for determining the rotation axis for the angle--input shift function and sets the angular displacement and shift iteration. three representative points (P1. From the second conversion on. and P3 need not be on the same circumference.2. F If the rotation axis is specified. a point on the rotation axis must be specified for representative point P0 and any three points on the rotation plane must be specified for representative points P1. and P3. the range of lines on which the shift is to be performed. the more distant the representative points P1. Angle--Input Shift Screen Program name setting screen SHIFT + ↓ SHIFT + ↑ Shift information input Shift amount setting screen F2 EXECUTE Execution of the angle--input shift function 449 . UTILITIES B--81464EN--3/01 9. which is set automatically. and P3) on the same circumference must be specified. this function allows the user to create position data for all the locations to be machined by specifying only a single location. and P3. With these three points. P2. and P3. F If the rotation axis is not specified.9. the position of the rotation center can be compensated for by enabling the rotation axis. The axis that is vertical to the rotation plane and which passes through representative point P0 is determined as the rotation axis. P2. It also allows the user to perform multiple shifts at equal intervals on the same circumference at one time by specifying the iteration. Figure 9--11. as well as the name of the program into which the shift results are to be inserted and the line at which they are to be inserted. In either way. such as the holes on a car wheel. use the angle--input shift screen ANGLE ENTRY SHIFT. The angle--input shift function requires the following setup: Program name setting Program name setting specifies the name of the source program. “iteration” set to 3. UTILITIES B--81464EN--3/01 The items on the program name setting screen are the same as those on corresponding screen for the program shift function. 450 . these points must be on the same circumference so that the rotation center can be calculated. The rotation axis direct specification screen appears. This item is available only when Rotation axis enable is set to TRUE.) The direction of rotation is regarded as being positive when the rotation is from representative point P1 to P2. Specifies how the rotation axis is to be determined from the representative points. The representative points must be specified differently depending on the setting made for this item. If the locations to be machined are arranged at equal intervals on the same circumference. Specifies the angular displacement (in degrees) by which the shift is to be performed with the rotation axis and plane determined with the representative points. program B will be as follows: Destination program: Program B 1:!Angle entry shift 1 (deg 20. the representative points need not necessarily be on the same circumference. Consider the following example: Source program: Program A 1:J P[1] 100% FINE 2:L P[2] 1500mm/sec FINE If conversion is performed with the “angular displacement” set to 20_. The positions must be specified with coordinates in the world coordinate system. a comment line is automatically inserted at the beginning of the program resulting from the shift. Contents of the Shift Amount Setting Screen Item Rotation plane Rotation axis enable Rotation axis Angle Repeating times Description Specifies the positions of the representative points for determining the rotation plane. To specify P0 directly.00) 2:J P[1] 100% FINE 3:L P[2] 1500mm/sec FINE 4:!Angle entry shift 2 (deg 40. Only representative point P0 can be specified directly with position data (numeric values) in any coordinate system.9. Specifies the conversion iteration.00) 5:J P[3] 100% FINE 6:L P[4] 1500mm/sec FINE 7:!Angle entry shift 3 (deg 60. (The plus sign need not be entered. and “destination program” set to program B. If the rotation axis is not specified. specifying the iteration allows the user to machine all the locations by specifying a single location. position the cursor to this item and press the Enter key. Enter an unsigned real number directly. The shift amount setting screen contains the following items: Table 9--4. If the rotation axis is specified. Specifies the position of representative point P0 for determining the rotation axis. If the iteration is 2 or greater.00) 8:J P[5] 100% FINE 9:L P[6] 1500mm/sec FINE The position data in program B is as follows: REFER P[1]: Position resulting from rotating P[1] in program A by 20_ P[2]: Position resulting from rotating P[2] in program A by 20_ P[3]: Position resulting from rotating P[1] in program A by 40_ P[4]: Position resulting from rotating P[2] in program A by 40_ P[5]: Position resulting from rotating P[1] in program A by 60_ P[6]: Position resulting from rotating P[2] in program A by 60_ F4 REFER allows the use of a position variable or position register in the source program as the position of a representative point. 3 Press F1.9.** Y:*****. The shift amount setting screen appears. 1 UTILITIES 2 TEST CYCLE ANGLE ENTRY SHIFT Program 1 Original Program: 2 Range: 3 Start line: (not used) 4 End line: (not used) 5 New Program: 6 Insert line:(not used) MENUS Angle entry JOINT 10% [ ] WHOLE **** **** [ ] **** Use shifted up. The screen menu appears. UTILITIES B--81464EN--3/01 Procedure 9--7 Condition Step Executing the angle--input shift function H The program on which the shift is to be performed exists. 4 Select Angle entry. If required. go to the next screen with SHIFT + ↓. REFER SHIFT RECORD > 1 2 3 Rotation plane F5 451 P1:Recorded P2: P3: .00 1 [TYPE] CLEAR EXECUTE 10% REFER RECORD > > 7 For shift with the rotation axis specified. UTILITIES. SHIFT ANGLE ENTRY SHIFT Shift amount Position data of P1 X:*****.** Rotation plane P1: P2: P3: Rotation axis enable: Rotation axis Angle(deg): Repeating times: FALSE P0:Not used 0.” 8 Specify the representative points. specify “Iteration. The program name input screen appears. down arrows for next page TYPE F1 [TYPE] > CLEAR > 5 Specify the necessary items. set “Rotation axis specification” to TRUE. 6 After specifying the items.** 1 2 3 4 5 6 7 JOINT Z:*****. To return to the previous screen. 2 Select 1. [TYPE.] The screen switching menu appears. use SHIFT + ↑. 1 Press MENUS. [TYPE] EXECUTE F2 12 If the turn number is changed due to the conversion. position the cursor to the P0 line and press the Enter key. press F4 REFER.00 4 Z: 0. From the menu that appears.9. 14 To directly enter the position data for representative point P0. press F2 EXECUTE to execute the shift. 11 After setting the shift information. The rotation axis direct specification screen appears. position the cursor to line Frame and press F4 CHOICE. the user is notified and prompted to make a selection. press F2 EXECUTE to execute the shift. Execute transform? YES NO Repeat3:Select P[1]:J6 183° -177° uninit (183°) QUIT > F4 13 F1 indicates the axial angle associated with the changed (optimized) turn number. Select one of the above keys. Select F4 P[] or F5 PR[] to enter arguments.00 3 Y: 0. UTILITIES B--81464EN--3/01 9 For reference point input. ANGLE ENTRY SHIFT JOINT 10% Shift amount Rotation center axis direct entry 1 Frame USER FRAME1 2 X: 0. F3 uninit causes the data to become unspecified data. [CHOICE] > F4 16 Provide the other necessary shift information has been set. F2 indicates the axial angle associated with the original turn number.00 [TYPE] EXECUTE [CHOICE] CLEAR > > 15 To specify the position of representative point P0 with numeric values in any coordinate system. REFER RECORD > 1 2 3 Rotation plane P1:Recorded P2:P[5] P3: F4 P[] PR[] > F4 10 Enter the angular displacement. F5 QUIT interrupts the conversion. select the desired coordinate system. 452 . UTILITIES B--81464EN--3/01 [TYPE] EXECUTE F2 Execute transform? YES NO F4 17 To erase all the shift information. CLEAR TEACH F1 453 . > then press F1. press NEXT.9. CLEAR. considering the shift amount resulting from the change from the old to the new coordinate system. For the tool change shift functions. F Perform conversion: Position data is converted so that the TCP is located at the same position. F If converted joint coordinate position data falls outside the variable axis area. the TCP of the new tool is moved to the original specified point correctly. the turn number for the axis is optimized. and a message appears so that the user can decide whether to accept it.3 Coordinate System Change Shift Functions The coordinate system change shift functions changes the tool coordinate system (tool) or user coordinate system for the operation instructions within a certain range of an already taught program. with the same positions as the originals. F Insert the shift results into a new or existing program.9. Converted Cartesian coordinate position data is stored as is even if it falls outside the variable axis area. It then converts the position data so that the TCP is located at the same position. For example. The coordinate change shift functions allow the user to specify whether to convert position data. if the conversion causes rotation about the wrist axis by 180_ or more. TCP fixed is useful if the previously used hand was damaged and replaced by a new one. Position data conversion The following rules apply to converted position data: Rules for positions and attitudes: F Position data with Cartesian coordinates is converted to Cartesian coordinates. convert the coordinates considering the shift amount resulting from the tool change or user coordinate system change. it is stored as unspecified. Rules for the configuration (joint placement and turn number) of position data with Cartesian coordinates: F The configuration is not changed due to conversion. F Position data in the position registers is not converted. 454 . NOTE The coordinate system change shift functions allow the user to specify that the position data not be converted. Coordinate system change shift functions The coordinate system change shift functions perform the following: F Change the tool coordinate system or user coordinate system number in the position data (Cartesian coordinates) for the operation instructions within the entire range or within a certain range of an existing program. UTILITIES B--81464EN--3/01 9. F Execute the same shift on another program. For example. Position data with joint coordinates is converted to joint coordinates. F Robot fixed: The original attitude of the robot (joint positions) is preserved in the converted data. By setting the tool coordinate system number of the old hand for Old UTOOL number and the tool coordinate system number of the new hand for New UTOOL number and using a tool change shift function with TCP fixed. F For the turn number. Robot fixed is useful if the program was taught in a tool coordinate system different from that used by the actually mounted hand and the correct tool coordinates are set later. and using a tool change shift function with Robot fixed. F If the position data is joint coordinates. the program can operate in the correct tool coordinate system. select the desired position data conversion method from the following: F TCP fixed: The original position of the tool end point is preserved in the converted data. By setting the tool number used when the program was taught for Old UTOOL number and the correct tool coordinate system number for New UTOOL number. F Do not perform conversion: Position data is not converted even if the coordinate system number is changed. F Position data with joint coordinates for operation instructions involving incremental instructions is stored as unspecified. 4 Select Tool offset. use the change shift screen TOOL OFFSET (UFRAME OFFSET).9. Coordinate System Shift Screen Program name setting screen SHIFT + ↓ SHIFT + ↑ Coordinate system number setting screen F2 EXECUTE Execution of a change shift function Procedure 9--8 Condition Executing the tool change shift function H The program on which the shift is to be performed exists. [TYPE. The program name input screen appears. F Coordinate change shift function: Changes the user coordinate system number in the position data.] The screen switching menu appears. UTILITIES. 455 . 3 Press F1. 1 UTILITIES 2 TEST CYCLE FCTN Tool offset TYPE F1 TOOL OFFSET Program 1 Original Program: 2 Range: 3 Start line: (not used) 4 End line: (not used) 5 New Program: 6 Insert line:(not used) JOINT [Test1 WHOLE *** *** [Test2 *** 10% 1/6 ] ] Use shifted up. 2 Select 1. The screen menu appears. UTILITIES B--81464EN--3/01 Types of coordinate system change shift functions The following coordinate system change shift functions are supported: F Tool change shift function: Changes the tool coordinate system number in the position data. down arrows for next page [TYPE] > CLEAR > 5 Specify the necessary items. To execute the coordinate system change shift functions. TEST1 JOINT 1:J 2:J 3:L 4:L 5:J [End] POINT Step P[1] P[2] P[3] P[4] P[1] ARCSTRT 30% 1/6 100% FINE 70% CNT50 1000cm/min CNT30 500m/sec FINE 100% FINE WELD_PT ARCEND TOUCHUP > 1 Press MENUS. Figure 9--13. The figure below shows how to navigate through the change shift screen. EXECUTE to execute the shift. the tool coordinate system number selected by the system is changed to the new tool number. The coordinate system number setting screen appears. enter 15. 11 To erase all the shift information. F3 uninit causes the data to become unspecified data. UTILITIES B--81464EN--3/01 6 After specifying the items. To set F as the new tool coordinate system number. go to the next screen with SHIFT + ↓. F2 indicates the axial angle associated with the original turn number. press F-->“>” and press F1 1. use SHIFT + ↑. 8 Press F2. F5 QUIT interrupts the conversion. the user is notified and prompted to make a selection. [TYPE] EXECUTE F2 9 If the turn number is changed as a result of the conversion. 456 .9. CLEAR on the next page. Select P[3]:J5 angle (183°) 183° -177° uninit QUIT > 10 F1 indicates the axial angle associated with the optimized turn number. SHIFT TOOL OFFSET UTOOL number 1 2 3 [TYPE] JOINT Old UTOOL number New UTOOL number Convert type 10% 1/6 1 2 TCP fixed EXECUTE > CLEAR > 7 Enter the current and new tool coordinate system numbers. CLEAR F1 CAUTION When the tool change shift function is performed. To return to the previous screen. enter 15. TEST1 JOINT 1:J 2:J 3:L 4:L 5:J [End] POINT Step P[1] P[2] P[3] P[4] P[1] ARCSTRT 30% 1/6 100% FINE 70% CNT50 1000cm/min CNT30 500m/sec FINE 100% FINE WELD_PT ARCEND TOUCHUP > 1 Press MENUS. 6 After specifying the items. 1 UTILITIES 2 TEST CYCLE FCTN Frame offset TYPE UFRAME OFFSET Program 1 Original Program: 2 Range: 3 Start line: (not used) 4 Ene line: (not used) 5 New Program: 6 Insert line:(not used) JOINT [Test1 WHOLE *** *** [Test2 *** 10% 1/6 ] ] Use shifted up. 8 Press F2. The program name input screen appears. EXECUTE to execute the shift. To return to the previous screen. To set F as the new user coordinate system number. UTILITIES.9. The coordinate system number setting screen appears. [TYPE] 10% 1/3 EXECUTE F2 457 . 2 Select 1. [TYPE] The screen switching menu appears. SHIFT UFRAME OFFSET UFRAME number 1 2 3 [TYPE] JOINT Old UFRAME number: New UFRAME number: Convert Position data (Y/N): EXECUTE 1 2 YES > CLEAR > 7 Enter the current and new user coordinate system numbers. down arrows for next page [TYPE] > F1 CLEAR > 5 Specify the necessary items. go to the next screen with SHIFT + ↓. use SHIFT + ↑. 4 Select Frame offset. 3 Press F1. The screen menu appears. UTILITIES B--81464EN--3/01 Procedure 9--9 Condition Executing the coordinate change shift function H The program on which the shift is to be performed exists. 9. F5 QUIT interrupts the conversion. UTILITIES B--81464EN--3/01 9 If the turn number is changed as a result of the conversion. 11 To erase all the shift information. F2 indicates the axial angle associated with the original turn number. press F-->“>” and then press F1 CLEAR on the next page. F3 uninit causes the data to become unspecified data. CLEAR F1 CAUTION When the coordinate change shift function is executed. Select P[3]:J5 angle (183°) 183° -177° uninit QUIT > 10 F1 indicates the axial angle associated with the optimized turn number. the user coordinate system number selected by the system is changed to the specified new user coordinate system number. 458 . the user is notified and prompted to make a selection. such as rough--machined workpieces. The detailed descriptions of the soft float function follow.9. Function The soft float function works as follows: F Two types of soft float are supported: joint soft float for specifying the softness related to the direction of rotation of each arm of the robot. The term servo flexibility indicates how strongly the axis resists external forces. The soft float function is also very effective if the synchronization speed is unstable as in the extraction of workpieces in sync with hydraulic extrusion. are to be handled. it usually tries to go back to the taught point. F The function is enabled/disabled using an instruction in the program. thus possibly causing interference between the workpiece and tool. F If an external force above a certain level (so high as to overcome a static frictional force) is applied to a robot. 459 . The distance between the taught point and the point the robot can reach is nearly proportional to the magnitude of the external force. variances in workpiece precision might result in a shift in the workpiece position relative to the tool. the robot moves accurately toward the goal specified using the teach pendant (taught point). SOFTFLOAT[n] The soft float function is enabled using condition n. this instruction causes the robot to assume that the current position is the taught point. Its conditions are also specified using the instruction. UTILITIES B--81464EN--3/01 9. F An external force applied to a robot may prevent it from reaching the taught point. When the robot is used to mount workpieces on a machine tool. and if workpieces that the robot cannot grip accurately. and Cartesian soft float for specifying the softnesses on the Cartesian axes. the robot controls force to maintain its attitude even if the soft float function is enabled. the axis of the robot is pressed and moved. It is specified between 0% and 100%. A soft float function has been added which is effective in mounting workpieces with variances in precision onto a machine tool. and prevents it from going back to the taught point. The servo flexibility is specified using a condition table that contains a set of data for one group (for nine axes). F “Servo flexibility” can be specified for each axis. However. FOLLOW UP When an external force is removed from a robot. F If static load is applied to a robot. Program instruction The following three program instructions related to the softfloat function are supported. A servo flexibility of 100% corresponds to being the most flexible. SOFTFLOAT END The soft float function is disabled. * The setting of soft float condition is explained in “Condition setting menu”.4 Soft Float Function Usually. Sole instruction The soft float function is enabled after the end of the motion specified on the line preceding the solely specified SOFTFLOAT[n] instruction. In the following example. In the following example. in one mode it is used solely in a program and in the other mode it is used as an auxiliary motion instruction after a motion statement. 1: J P[1] 100% FINE 2: SOFTFLOAT[1] 3: L P[2] 100mm/sec FINE 4: L P[3] 100mm/sec FINE 5: SOFTFLOAT END P[1] P[3] P[2] The soft float function is enabled.” The exec start ratio is specified as the ratio (from 0% to 100% in 1% steps) of a distance to be traveled before the robot reaches the taught point corresponding to a motion statement attached with a SOFTFLOAT[n]. Auxiliary motion instruction The soft float function becomes enabled during execution of a motion statement attached with a SOFTFLOAT [n] instruction. 460 . 1: 2: 3: 4: J P[1] 100% FINE L P[2] 100mm/sec FINE SOFTFLOAT[1] L P[3] 100mm/sec FINE SOFTFLOAT END P[1] P[3] P[2] 100% 50% 0% The soft float function is enabled. the soft float function is enabled after the motion specified on line 1 ends. and disabled by SOFTFLOAT END on line 5. the soft float function is effective between P[1] taught using a motion statement on line 1 and P[2] taught using a motion statement on line 2 attached with the SOFTFLOAT[n] instruction. UTILITIES B--81464EN--3/01 Soft float function effective range The SOFTFLOAT[n] instruction can be used in two modes. NOTE The soft float start ratio is not supported by Cartesian soft float. The point at which the soft float function becomes enabled is determined by a soft float condition “Exec Start Ratio.9.The range in which the soft float function is effective for robot operation is determined according to the mode in which this instruction is used in. F List menu F Detail menu A function key is used to select either menu. LIST Joint soft float details screen Cartesian soft float screen SOFTFLOAT (JOINT) JOINT 30% SOFTFLOAT (CARTES1A) F5.Pressing the F3 (DETAIL) key on the list menu selects the detail menu. which consists of the following two menus. UTILITIES B--81464EN--3/01 Condition setting menu The soft float conditions are specified on the SETUP Softfloat menu. Up to 10 conditions can usually be specified for the soft float function. -. List menu SETUP/SOFTFLOAT JOINT 30% Group 1 No Start (%) Comment 1 0 [ ] 2 0 [ ] 3 0 [ ] 4 0 [ ] 5 0 [ ] 6 0 [ ] 7 0 [ ] 8 0 [ ] 9 0 [ ] 10 0 [ ] [ TYPE ] GROUP DETAIL F3. JOINT > [TYPE] > 461 [WORLD] Soft Rat Soft Tol NUMBER LIST GROUP LIST JOINT CART > > .Pressing the F3 (LIST) key on the detail menu selects the list menu. DETAIL F3. CART Group 1 1 Schedule No[ 1]:[****************] JOINT Group 1 1 Schedule No[ 1]:[ ] 2 Exec Start Ratio : 0 % 3 Axis1 Soft Ratio : 4 Axis2 Soft Ratio : 0 % 0 % DISABLE DISABLE 3 Coordinate: 5 Axis3 Soft Ratio : 0 % DISABLE 4 X direction [0]% [0]% 6 Axis4 Soft Ratio : 0 % DISABLE 5 Y direction [0]% [0]% 7 Axis5 Soft Ratio : 0 % DISABLE 6 Z direction [0]% [0]% 8 Axis6 Soft Ratio : 9 Axis7 Soft Ratio : 0 % 0 % DISABLE DISABLE 7 X rotation 8 Y rotation [0]% [0]% [0]% [0]% 10 Axis8 Soft Ratio : 0 % DISABLE 9 Z rotation [0]% [0]% 11 Axis9 Soft Ratio : 0 % DISABLE [TYPE] NUMBER LIST GROUP LIST JOINT 2 Enable/Disable:[DISABLE] CART F4.9. -. allowing the robot to move with less force. Setting the cursor at the rightmost end (enabled/disabled setting position) of each line causes the F4 (ENABLE) and F5 (DISABLE) keys to appear. See “Soft float function effective range” for the soft float start ratio. Use these keys to specify whether to enable/disable the soft float function. USER. X direction NOTE If the remote TP is used. Soft float start ratio Line 2 specifies the point where the soft float function is enabled if the SOFTFLOAT [n] is used as an auxiliary motion instruction. The difference between Soft Rat and Soft Tol is illustrated below. NOTE Pressing the F2 (NUMBER) key selects another page of the detail menu for other conditions. and Z--axes. soft float cannot be executed. A flexibility of 100% corresponds to being the most flexible. Table 9--5. If Soft Rat increases. Pressing the input key with the cursor on line 1 enables entering a comment. the spring constant decreases. If Soft Tol increases. Set the softnesses on or around the X--. UTILITIES B--81464EN--3/01 The following data can be specified on the detail menu. The servo flexibility indicates how strongly the axis resist external forces. Coordinate Select one of WORLD. USER indicates the coordinate system on the remote TCP. and TOOL. Setting items of Soft float detail menu ITEMS DESCRIPTIONS Comment Soft float condition number. ten numbers can be set. Whether the soft float function is enabled/disabled can be specified for each axis on line 3 and the subsequent lines. By default. allowing the robot to move with less force. Force or moment Soft Tol Soft Rat Position deviation 462 . Y--.9. 10 Axis8 Soft Ratio : 0 % DISABLE 11 Axis9 Soft Ratio : 0 % DISABLE [ TYPE ] NUMBER LIST > 10 Axis8 Soft Ratio : 0 % DISABLE 11 Axis9 Soft Ratio : 0 % DISABLE [ TYPE ] NUMBER LIST ENABLE DISABLE> Enable/Disable When this item is set to DISABLE. Servo flexibility Servo flexibility for each axis can be specified on line 3 and the subsequent lines. The comment text can be specified in the same way as on other menus. It is specified between 0% and 100%. the maximum force and moment applied by the robot in that direction decreases. Program execution ends. The large value that does not cause an alarm during normal operation should be used.9. $SFLT_FUPTIM Default value: 1000 (ms) This value varies from one system to another.The program stops due to an alarm that turns off the servo. the robot moves in the CNT 0 mode (no position check is made) even if FINE has been specified as motion statement positioning mode. -. System variable $SFLT_ERRTP specifies which alarm to occur. -. F The soft float function is disabled automatically when: -.If 1. This processing is enabled or disabled according to system variable $SFLT_DISFUP. F If the motion group mask in a program is [*. F $SFLT_ERRTYP Default value: 0 -. A weight balance may vary depending on the soft float ratio and travel distance. -. follow--up is performed at the start of each motion instruction in the program. follow--up processing is normally performed for individual motion instructions. -. (The alarm number is different between the alarms. servo alarm “SRVO--111 Softfloat time out” occurs.If the robot is at rest : [SRVO--023 Stop error excess(G:i A:j)] -. F Restrictions imposed when the soft float function is enabled -. The range of motion with an auxiliary motion instruction issued should also be minimized for the same reason. observe the following cautions/restrictions.*. NOTE Follow--up With the soft float function.*.If TRUE. brake control is ineffective.) The default value should be used unless turning the servo off invites any inconvenience in the system.*. Program pause alarm “SRVO--112 Softfloat time out” occurs. UTILITIES B--81464EN--3/01 Cautions/restrictions When using the soft float function. if follow--up processing requires more time than specified in system variable $SFLT_FUPTIM. the brake is released automatically before the function is enabled. In addition. then restarted.Program execution starts. -. F This function cannot be used with welding. F When the soft float function is enabled.Power is applied F If the program is caused to pause. F When the soft float function is enabled. the following servo alarms occur. Follow--up prevents this abrupt movement. -. the states of the soft float function (such as enabled/disabled and the soft float start ratio) are set to the conditions which exist before the program is caused to pause. 463 . if an external force causes the robot to move beyond a certain distance. where the soft float function is disabled. F The soft float function cannot be enabled by any method other than the SOFTFLOAT instruction.If FALSE. -. -. the speed of motion should be kept low.It is not guaranteed that the robot always follows the taught path. line number) Invalid value for group number] F The range of motion with the soft float function enabled should be minimized. -.*] (there is no motion group). when the program issues instructions with the soft float function.If the robot is operating : [SRVO--024 Move error excess(G:i A:j)] F If an attempt is made to enable the soft float function with a brake applied.Jog feed is performed with the program at pause -. When the external force is removed after the completion of the operation. F When the soft float function is enabled. the robot usually attempts to move back to a specified point abruptly. except for the cases in the above operation. external forces are applied to the robot so that it operates at positions slightly different from those specified.The program is restarted after the cursor is moved manually with the program at pause. the following alarm occurs: [INTP--216 (program name. $SFLT_DISFUP Default value: FALSE -. follow--up is not performed for individual motion instructions in the program. When the soft float function is enabled. -.If 0. the servo alarm or program pause alarm occurs.Backward execution is performed. F When the soft float function is enabled. thus shifting the vertical axis upward or downward.The taught route changes according to override.The required operation time may be prolonged compared with normal operation. such as conveyers. To use this function. For example. the speed of the motor required for one rotation about the axis) must be 4000 or less. To specify the items for this function. the figure below shows rotation from 0_ to 200_ in the positive direction. Angle on the Continuous Rotation Axis 0 deg +200 deg --160 deg When this function is enabled but continuous rotation is not performed (see the next page for an explanation of how to use continuous rotation).5 Continuous Rotation Function The continuous rotation function allows continuous and limitless rotation about the final axis or an additional rotation axis of the robot in one direction. use the SETUP Continuous T screen (new). F The gear reduction ratio (value of Numerator of Gear Ratio/Denominator of Gear Ratio on the setting screen. the setup necessary for continuous rotation must be performed. NOTE For example. pumps. The axis must satisfy the following conditions: F Final axis of the robot F Final axis of the built--in additional rotation axes F Any of the normal additional rotation axes F Final axis of the independent additional axes The continuous rotation axis must satisfy the following mechanical conditions: F The mechanism must allow continuous operation (must be free of obstacles such as stoppers). this function is useful for rotating those devices that require continuous rotation. therefore.9. The angle on the axis is.) This “shorter--way operation” is effective in reducing the cycle time. and grinders. UTILITIES B--81464EN--3/01 9. Before this function can be used. Shorter--Way Operation Current angle Shorter way Target angle Target angle Setup To use the function. the “final axis” refers to the J6 axis of a robot having six axes. about a robot axis or additional rotation axis. Only a single continuous rotation axis can be allocated for each operation group. rotation is performed about the continuous rotation axis from the current angle to the target angle in whichever direction incurs the least amount of motion. an option (continuous rotation function) is required. represented by a relative degree within +180_. Function When this function is enabled. For example. not 200_. Figure 9--14. such as disable/enable. The angle on the axis after the rotation is --160_. The start and stop of continuous rotation are directed from a program. the axis allocated as a continuous rotation axis allows limitless rotation. the direction of rotation about the axis is determined with the relationship between the current and target angles. (Usually. F Perform setup on the SETUP Continuous T screen and 464 . not by an absolute one. Figure 9--15. Set the number of the continuous rotation axis.” Procedure 9--10 Step Setting up the continuous rotation function 1 Press MENUS. 6 After specifying the items. “Specifying operation add instructions. The following message appears. If “0” is set. [TYPE] The screen switching menu appears. F Set the operation group number for Group. Table 9--6. 4 Select Cont Turn. * The specification method is the same as that for other operation add instructions. The “continuous rotation speed instruction” must be specified as an operation add instruction. and is therefore omitted. the other settings are changed to those of the operation group. The items must. this function is disabled for the operation group. Contents of the Continuous Rotation Setup Screen Item Description Group Continuous Turn Axis Num Set the operation group number. A value from 0 to 32766 can be set for each item. 2 Select SETUP. Set the gear reduction ratio for the continuous rotation axis set for the above item.3. The items on the continuous rotation setup screen are described below. 3 Press F1.9. specify the start point of continuous rotation using the operation add instruction. “continuous rotation speed instruction. The continuous rotation setup screen appears.4. 5 I/O 6 SETUP 7 FILE SETUP Continuous T 1 2 3 4 MENUS Cont Turn JOINT Group:1 Continuous Turn Axis Num Numerator of Gear Ratio Denominator of Gear Ratio [TYPE] : : : 10% 0 0 0 DONE TYPE F1 5 Specify the necessary items using the numeric and other keys. “continuous rotation speed instruction. F The maximum value for Numerator of Gear Ratio and Denominator of Gear Ratio is 32766. If a different number (number of the operation group to be viewed) is entered in this field. DONE F4 7 Turn off the power. then turn it back on with a cold start. press F4 DONE. however. The screen menu appears.” The following “continuous rotation speed instruction” is supported. (See Section 5. UTILITIES B--81464EN--3/01 F Specify the start/stop of continuous rotation with the operation add instruction.”) F Continuous rotation speed instruction CTV * where i = --100 to 100. which is the ratio of the rotation axis speed to the maximum axis speed (%) 465 . set “0” for Continuous Turn Axis Num. satisfy the following: Numerator of Gear Ratio÷Denominator of Gear Ratio≦4000 Numerator of Gear Ratio Denominator of Gear Ratio Using the function After setting up the continuous rotation axis. F To disable the continuous rotation function. Notes F Continuous rotation continues even if logic instructions (instructions other than those in operation statements) are executed. Stopping continuous rotation Continuous rotation is stopped when the first operation statement with no continuous rotation speed instruction added is started since a continuous rotation speed instruction was started. The robot.0sec 9:J P[8] 100% FINE CNT100 CTV100 FINE CNT100 CTV100 FINE CTV100 FINE FINE CTV100 FINE F Description of lines 1 to 3: During operation from P[1] to P[2]. F Continuous rotation about the continuous rotation axis is possible from jog feed. the robot rotates in the same direction as the previous continuous rotation direction to move to the specified position. Example of use The following shows an example of using the continuous rotation speed instruction.” continuous operation is not performed. continuous rotation is restarted. If an operation statement is specified next. At this time. F During program playback. When continuous rotation is stopped. continuous operation is performed. shorter--way operation is performed on the continuous rotation axis. 466 . if the target position has already been reached on axes other than the continuous rotation axis. the turn number for the continuous rotation axis is ignored. (See the next section. UTILITIES B--81464EN--3/01 Starting continuous rotation Continuous rotation is started as soon as an operation statement with a continuous rotation speed instruction added is started.” F The turn number for the continuous rotation axis at a point specified when this function is enabled is always stored as “0. the robot is not necessarily at the specified position on the continuous operation axis.” the robot decelerates (stops temporarily on all axes at the start of the operation on line 3) because a continuous rotation speed instruction is not added to the next line. continuous rotation stops temporarily at the start of the execution of line 5.”) F In single--step execution (both forward and backward). When line 6 is executed. If the target position has not been reached on axes other than the continuous rotation axis. If an operation statement is specified next. decelerates even if the positioning format for the previous operation is CNT. line 3. Although the positioning format specified on line 2 is “Smooth. and is always assumed to be “0. shorter--way operation is performed on the continuous rotation axis. Because the rotation axis speed specified with the continuous rotation speed instruction on line 5 is 0. continuous rotation is not performed. the synchronization of the operation on the continuous rotation axis with the operation on the other axes (including those for other operation groups) is lost. therefore. “Example of use. Thus.” F If the rotation axis speed for a continuous rotation speed instruction is specified as “0. This feature is useful if continuous rotation about the continuous rotation axis is to be stopped temporarily but temporary stop of the robot due to the end of the continuous rotation is to be avoided.9. Because continuous rotation continues. 1:J P[1] 100% 2:J P[2] 100% 3:J P[3] 100% 4:J P[4] 100% 5:J P[5] 100% 6:J P[6] 100% 7:J P[7] 100% 8:WAIT 100. continuous rotation is not performed even if a continuous rotation speed instruction is added. F Description of lines 4 to 5: Continuous rotation starts as soon as the execution of line 4 starts. the positioning format CNT100 on line 4 is valid and the robot does not decelerate. the operation on the other axes for the same operation group also terminates. If program execution is subsequently restarted. shorter--way operation is performed. The robot starts decelerating to stop on the continuous rotation axis after it has completely stopped on the other axes. F Continuous rotation stops due to a hold. it is not necessary to perform mastering. F At the end of continuous rotation. on a multigroup system.Arc sensor -. (The amount of rotation differs depending on the acceleration/deceleration constant. therefore.$SV_OFF_ENBL[i] (where i is an axis number) to FALSE to disable break control for all the axes for all operation groups before turning the power back on with a cold start. After this function is disabled. F If. the current position on the continuous rotation axis may fall outside the stroke limits. (Only the Z--axis component can have a value other than 0. The robot stops temporarily on all axes at the start of operation on line 9.Asynchronous addition axis speed instruction. F This function cannot be used together with the following functions: -.) -.Weaving -. forward step execution and backward execution are performed sequentially in an operation statement with the movement angle being very close to 180_. If this occurs. rotation may be performed about the continuous rotation axis in the same direction during the forward and backward executions.) If this condition is not satisfied. and continuous rotation stops. If. move the position on continuous rotation axis within the stroke limits using jog feed or a program.TCP speed estimation function (sealing flow rate control) F This function automatically updates the mastering data (for the continuous rotation axis only) according to the amount of rotation about the continuous rotation axis. Thus. the settings on the SETUP Continuous T screen are changed and the F4 DONE key is pressed. 467 . previously recorded mastering data may not match the current mastering data. even if there are multiple continuous rotation axes. F On a multigroup system. The X and Y components of the tool coordinate system must both be 0. it is necessary to set system variable $PARAM_GROUP[group]. separate continuous rotation speeds cannot be specified for them. (The synchronous additional axis speed instruction can be used. one or more rotations about the continuous rotation may be performed to ensure smooth deceleration and stop. UTILITIES B--81464EN--3/01 F Description of lines 7 to 9: Continuous rotation starts at the start of operation on line 7. shorter--way operation is performed on the continuous rotation axis. Notes/restrictions Note the following when using this function: F When continuous rotation is to be performed on a robot axis or built--in additional axis. the path of linear or arc operation cannot be guaranteed in normal operation other than continuous rotation. Continuous rotation continues during the execution of the wait instruction (logic instruction) on line 8.) F Even during backward execution (single--step execution).9. F When this function is disabled. for the reason explained above. even when it contains motion statements that use position registers. and a position register holding this calculation result is used with a motion statement. the following alarm message is issued: [INTP--128 Pos reg is locked] When a function (such as the data transfer function) other than the program attempts to change the value of a locked position register. lock position registers. look--ahead execution was not performed for the statement. for the specified program portion.9. When a program that has locked the position registers terminates. look--ahead execution was performed for motion statements having normal position data (not using position registers). the user can explicitly specify a program portion. the following alarm message is issued. look--ahead execution can be performed. Conventionally. By means of these instructions. Look--ahead execution could not be performed for motion statements that used position registers for their position data. 468 . While the position registers are locked. and so forth. Motion statements that use position registers can be classified into two types: F Motion statements with the target position specified by a position register F Motion statements with an offset instruction where an offset is given by a position register Even when a target position or offset is calculated during program execution. Function The position registers can be locked to prevent their contents from being changed after they are read. it reads the lines ahead of the line currently being executed (look--ahead execution). When position register instructions are used with the position registers unlocked. For this purpose. the position registers are unlocked automatically. Motion statements using position registers could not be read in advance because the values in the position registers could be changed by the program. or an application instruction to set data in the position register). even in a different motion group. access to any position register is disabled. an assign instruction for the position register. When an attempt is made to execute an instruction to change a locked position register (for example. an instruction to lock position registers and an instruction to unlock the registers are newly provided. * If the robot reads a motion statement using a position register prior to its execution. the value of the position register may yet be changed by a program or another function (such as data transfer). NOTE Before using position register instructions. The position register look--ahead execution function enables look--ahead execution for position registers. Such a change is not reflected in the motion statement that has already been read by the robot. and the attempt fails: [VARS--053 Pos reg is locked] Position registers are generally locked and unlocked with instructions taught in a program. Then. Consequently. operation may become tight.6 Position Register Look--Ahead Execution Function While the robot is executing a program. All position registers are locked simultaneously. the robot’s operation might be unpredictable. UTILITIES B--81464EN--3/01 9. data transfer function. NOTE When back execution is performed. the position registers are unlocked.5. suppose that program execution is paused during the execution of line 6. (Nothing occurs. They are unlocked when line 10 has been executed. look--ahead execution is not performed for the statements in lines 7 and 8. the position registers are not locked. If the program is paused between lines 4 and 10. look--ahead execution is stopped temporarily. the position registers are unlocked. If the program is terminated between lines 4 and 10. For example.3. “Teaching a control instruction”). Therefore. F Look--ahead execution is not performed for the LOCK PREG and UNLOCK PREG instructions. They can be taught in the same way as other control instructions (See Section 5. look--ahead execution is not performed for lines 7 and 8. When program execution is started from a line located after line 4. 469 .9. In this case. the position registers are locked. however. (Nothing occurs. the locked position registers are unlocked automatically.) Similarly. back program execution is performed up to line 5. however.) Notes Note the following when using this function: F The LOCK PREG and UNLOCK PREG instructions are not executed in backward program execution mode. These are control instructions (not motion instructions). when the UNLOCK PREG instruction is executed for a second time. This means that when one of these instructions is encountered. then forward program execution is restarted. A LOCK PREG instruction can be executed even when the position registers are already locked. after the instruction is executed. UTILITIES B--81464EN--3/01 Operation The following program instructions have been added: LOCK PREG Locks all position registers. look--ahead execution is again enabled. then the program is restarted. the locked position registers are unlocked. then normal execution is restarted. which are executed with the position registers locked. PR[2] 9: L P[5] 100mm/sec FINE 10: UNLOCK PREG When line 4 of this sample program has been executed. So. the UNLOCK PREG instruction can be executed even when the position registers are not locked. Example The following shows how to use the LOCK PREG and UNLOCK PREG instructions in a program: 1: J P[1] 100% FINE 2: PR[1]=PR[2] 3: PR[2]=PR[3] 4: LOCK PREG 5: L P[2] 100mm/sec Cnt100 6: L P[3] 100mm/sec Cnt100 7: L PR[1] 100mm/sec Cnt100 8: L P[4] 100mm/sec Cnt100 offset. So. the cursor is moved manually. the motion statements with position registers in lines 7 and 8. when the LOCK PREG instruction is executed for a second time. This instruction prevents any change being made to any position register. look--ahead execution is not performed for lines 7 and 8. UNLOCK PREG Unlocks the position registers. In this case. are subject to look--ahead execution. Motion group DO GROUP NO. (The signal does not turn on when the program is merely selected. while the other signals turn off. and about the operation groups of the programs being executed/temporarily stopped. all signals turn off. Function This function allows the allocation of two DOs (jog signal and program signal) to a single operation group. Program signals Regardless of whether the teach pendant is enabled or disabled. In this case. This function is effective when the multigroup option is used. UTILITIES B--81464EN--3/01 9. Each allocated DO signal turns on/off under the following conditions: Jog signals When the teach pendant is disabled. use the [Set up operation group DO] screen.) If other programs are being executed/temporarily stopped with the multitask option. For DOs. When the teach pendant is enabled. the signal for the operation group of the program currently being executed/temporarily stopped turns on.) 470 . This allows devices other than the teach pendant to recognize the currently effective operation groups. the signal for the currently selected operation group on the teach pendant turns on. the signal turns on if either the program or jog signal turns on. the signals for the operation groups of these programs also turn on.” The same signal can be set for both the program and jog signals for the same operation group. any digital output signals or robot output signals of the robot can be used. to an external device with a digital output signal (SDO) or robot output signal (RDO). (The signal turns off only if both the program and jog signals turn off.9. set the number of the signal to “0. That is.” To disable a signal. Setup To set up the operation group DO output function. thus improving safety. move the cursor to the signal number and enter a new value. PROGRAM 1 2 3 RO[1] DO[3] RO[0] JOINT 10% JOG RO[2] DO[3] RO[0] [TYPE] RO DO To change the type of a signal.7 Operation Group DO Output Function The operation group DO function outputs information about the operation groups that are capable of jog feed. the output signal is the OR of the two signals. position the cursor to the signal number and press function key F4 “RDO” or F5 “SDO. To change the signal number for an operation group. PRG B is started and the signal for operation group 2 turns on. UTILITIES B--81464EN--3/01 Example of using this function with the multitask option This section explains the operation of this function when a subprogram call or the multitask option is used.*.*. F When line 1 of MAIN is executed. the respective signals for operation groups 1 and 2 turn off. PRG A uses operation group 1 and PRG B uses operation group 2.*. the type (SDO or RDO) and number of the program signal cannot be changed.*. PRG A is started and the signal for operation group 1 turns on.*] 1:J P[1] 100% FINE : PROGRAM PRG B : Operation group[*. Consider the following three example programs: PROGRAM MAIN : Operation group[*. 471 . which does not have an operation group. starts PRG A and PRG B having operation groups by using execution instructions.*.) If the execution instruction of the multitask function is to start another program that operates the robot (the main program that has the execution instruction does not have an operation group). (The signal does not turn on when the main program without an operation group is merely selected/executed. F While a program is being executed/temporarily stopped.1. F When PRG A and PRG B terminates.*. F When line 2 of MAIN is executed.*] 1:RUN PRG A 2:RUN PRG B : PROGRAM PRG A : Operation group[1.*] 1:L P[1] 500mm/sec CNT100 : Program MAIN. The output program signal is the OR of the signals for all the operation groups of the program currently being executed/temporarily stopped. the signal for the operation group of the subprogram turns on only while the subprogram is being executed.*.9. The program signal turns on when the program that operates the robot is actually started. the signal for the operation group of the program started by the execution instruction does not turn on when the main program is merely selected/executed. F The program signals for the groups do not turn on when program MAIN is merely selected.*. Notes Note the following when using this function: F The same signal cannot be defined for different operation groups. If a program without an operation group calls a program having an operation group by using a subprogram call. UTILITIES B--81464EN--3/01 9.9.Robot operation ----> n <-----------------------> Start of subprogram execution If execution start time.0sec CALL OPEN HAND Description of execution start time According to the specified execution start time. the subprogram is executed n seconds before operation termination. Figure 9--17. It can also eliminate the wait time associated with the transfer of data to and from peripheral devices. 472 . Using an instruction in a program. Both the subprogram name and execution start time must be specified with the operation add instruction.8 Pre--Execution Instruction Function This function calls and executes a subprogram before or after the specified time at which robot operation is to terminate. Executes the subprogram after operation termination. Using an instruction in a program. Function This function allows a main program to call and execute a subprogram before or after the specified operation termination time. Figure 9--16. is specified with a post--execution instruction. Timing of Subprogram Execution (Pre--Execution Instruction) <---. which differs depending on the positioning type FINE CNT. thus reducing the cycle time. this function allows a signal to be output during robot operation.) The time at which operation terminates is assumed to be 0 seconds. specify the time at which a subprogram is to be called (in seconds). is specified with a pre--execution instruction. 1:J P[1] 100% FINE :TIMIE BEFORE 1. “n” seconds. For example. Instruction statement Specify the execution start time and subprogram after an operation statement. Pre--Execution Instruction (Operation Add Instruction) Operation statement TIME BEFORE TIME AFTER TIME BEFORE TIME AFTER Example execution-start--time CALL subprogram--name Executes the subprogram before operation termination. the subprogram is executed at the following time: If execution start time. (This specified time is called the execution start time. specify the name of the subprogram to be called. the subprogram is executed n seconds after operation termination.0sec CALL OPEN HAND 1:J P[1] 100% FINE :TIMIE AFTER 1.(or post--) instruction is an operation add instruction. The pre-. if a signal output instruction is specified in a subprogram. “n” seconds. the rest of the operation is executed in sync with single--step execution of the subprogram. Figure 9--19.0 to 0.9.0 to 30 seconds for a pre--execution instruction -. In this case. Search/replace functions Search function By selecting a CALL program for a search item CALL. Timing of Subprogram Execution (Pre--Execution Instruction) <---. F By selecting a CALL program of replace item CALL. Single step When an operation statement with an execution start time adjustment instruction specified is executed in single--step mode. Replace function F By selecting a replace item TIME BEFORE/AFTER.Robot operation ----> n <-------------------------------------------------> Start of subprogram execution The execution start time that can be specified in a program is -. therefore. the search function searches for the call instructions of pre--execution instructions. Power failure handling If power failure handling is enabled and the power is removed during subprogram execution. Great care must be taken regarding this point.Robot operation ----> n --------> ----> Start of subprogram execution If the execution start time specified with a pre--execution instruction exceeds the operation time. execution starts with the remaining instructions of the subprogram due to a restart after the power is turned on again. If 0 seconds is specified. the subprogram is executed with timing different from the usual timing. UTILITIES B--81464EN--3/01 Figure 9--18. the subprogram names for pre--execution instructions can be replaced.5 seconds for a post--execution instruction CAUTION Even if the robot operation time is changed due to a change in the override. Timing of Subprogram Execution (Post--Execution Instruction) <---. The execution start position of the subprogram is. the time at which subprogram execution is to start depends on the execution start time. the subprogram is executed with the position the robot was located when the power was removed. the subprogram is executed as soon as operation starts. changed due to a change in the override. operation stops temporarily at the time when the subprogram is called. Subsequently. the subprogram is executed at almost the same time as when the pre--execution instruction is not specified. TIME BEFORE/AFTER replacement and execution start time replacement can be performed. 473 . Thus. . Motion Modify 1 2 3 TIME BEFORE 4 TIME AFTER PNS0001 JOINT 10% 5 6 7 8 1/2 1:J [End] P[1] 100% FINE [CHOICE] 3 Select item TIME BEFORE. Example: 2 seconds. TIME statement 1 CALL program 2 3 4 PNS0001 JOINT 10% 5 6 7 8 1/2 1:J P[1] 100% FINE :TIME BEFORE 2. PNS0001 JOINT 10% 1/2 1:J P[1] 100% FINE :TIME BEFORE sec .0sec [End] Select item [CHOICE] 474 . PNS0001 1:J [End] JOINT P[1] 10% 1/2 100% FINE [CHOICE] 2 Press function key F4 CHOICE.9. UTILITIES Procedure 9--11 Step B--81464EN--3/01 Specifying the pre--execution instruction 1 Position the cursor on the operation add instruction specification area (space following an operation instruction). A list of operation add instructions appears.. [End] Enter value [CHOICE] 4 Specify the time and press the Enter key. PNS0001 JOINT 10% 1/2 1:J P[1] 100% FINE :TIME BEFORE 2.0sec. Program Example Using a Pre--Execution Instruction Turn SDO [1] on one second before arrival at P[2] P [1] ------> ------> 475 P [2] . CALL [End] Select item STRINGS 6 Select item Open hand.9.0sec CALL Open hand 3:CALL Close hand Subprogram: Hand open 1:SDO[1]=On Operation performed when the main program is executed Figure 9--20. PROGRAM list 1 Open hand 2 Close hand 3 4 PNS0001 JOINT 10% 5 6 7 8 1/2 1:J P[1] 100% FINE :TIME BEFORE 2.0sec. UTILITIES B--81464EN--3/01 5 Select item CALL program. CALL Open hand [End] [CHOICE] Program example Main program: PNS0001 1:J P[1] 100% FINE 2:J P[2] 100% CNT100 :TIME BEFORE 1. *]. The TIME BEFORE/AFTER add instructions can be used together with other operation add instructions (except application instructions such as spot [] and skip instructions). Depending on the situation. therefore. the subprogram is not called. 476 . even if the execution time is set to 0 seconds with a pre--execution instruction. GO and AO are supported.9. *. UTILITIES B--81464EN--3/01 Notes/restrictions In the subprogram specified for Call. (The operation group in the subprogram must be [*. *. If the positioning specification for an operation statement is Smooth. the execution of the main program may terminate before the subprogram is called. If a pre--execution instruction is specified on the last line of a main program. If this occurs. No limit is imposed on the number of instructions that can be specified in a subprogram. RDO. The time at which the subprogram is called changes accordingly. *. only SDO. For direct specification of signal output. use a post--execution instruction. in which case.) Until the execution of the called subprogram terminates. Do not. the subprogram may be executed too quickly. the time of operation termination changes depending on the degree of Smooth. operation statements cannot be specified. specify a pre--execution instruction on the last line of a program. the next instruction in the main program is not executed. Please refer to Chapter 4 for details. set following system variable.0 to 999. 477 . This program call and signal output is done on a parallel with main program execution.) CAUTION Distance Before is a motion option.) distance value (Please refer to 2. $SCR_GRP[1].9[mm] Trigger condition (*1) TCP goes into a region.9 Distance before operations 9.CALL A Figure 9.$M_POS_ENB = TRUE 9.1 Overview This function calls program or outputs signal when TCP is going into a region which is within specified distance from destination point.9. UTILITIES B--81464EN--3/01 9. SDO[1] = ON) CALL program Distance value and actual execution timing is different. Available instructions F F Signal output (ex. The error depends on speed of TCP. Distance value 0. 9.2 Specification Item Specification Limitation Distance value and actual execution timing is different.9. Example 1 J P[1] 100% FINE 2 L P[2] 1000mm/sec FINE DB 100mm.9. You cannot use DB as a standard instruction.9. Motion statement + DB distance value. which is within specified distance from destination point. 9. CALL A Instruction part (Please referr to 3. instruction part Example L P[2] 1000mm/sec FINE DB 100mm.1 Execution timing of Distance Before 100mm P[2] P[1] Program A is executed on a parallel with motion to P[2]. Only logic instruction is available. The error depends on speed of TCP.9.3 Configuration Before using Distance Before.4 Instruction 1 Format Distance Before is taught in following format. Program to be called cannot use motion group. NOTE (*1) This is condition to precess instruction part.9. 05mm) 478 . (Error in case of 2000mm/sec is estimated around 16mm) (ii) Radius of trigger region.0mm L P[2] 2000mm/sec FINE DB 100. actual execution timing is different from distance value.9.0mm) distance value: 0 to 999. UTILITIES B--81464EN--3/01 2 Distance value (i) Distance value Distance Before executes instruction part when TCP goes into a spherical region whose center is destination point.9.4 (b) The size of trigger region Minimum radius: $DB_MINDIST ( default value : 5. A 100mm P[2] P[1] Internal check point of current position Internally. Robot controller calculates current position to judge if TCP is in trigger region or not.9.9mm Mergin to trigger : $DB_TOLERENCE ( default 0. Distance value is taught in millimeter.9mm. Because judgement to trigger is done by calculating distance between current position and destination point. 1: 2: L P[1] 2000mm/sec FINE DB 100. Radius of trigger region is as follows. Radius = (distance value or $DB_MINDIST)+$DB_TOLERENCE Figure 9.4 (a) Cyclical checks if TCP goes into trigger region. Instruction part is executed when this calculated position is in trigger region. Robot controller recognizes TCP is in trigger region. Distance value decides the radius of this sphere. CAUTION Execution timing of instruction part is decided by distance (in millimeter).0mm SDO[1] = ON SDO[1] = ON Figure 9. Distance value is from 0 to 999. DO[1] turns ON here. This sphere is referred as trigger region hereafter. 05mm with default system variables.0mm. It’s easier to read and maintain. F CALL program F Signal output (i) DB Call program Specified program is executed when condition is triggered. Example) L P[2] 1000mm/sec FINE DB 100mm.2) (ii) DB signal output You can teach following signal output.0mm DO[1]=ON In this case. radius of trigger region is 5. 3 Instruction part This part shows what is done when TCP goes into trigger region.Then $DB_TOLERENCE is added to decide radius of trigger region. $DB_MINDIST is used as distance value. robot controller doesn’t recognize that TCP is in trigger region. You can use one signal output for one DB. These cases are described in this section.*. But to output only one signal with one DB. UTILITIES B--81464EN--3/01 If distance value is less than $DB_MINDIST. Example Suppose following motion statement is taught with $DB_MINDIST = 5.(“going away”) P[2] P[1] P[3] Internal check point for DB trigger condition 479 .*] in program header information screen.9. this direct signal output is better.0 L P[1] 2000mm/secFINE DB 0. Robot controller interprets it as DB 5. CALL A (1. 4 Changing trigger condition Instruction part is executed when Robot controller recognizes that TCP is in trigger region. Consequently. DB can do following action.*.) You can use arguments to call program.*. ON SDO[] RDO[] = OFF R[] pulse GO[] AO[] Constant = R[] AR[ ] You can also output signal by calling program which use signal output instruction. (Change group mask to [*. But in some cases like following “going away” and “penetrate”. Program to be called cannot use motion group. Case 1 Trajectory of CNT motion doesn’t go through trigger region. If termination type is CNT and distance value is small. $DB_CONDTYP DB condition When alarm is posted. Figure 9. Otherwise. posts alarm. if motion statement with Distance Before completes and robot stops before neither “region trigger” nor “going away” nor “penetration” trigger happens. They are INTP--293 and INTP--295. the condition for instruction part to be executed (referred as DB condition) is changed by $DB_CONDTYP. 0 TCP is in trigger region. (“region trigger”) + end of motion (*2) “going away” +“penetrate” +end of motion 1 (default value) “region trigger” +“going away” +“penetration” +end of motion end of motion +(“going away”) (*1) 2 “region trigger ”+“penetration” +end of motion “going away” end of motion “going away” and “penetration ” is defined in (i). Please refer to 4 (i) for details.(L1<L2) P[3] Internal check point for DB trigger condition 480 . Before this point. There are two alarms for not--triggered DB. Please refer to 5 for details.4 (c) TCP doesn’t go into trigger region. Please refer to 4 (iii). TCP may not go into trigger region. NOTE (*1) When Distance Before is triggered by “going away” in case of $DB_CONDTYP = 1. TCP was gradually approaching to destination point L1 mm to P[2] L2 mm to P[2] P[2] P[1] At this point. Robot controller thinks that TCP is going away from destination point. you can post alarm in addition to execution of instruction part.9. Distance Before executes instruction part when DB condition is satisfied.9. (ii) and (iii) respectively. (*2) By default configuration. Message is same but severity is different. UTILITIES B--81464EN--3/01 Case 2 Trigger region is too small for controller to check current position in time. $DBCONDTRIG decides which alarm is posted. Distance Before executes instruction part and post alarm.(“penetrate”) P[2] P[1] P[3] Internal check point for DB trigger condition For these case. (i) In case of going away. DB executes instruction part and post following alarm.This case is referred as “ penetration” in this manual.9. instruction part is executed by default configuration. F Motion with termination type FINE doesn’t cause trigger by “penetration”. Distance Before checks if TCP went through trigger region or not.4 (c). set $DB_AWAY_ALM to TRUE. This alarm is not posted by FINE motion. 9. line number) DB too small (done) (mm).4 (d). But in this case. Because cyclical check is done outside of trigger region. UTILITIES B--81464EN--3/01 In case of Fig.9. 481 . DB executes instruction part and post following alarm. the fact TCP is in trigger region is not recognized by the robot controller. 9. CAUTION If you stop your robot by E--stop when motion statement is about to complete.9. line number) DB too small (away)(%dmm) This is warning.4 (d). P[1] P[3] P[2] Internal check point for DB trigger condition In this case.9. set $DB_MOTNEND to FALSE (default value:TRUE). robot controller recognizes that TCP went through trigger region.“going away” and “penetration” is satisfied. (ii) Penetration This function cyclically checks if DB condition is triggered or not. In this case. Robot controller cyclically judges if TCP is going away from destination point or not in addition to DB condition. If trajectory of TCP penetrated trigger region (penetration).9. CAUTION If you halt a program when motion statement with DB is near its completion. Robot controller recognizes that TCP is going away when calculated distance between current position and destination point is greater than previous one by more than ($DB_AWAY_TRIG) millimeter. DB may not be triggered. Because of this cyclical check. If you don’t want this trigger. See Fig.4 (d) Penetration At this point. To handle cases like Fig. execution of instruction part is done after TCP passed away destination point. Figure 9. CNT motion with high--speed may cause for Robot controller to omit cyclical check in small trigger region. INTP--297 (program name.9. This case is referred as “going away” in this manual. F To post alarm in addition to execution of instruction part only when the DB is triggered by “going away” trigger. Distance Before may be trigger just after resume of the program. Distance Before executes its instruction part after resume of program. INTP--295 (program name. TCP starts to go away from destination point (P[2]). (iii) End of motion If motion statement with DB completes and robot stops before “region”. TCP moves too fast for the robot controller to check DB condition in small trigger region. TCP doesn’t go into trigger region. Distance displayed by this alarm is distance to destination. 1 INTP--293 PAUSE. Example Default configuration Suppose following program is executed. 7 Halt and resume Halt and resume of motion statement with DB changes its radius of trigger region. The DB is triggered by execution of next line. Because severity of this alarm is WARN. UTILITIES B--81464EN--3/01 5 Alarms for not --triggered Distance Before Distance Before posts alarm if condition is not triggered. execution of program doesn’t stop.L (Program name. This means that halt and resume of program changes trigger timing of Distance Before. Step execution of motion statement with DB signal output is just same as motion statement with out DB except signal output is done. Distance Before is not triggered by step execution of the line it is taught. set $DB_CONDTRIG to 1. If you want to halt program when condition was not triggered. INTP--295 is posted. Not to change radius of trigger region. program may be halted before completion of motion and before DB conditions are satisfied. CAUTION If distance value is small. By default configuration. radius of trigger region is changed to minimum radius ($DB_MINDIST +$DB_TORELENCE). In this case. program is halted at the timing sub program is called. set $DISTBF_TTS to 0 (default value: 1). What is posted depends on $DBCONDTRIG.Robot decelerates to stop. 1: L P[1] 2000mm/sec FINE 2: L P[2] 2000mm/sec CNT100 DB 100. The rest of motion statement is done by next step execution that executes sub program step by step.0mm CALL SUB 3: L P[3] 2000mm/sec CNT100 482 .This prevents earier trigger because of halt and resume. Alarm to be posted $DBCONDTRIG 0 (default value) INTP--295 WARN (Program name. Program is halted for severity of this alarm is PAULSE. line number)DB condition was not triggered. The purpose of this process is to execute instruction part after TCP reaches to its destination point.L .9. line number)DB condition was not triggered. Displayed distance is recommended value for the DB to be triggered by region trigger. After resume.INTP--293 is posted when condition was not triggered. 6 Step execution If Distance Before CALL program is executed by step execution. 9. DB is triggered here by “going away” trigger Resume with $DISTBF_TTS = 0 Figure 9. DB is triggered just after resume of program. DB is triggered when DB condition is satisfied. DB executes instruction part here. But now DB doesn’t for trigger region is now small because of change of radius. execution timing depends on TCP position at the instant of program resume. If there is no halt. Example Suppose following triggered yet. too. 1: L P[1] 2000mm/sec 2: L P[2] 2000mm/sec 3: L P[3] 2000mm/sec program is executed and halted on line two.9.4 (f) $DISTBF_TTS = 0 Here DB is triggered as usual. radius of trigger region changed to minimum value ($DB_MINDIST +$DB_TOLERENCE). UTILITIES B--81464EN--3/01 Figure 9. P[1] P[2] Halt TCP doesn’t reach trigger re- P[3] Example gion because radius of the region is changed. JOG robot and resume program. execution timing depends on $DISTBF_TTS. (i) Default configuration ($DISTBF_TTS = 1) After resume of program. DB condition is not FINE CNT100 DB 100.4 (e) Trigger timing after resume of program.0mm DO[1] = ON CNT100 483 .9. If TCP is in new (diminished) trigger region. P[2] P[1] Halt P[3] 8 Resume after JOG If you halt motion statement with DB. If not. Because this procedure is accompanied by program halt. SDO[1] turns ON when DB condition is triggered by motion after resume. DB is triggered. SDO[1] turns ON just after resume. 9.9. DB condition was not satisfied yet.9. DB is triggered just after resume of program.9. resume after power failure recovery executes the rest of sub program. SDO turns ON. sub program is executed where TCP was at power failure. 484 . Resume A Resume P[2] P[1] Halt P[2] P[3] P[3] (ii) $DISTBF_TTS = 0 Radius of trigger region is not changed. Resume Resume A Halt P[1] Halt P[2] P[1] P[3] P[2] P[3] 9 Power failure recovery If power is turned down during sub program execution and power failure recovery is enabled.9. DB is triggered when DB condition is satisfied.9. at point A in left diagram in Fig. move TCP by JOG Halt P[1] Just after program resume. Example) Suppose following program is executed and halted on line two.4 (h) Resume after JOG($DISTBF_TTS = 0) After resume. If not. In this case. If TCP is in trigger region when you resume program. 1: L P[1] 2000mm/sec FINE 2: L P[2] 2000mm/sec CNT100 DB 100. At point A.4 (g) Resume after JOG DB condition is not satisfied here. DB condition is satisfied.4 (h). If TCP is in trigger region. DB condition is satisfied and SDO turns ON at point A. (right diagram in Fig. UTILITIES B--81464EN--3/01 Figure 9.9. Figure 9. Execution timing is different from usual one. After halt. DB is triggered just after program resume. DB condition is satisfied.0mm SDO[1] = ON 3: L P[3] 2000mm/sec CNT100 If TCP is distant from P[2] enough not to trigger(more than 100mm away).4 (h). . TIME statement 1 CALL program 2 CALL program( ) 3 DO[ ]= 4 RO[ ]= PNS0001 5 GO[ 6 AO[ 7 8 JOINT ]=. select CALL program( ).0mm . Program list is displayed anyway. [End] 5) To use argument.If you don’t. Motion Modify 1 TIME BEFORE 2 TIME AFTER 3 DISTANCE BEFORE 4 PNS0001 JOINT 10 % 5 6 7 8 ---next page--1/2 1:J P[1] 100% FINE [End] Select item [CHOICE] 3) Select DISTANCE BEFORE. select CALL program...0mm CALL . Submenu to select instruction part is displayed..( ) 6) Select program to call... 485 .DB is added to program. PROGRAM list 1 HAND_OPEN 2 HAND_CLOSE 3 4 PNS0001 JOINT 10 % 5 6 7 8 1/2 1: J P[1] 100% FINE DB 100. 10 % 1/2 1: J P[1] 100% FINE DB 100. UTILITIES B--81464EN--3/01 9. 4) Input distance value and press Enter...9. PNS0001 PNS0001 LINE 1 ABORTED JOINT 10 % 1/2 1:J P[1] 100% FINE [End] [CHOICE] 2) Press F4.9.5 Entering Distance Before 1 DB call program 1) Move cursor to motion option area. ]=. The list of motion options is displayed. 0mm CALL HAND_OPEN(Constant) [End] [CHOICE] 8) Input value of argument.0mm CALL A 2 Press prev key 2 times. F To use more than 2 arguments. ]=. 1 Move cursor to program name.. 2 DB Signal output 486 . Screen displayed below is example to use Constant.. Submenu to select argument type is displayed. 1:J P[1] 100% FINE DB 100. UTILITIES B--81464EN--3/01 Parameter select 1 R[ ] 2 Constant 3 String 4 AR[ ] PNS0001 JOINT 5 <None> 6 <Insert> 7 8 10 % 1/2 1: J P[1] 100% FINE DB100. Teach argument by procedure 7) and 8) described above.0mm CALL HAND_OPEN( ) [End] To specify argument. move cursor to argument you want to delete and press F4. Then select <Insert>. 7) Select argument type.. following procedure is needed. 10 % JOINT 10 % 3 Select CALL program (). F To delete argument. move cursor to “)” and press F4[CHOICE].... TIME statement 1 CALL program 2 CALL program( ) 3 DO[ ]= 4 RO[ ]= PNS0001 5 GO[ 6 AO[ 7 8 JOINT ]=. PROGRAM list 1 HAND_OPEN 2 HAND_CLOSE 3 4 PNS0001 5 6 7 8 1/2 1: J P[1] 100% FINE DB 100.0mm CALL . Following submenu is displayed. To add argument to CALL without argument.9.( ) 4 Select program to call and teach argument. PNS0001 PNS0001 LINE 1 ABORTED JOINT 10 % 1/2 1:J P[1] 100% FINE DB 100. following procedure is needed. . F Replacing Instructions Distance Before can be replaced to TIME BEFORE/AFTER by “replace” on F5 pull--up menu. You can also replace CALL and signal output in instruction part just as you do when you replace usual CALL and DO etc. F More than 6 motion statement with Distance Before cannot be processed at the same time. Submenu to select instruction is displayed. [End] Select item [CHOICE] 3) Input index and output value just as you do for normal I/O instruction. PNS0001 2/2 1: J P[1] 100% FINE DB 100. PNS0001 PNS0001 LINE 1 ABORTED JOINT 10 % 1/2 1:J P[1] 100% FINE DB 100.9. skip and quick skip in a motion statement. F Distance Before cannot be used with INC. This means the point where the instruction is executed is closer than distance value. The slower TCP moves.]=... F Distance Before calculates the distance between current position and the destination point cyclically. 487 .. actual execution timing of instruction part is different from distance value. Select item “I/O” on submenu.6 Caution and limitations F Distance Before cannot be used with TIME BEFORE/AFTER. 9.0mm .. 10 % 2/2 1: J P[1] 100% FINE DB 100. UTILITIES B--81464EN--3/01 1) Do just same procedure 1)--4) for DB CALL program...0mm DO[. You can find signal output instruction by this function.. ]=.9. the more accurate execution timing. [End] 2) Select signal output instruction. Instruction part may be executed inside of trigger region.. Because the trigger condition is judged by this cyclical check.. Degree of error depends on the speed of robot. F Distance Before is not recovered by power failure recovery if it was attached to CNT motion statement and power is down when the motion is about to complete.0mm DO[1]= ON 3 Finding/Replacing Instructions F Finding Instructions You can find program which is used for DB by “find” on F5 pull--up menu. TIME statement 1 CALL program 2 CALL program( ) 3 DO[ ]= 4 RO[ ]= PNS0001 5 GO[ 6 AO[ 7 8 JOINT ]=. By selecting “CALL” then “Call program” to find program used in DB. Select “TIME BEFORE/AFTER” on replace item submenu. too. F During deceleration due to program halt.4.08(mm) .0mm DO[1] = ON 3: L P[3] 2000mm/sec FINE With $DISTBF_VER=2.7 System Variables system variable $DISTBF_VER role This system variable set execution timing of line which is just after motion statement with DB. radius is $DB_MINDIST +$DB_TOLERENCE) Please refer to 9. F After E--stop and resume or program. execution instruction is not processed even if DB condition is triggered after program execution completed. default value 1 1(default) : Execution of next line doesn’t wait completion of instruction part of DB. 1 488 0.05(mm) $DB_CONDTYP This system variable defines DB trigger condition. 2 and 9. $DB_AWAY_ALM This system variable decides whether INTP--295 is posted or not when FALSE DB is triggered by “going away” with $DB_CONDTYP = 1. Please refer to 9. 4 for details. DB is not triggered by step execution of the line.9.4. Please refer to 9. execution of line 3 doesn’t start until DO[1] is turned to ON. With $DISTBF_VER = 1. 2 (ii) for details.4.9. “going away” trigger may not work. In this case. (If distance value <$DB_MINDIST. 4 (i) for details.9. F FANUC Robot F--200i is not supported.9. Example Suppose following program is executed. $DB_AWAYTRIG Distance Before calculate distance between current position and destination cyclically. The DB is triggered by execution of next line. F Single step execution of DB of small distance value may fail for program is paused before motion statement completes and DB condition satisfied. DB is triggered after resume of program. 2: Execution of next line waits for completion execution of instruction part. 0.robot controller recognize TCP is “going away” from destination point if this calculated distance is greater previous value by $DB_AWAYTRIG millimeters.9.9. In this case.4. DB may be triggered just after resume. F If DB condition is satisfied after pause of program. If TCP passes by destination point. 0:When TCP goes into a region which is within distance value (“region trigger”) 1:In addition to “region trigger”. use this function with $DB_MOTNEND = TRUE. F If CJP or ACCUPATH is used. in case of “penetrate”. UTILITIES B--81464EN--3/01 F Multi group is not supported. Please refer to 9. 1: L P[1] 2000mm/sec FINE 2: L P[2] 2000mm/sec CNT100 DB 1. in case of “going away” 2:In addition to “region trigger”. 9.9. F Line tracking is not supported. F Robots that don’t have Cartesian coordination are not supported. F If program ends before DB condition triggers. F Position data in matrix form is not supported. the DB is triggered by execution of next line. $DB_TOLERENCE The radius of trigger region is distance value +$DB_TOLERENCE. DB doesn’t work. F Integrated axis is not supported. F After E--stop.4. DB is triggered after program resume. 4 (i) for details. line 3 is executed just as if there were no DB. ” is posted. line number) DB condition was not triggered.9.4.” is posted. $DB_MINDIST Internal minimum value of distance value. TRUE $DISTBF_TTS This system variable decides execution timing of instruction part after motion statement with DB is halted. line number) DB condition was not triggered. 5. 1 489 . 1: INTP--293 PAUSE. 7 for details. 2 (ii) for details. Please refer to 9.4. Please refer to 9. $DB_MINDIST is used as distance value instead of distance value user taught. If distance value is smaller than this value by $DB_MINDIST or more. 5 for details.9.0(mm) $DB_MOTNEND This system variable decides if motion completion trigger DB or not. UTILITIES B--81464EN--3/01 system variable $DBCONDTRIG role This system variable decides alarm that is posted when DB condition was not triggered. 0:INTP--295 WARN “(program name.9.4.9. 4 (iii).9. Please refer to 9. default value 0 Please refer to 9.4.L “(program name. INTP--292 PAUSE. [Remedy] Change program for TCP to move into trigger region. change structure of program not to execute DB frequently. more than 6 calculation for Distance Before may be done at the same time. Example 1: L P[1] 2000mm/sec CNT100 DB 10mm DO[1] = ON 2: L P[2] 2000mm/sec CNT 100 DB 10mm DO[2] = ON 3: L P[3] 2000mm/sec CNT 100 DB 10mm DO[3] = ON 4: L P[4] 2000mm/sec CNT 100 DB 10mm DO[4] = ON 5: L P[5] 2000mm/sec CNT 100 DB 10mm DO[5] = ON 6: L P[6] 2000mm/sec CNT 100 7: L P[7] 2000mm/sec CNT 100 DB 10mm DO[7] = ON 8: L P[8] 2000mm/sec CNT 100 DB 10mm DO[8] = ON 9: L P[9] 2000mm/sec CNT 100 DB 10mm DO[9] = ON 10: L P[10] 2000mm/sec CNT 100 DB 10mm DO[10] = ON 11: L P[11] 2000mm/sec CNT 100 DB 10mm DO[11] = ON If CNT motion statement with DB frequently like this example. INTP--296 WARN (program name. 490 . line number) DB too small (away)(distance mm) [Cause] Condition of Distance Before was not triggered.8 Error Codes The following alarms are related to Distance Before. This is best solution. [Remedy] Use greater distance value. INTP--295 WARN (program name. [Remedy] Change termination type from CNT to FINE. If you do not want this trigger.$M_POS_ENB is FALSE.$M_POS_ENB is FALSE. UTILITIES B--81464EN--3/01 9.9. line number) DB too small(done) (distance mm) [Cause ] DB is triggered by completion of motion statement to which it is attached. [Cause] more than 6 Distance Before were processed at the same time. [Cause] $SCR_GRP[1]. [Remedy] Change program for TCP to move into trigger region.L (program name. INTP--293 PAUSE.9.$M_POS_ENB to TRUE INTP--297 WARN (program name.L More than 6 motion with DB executed. line number) $SCR_GRP[1]. Otherwise. line number) DB too small (away) (distance mm) [Cause] Condition of Distance Before was not triggered. [Remedy] Change $SCR_GRP[1]. set $DB_MOTNEND to FALSE. as conditions. TP (action program) 1:DO[2]=On ! Notification to a peripheral device 2:R[8]=R[8]+1 ! Drop count 3:UALM[1] ! Alarm and robot stop [End] 491 . if the robot performing handling drops a workpiece. Example: 1:MONITOR WRK FALL Condition program name F Monitor stop instruction Specifies the condition program to terminate. Program example: 1:WHEN DI[2]=Off. alarms. F Action program Called if the condition is satisfied. The types of monitoring condition are explained in the WHEN section. *2 Specify the program to be executed if the condition described in *1 is satisfied. STP RBT is to be called. 9:MONITOR END WRK FALL Condition program name F Condition program Describes the condition to be monitored and specifies the program to be executed if the condition is satisfied. Program example: 1:DO[2]=On ! Notification to a peripheral device 2:R[8]=R[8]+1 ! Drop count 3:UALM[1] ! Alarm and robot stop $UALRM_MSG[1]=WORK HAS FALLEN With the following program example. condition (condition program) 1:WHEN DI[2]=Off. *1 Describe the desired monitoring condition by following instruction WHEN.10 State Monitoring Function This function accepts. and executes the specified programs if the conditions are satisfied.9. Sample. CALL STP RBT *1 *2 This condition program states that when RDI[2] turns off. TP (program for handling operation) 1:MONITOR WRK FALL 2:J P[1] 100% FINE : : Handling operation : : 8:J P[7] 100% FINE 9:MONITOR END WRK FALL 10:Open hand State monitoring Workpiece drop. the values of the input/output signals. The same instructions as those used in normal programs can be used. This function consists of the following instructions and programs: F Monitor start instruction Specifies the condition program to be monitored and the start of monitoring. CALL STP RBT Robot stop. The controller itself monitors these conditions. and registers of the robot controller (referred to simply as the controller). UTILITIES B--81464EN--3/01 9. The action program can be created and named in the same way as a normal program. the user is alerted with an error message and the robot is stopped. (Monitoring continues even after the program terminates. When the program terminates. Monitoring starts with an instruction (monitor start instruction) in the program. F The program monitor starts/stops from a mnemonic program (referred to simply as a program). n : State monitoring is stopped. It performs monitoring constantly regardless of the execution state of the program. f : State monitoring is restarted if it is stopped.$LOCAL_MT = 1D Switches the program monitor to setting 1 (default).$GLOBAL_MT= 2D Switches the system monitor to setting 2.$LOCAL_MT = 2D Switches the program monitor to setting 2 (same specification as that for KAREL) $TPP_MON. Monitor state transition The states of the monitors assumed when each operation is performed are listed in the table below: Operation Program monitor Setting 1 Setting 2 F F f f MONITOR instruction RESTART (state screen) START (state screen) Program Stop n -Program End/Enforced End ¢ ¢ MONITOR END ¢ ¢ PAUSE (state screen) n n END (state screen) ¢ ¢ RESUME f f Power failure handling n -Power off with monitoring state Power failure handling --Power off without monitoring state START (COLD) ¢ ¢ CONTROLLED START ¢ ¢ Other operation --Meanings of symbols F : State monitoring is started. The monitor is started and stopped from the state screen. ¢ : State monitoring is deleted. The program monitor can be switched between two settings: setting 1 in which the monitor stops when the program stops temporarily. UTILITIES B--81464EN--3/01 Monitor types There are two main types of monitors: the program monitor and system monitor. System monitor This type of monitor does not depend on the execution state of the program. F The system monitor is started/stopped from the dedicated screen. It cannot be operated with instructions in the program. NOTE Settings 1 and 2 cannot be used at the same time.$GLOBAL_MT= 0D Enables the system monitor (default). and setting 2 in which the monitor continues monitoring. and setting 2 in which the monitor continues monitoring.: The state of state monitoring does not change due to the operation. $TPP_MON.9.$GLOBAL_MT= 1D Switches the system monitor to setting 1. It is suitable for state monitoring within a separate program. NOTE The program monitor and the system monitor can be used at the same time. Monitoring terminates with a monitor stop instruction or program termination. (Cannot be restarted) -. monitoring also terminates. $TPP_MON.) Program monitor This type of monitor depends on the execution state of the program. 492 System monitor Setting 1 Setting 2 --F ---¢ F ---¢ --- --- -- -- ¢ ¢ -- -¢ -- . The monitors can be switched between the settings using the following system variables: $TPP_MON. The system monitor can be switched between two settings: setting 1 in which the monitor stops after a cold start. $TPP_MON. It is suitable for monitoring the state of the entire system. Power failure handling If power failure handling is enabled and the monitor is monitoring. PAUSE (state screen) When function key PAUSE is pressed on the Program monitor screen of the state screen. START (state screen) When function key START is pressed on the System monitor screen of the state screen. if the program monitor is set to 1. END (state screen) When function key END is pressed on the Program monitor screen of the state screen. The system monitor of setting 2 maintains the state assumed before the power was removed. Program End/Enforced End When the program terminates due to program termination. RESUME When the temporarily stopped program restarts. RESTART (state screen) When function key RESTART is pressed on the Program monitor screen of the state screen. When function key PAUSE is pressed on the System monitor screen of the state screen. it remains in the stopped state when the power is turned OFF/ON. (The program stops temporarily. but state monitoring is performed. the stopped program monitor restarts. For operations other than the above. F State monitoring continues if the program monitor is set to setting 2. The terminated program monitor does not start unless a monitor start instruction is executed. monitoring with the specified program monitor starts. the monitor state is preserved. all monitors terminate except the system monitor of setting 2. monitoring with the system monitor specified with the cursor starts.) F The system monitor continues state monitoring. or the occurrence of an alarm. monitoring with the program monitor specified with the cursor stops. F State monitoring stops if the program monitor is set to setting 1. state monitoring with the program monitor previously started by the temporarily stopped program stops. forced termination.9. the specified program monitor is terminated. Program Stop When the temporary stop key is pressed or if the program stops temporarily due to the occurrence of an alarm. 493 . the program monitor specified with the cursor stops. the program monitor previously started by the terminated program is deleted. If the monitor is stopped. the following occurs when the power is turned OFF/ON. Cold start Other If power failure handling is disabled and the power is turned OFF/ON. monitoring with the system monitor specified with the cursor stops. monitoring with the program monitor specified with the cursor restarts. The stopped monitor restarts when the “Restart” key is pressed or the program restarts. The deleted program monitor does not start unless a monitor start instruction is executed. UTILITIES B--81464EN--3/01 Operation--by--operation description Operation MONITOR instruction State When a monitor start instruction in the program is executed. MONITOR END When a monitor stop instruction in the program is executed. Rising edge: The rising edge of a signal is regarded to be a detection condition. UTILITIES B--81464EN--3/01 Instruction statements State monitoring is performed in the section enclosed by the following instructions: F MONITOR <conditional--program--name> Monitoring starts under the condition described in the condition program. can specify condition instructions only. 1 ON NOTE Falling edge: The falling edge of a signal is regarded as being a detection condition. Register/System Variable Condition Compare Instruction Condition variable operator value action Register [ i ] $ System variable > Constant >= Register [ i ] Call <program--name> = <= < <> Figure 9--22. I/O Condition Compare Instruction 1 Condition variable operator value action AO[ i ] > Constant AI[ i ] GO[ i ] >= Register [ i ] GI[ i ] <= Call <program--name> = < <> Figure 9--23. The condition is not satisfied when the signal remains off. CALL <program--name> The following conditions can be used: Figure 9--21. F MONITOR END <conditional--program--name> Monitoring performed under the condition described in the condition program stops. Condition program The monitoring condition program. The condition is not satisfied 494 . F WHEN <conditional--expression>. The detection condition is satisfied when the signal changes from the on state to the off state.9. I/O Condition Wait Instruction 2 Condition variable operator value action SDO[ i ] = ON SDI[ i ] <> OFF RDO[ i ] SDO[ i ] RDI[ i ] SDI[ i ] SO[ i ] RDO[ i ] SI[ i ] RDI[ i ] Call <program--name> UO[ i ] Rising edge (Note) UI[ i ] Falling edge (Note) WO[ i ] SO[ i ] WI[ i ] SI[ i ] UO[ i ] UI[ i ] WO[ i ] WI[ i ] Register [ i ] : 0 OFF. which has the subtype called WHEN. The detection condition is satisfied when the signal changes from the off to the on state. CALL <PRG Name> F Logical sum (or) WHEN <Cond. (Example) For SRVO006 Hand broken. On the program list screen. the servo alarm ID is 11.1> OR <Cond. multiple conditions can be specified on a single line in the condition statement. CALL <PRG Name> If the “and” (logical product) and “or” (logical sum) operators are used in combination.*.2>. Error number = 11006 In the condition compare instruction. the operation group is automatically set as [*. Position the cursor to the subtype item and press F4 CHOICE. This simplifies the program structure. For this reason. impairing the readability of the program and the ease of editing.*].1> AND <Cond. Press F2 DETAIL to move to the program details screen. and the alarm number is 006. Thus. and one of the operators is changed from “and” to “or” or from “or” to “and. 2 Select Cond as the subtype. the logic becomes complex. Instruction format F Logical product (and) WHEN <Cond. NOTE At this time. this function prohibits the combined use of the “and” and “or” logical operators.2>.3> AND <Cond. If multiple “and” (logical product) or “or” (logical sum) operators are specified for an instruction on a single line.1> AND <Cond. 495 . using the logical operators (“and” and “or”). Figure 9--24. refer to the alarm code table in the operator’s manual.” all other “and” or “or” operators are changed accordingly.5>. Error number = aabbb where aa = alarm ID bbb = alarm number For an explanation of alarm IDs and numbers. Select Cond from the subwindow.9. Error Condition Compare Instruction Condition error number = Value Processing Constant (Note) Call <program--name> NOTE An error number is specified with an alarm ID followed by an alarm number.4> AND <Cond.2> AND <Cond. (Example) WHEN <Cond. allowing the conditions to be evaluated efficiently. CALL <PRG Name> Specification Step 1 Enter a condition program name. UTILITIES B--81464EN--3/01 when the signal remains on. and the following message appears: TPIF-062 AND operator was replaced to OR TPIF-063 OR operator was replaced to AND Up to five conditions can be combined with “and” or “or” operators on a single line. A condition program requires no operation group. press F2 CREATE and enter a program name. When pressed. the name and state (under execution. Stops the monitor.” is displayed in the program name column. and program “B” executes a monitor start instruction. The terminated monitor is cleared from the screen. If the system monitor is disabled ($TPP_MON. Status Program F2 SYSTEM Condition program name State of the program. as well as the name of the parent program(*1) of the program that started the program monitor. Stops the monitor. Status F2 PROGRAM F3 START F5 END Description Condition program name State of the program. Status Program WRK FALL WLD TIME NO WRK L Running Paused Paused Sample Sample Sample 2 SYSTEM RESTART PAUSE 10% END Items and Function Keys on the Program Monitor Screen Item Description CH Prog.9. either being executed or not started (blank) Switches the screen to the program monitor screen. Starts the system monitor. In the “State” column. System monitors can be started and stopped. System monitor 1 2 3 4 [TYPE] Table 9--8. this key is not effective. “A. this key restarts the stopped monitor.$GLOBAL_MT=0). JOINT CH Prog. 496 . stopped) of the condition program is displayed. either being executed or stopped Name of the parent program of the program that started the program monitor Switches the screen to the system monitor screen. the name of the parent program. Terminates the monitor. a blank is displayed for the stopped monitor. Status WRK FALL WLD TIME NO WRK L VRFY HND Running PROGRAM START 10% END Items and Function Keys on the System Monitor Screen Item CH. Program monitor screen For the program monitor currently being executed or stopped. Program monitor 1 2 3 [TYPE] Table 9--7. NOTE If program “A” calls program “B” with a subprogram call.Prog. JOINT CH Prog. UTILITIES B--81464EN--3/01 State monitoring screen The state of state monitoring can be monitored using the program monitor screen and the system monitor screen. F3 RESTART F4 PAUSE F5 END System monitor screen All condition programs are displayed. before one monitor start instruction terminates.. CALL (Program name2) 3:WHEN (conditional-expression3)... Up to five “and” or “or” operators can be specified in a single monitoring condition instruction.TP 1:R[1]=0 <-------------------. the condition program enters the END state.9. The program monitor stops state monitoring under the following conditions: F The MONITOR END instruction is executed. the first condition program is overwritten by the second..*]. and (conditional--expression5) condition (conditional--expressionn)or (conditional--expressionm) . CALL (Program name3) If. CALL (Program name1) 2:WHEN (conditional-expression2).. and (conditional--expressionq) Up to ten While the program is being executed or while it is stopped. (State monitoring restarts when the program restarts. Clear the monitoring condition beforehand... however. The condition program cannot be executed directly.. If the condition is satisfied. the robot cannot be operated with the program. 2: 3:(Action) : 9:MONITOR MON1 <-------------------.Clear the condition... 497 . In the action program for a system monitor.. While the robot is not operating. an operation group cannot be specified. If the condition program names specified in the monitor start instructions are the same.. If condition monitoring is to continue..*. another monitor start instruction is executed. In the action program for a system monitor. While the robot is operating... causing a MEMO--065 error.. F The program terminates. an operation group can be specified. F The program stops temporarily.. If there is no line on which the condition on line 1 is dropped.. 1:WHEN (conditional-expression1). the condition statements (condition program) cannot be edited. multiple monitors are started at the same time.. the condition is immediately satisfied on the monitor start instruction on line 9. UTILITIES B--81464EN--3/01 Notes/restrictions If multiple condition instructions are specified in a condition program. both monitors are executed at the same time..) Up to ten conditions can be monitored at the same time. the robot can be operated with the program. or (conditional--expression1) : : : condition (conditional--expressiono) and (conditional--expressionp) .. Example MON1.. specify a monitor start instruction in the program. TP 1:WHEN R[1]=1 CALL ACT1 ACT1. Up to five condition (conditional--expression1) and (conditional--expression2) .*. In the action program for a program monitor.The condition is satisfied again.. the operation group must be specified as [*.*.. 11.9.11. 9. For example. cut the end of the wire or clean the nozzle.Defining alarm codes to be monitored -.Enabling/disabling the alarm--time automatic start feature -.Defining automatic error recovery alarm conditions e) Flowchart for resuming a suspended program f) Manual operation screen of the automatic error recovery function g) Execution of the resume program from the teach pendant and test mode h) Changing conditions for executing the resume program i) Other specifications and restrictions j) Warnings (Be sure to read this section for safety. the operator must jog the robot to a safe position to.11 Automatic Error Recovery Function 9.Enabling/disabling the automatic error recovery function -. TP 10 11 Weld--l. If a robot is stopped.1 Overview This section consists of the following items: a) Outline of the automatic error recovery function b) Defining a resume program c) Teaching the RETURN_PATH_DSBL instruction d) Setting screen of the automatic error recovery function -. In such a case. suppose that a robot is performing arc welding. An alarm due to an arc start failure may be issued. it is necessary to perform recovery operation then resume the program that was originally running. stopping the robot. for example.Defining the automatic start count register -.) This function is an optional function. then resume the original program. TP 12 1 Wire cutter 3 2 5 2--3--4: Welding path 4 Position where arc start failed 498 .Defining the error recovery information SDO (indicating the conditions for executing the resume program) -.Defining the recovery switch SDI -. UTILITIES B--81464EN--3/01 9.Setting the maximum number of automatic start repetitions -. Figure 9--25. The automatic error recovery function is provided to support automatic operation of the above sequence. Example: Wire--cut.2 Outline of the automatic error recovery function Background Robots are sometimes stopped by various alarms even during production. When the teach pendant is enabled. UTILITIES B--81464EN--3/01 Alarm code monitoring function In the example shown above. another program called the resume program. the program outputs an alarm signal and stops running. If the error recovery information SDO is on at start input. When the resume program has terminated. and selecting the trigger status between on and off. the alarm code monitoring function is disabled.9. this function is disabled. RI. Recovery switch SDI function With the recovery switch SDI function. In the above example. and WI.” DI alarm function By inputting a defined digital input signal. When this alarm is defined for the alarm--time automatic start feature. other robots are not stopped when multiple robots are operating. the automatic error recovery function is designed so that it functions when the teach pendant is disabled. a message defined for a user alarm can be used. or the number of alarms to be monitored may be increased. and a defined alarm is issued. For manual testing. the resume program can be executed automatically by inputting the digital input signal. If no alarm code is defined. Input of the start signal executes the defined resume program. When this SDO is not defined. before the suspended original program (Weld_1. If no arc is produced. another start signal input restarts the suspended original program. After the resume program terminates. If the resume operation function is then enabled (which is set on the welding system setting screen). whether the next start input resumes the original program or executes the resume program can be indicated. If the return distance for resume operation is set. and the defined alarm is issued. CAUTION Basically. whether to start the resume program or not can be selected at the time of start input according to the defined SDI status. Because the alarm signal is not output. the original program is resumed automatically. Error recovery information SDO function With the error recovery information SDO function. see “Execution of the resume program from the teach pendant and test mode. After this program terminates. the original program is resumed without executing the resume program. an automatic error recovery alarm can be issued. As the message for an automatic error recovery alarm. the robot automatically returns to the original position where the robot was stopped. For example. another start signal input resumes the original program.TP to perform welding along the path from 2 to 3 to 4. the resume program is always executed. If the recovery switch SDI is off. The alarm severity can be set to either LOCAL or GLOBAL selectively. When this feature is enabled. then the original program is resumed. then the original program is resumed. this function is disabled. the resume program is automatically executed without outputting the alarm signal and stopping the robot.TP in this case. therefore. can be started at the next start signal input. When the alarm--time automatic start feature is enabled. The robot for which the alarm was issued moves by itself to the recovery station. 499 . When this SDI is not defined. and after recovery work. the input of the start signal is no longer needed. Then. In this case. which is Wire--Cut. an arc off alarm can be added as an alarm to be monitored. The alarm to be monitored may be changed.TP in the example) is resumed. The standard maximum number of monitored alarm codes that can be defined is ten. the robot is operated by executing Weld--1. The status of a digital input signal to be monitored can be set by selecting the signal type from among DI. when an arc off alarm is issued. the original program is resumed. a scratch start takes place. the resume program is executed. the automatic error recovery function operates only when an arc start miss alarm is issued. With the automatic error recovery function. the alarm is issued only for a program that defines the resume program. changing the signal number. Assume that an arc start failure occurs at the arc start position 2. When LOCAL is selected. Alarm--time automatic start feature When an alarm code is defined as explained before. the robot returns from the stop position by the set distance. the same operation sequence as explained above can be performed automatically. the automatic error recovery function does not function unless the manual test mode is set on the automatic error recovery manual operation screen. when the nozzle touch state is input through DI. If the resume operation function operates. the instruction is invalid when executed in a program other than the resume program. In some systems. but it should be disabled only after the execution of the resume program. the resume operation function is generally enabled. This can be performed with the RETURN_PATH_DSBL instruction. This instruction is valid only when it is executed within a resume program. the resume operation function needs to be kept enabled.9. By using this instruction within the resume program. 500 . return to the original stop position is performed even when relieve operation has been performed. With this function enabled. As a result. In such a case. the nozzle touch state is observed again. the resume operation function can be disabled only when the original program is resumed next. UTILITIES B--81464EN--3/01 Function for disabling the resume operation function after execution of the resume program In arc tool systems. return to the original stop position should not sometimes be performed. a resume program is used to relieve the torch slightly in the torch direction. return to the original stop position is always performed then arc is produced when the original program resumes after the resume program terminates. however. For example. 80(sec) P[11] 20mm/sec FINE P[10] 50% FINE POINT ARCSTART WELD_PT ARCEND TOUCHUP > 10 % 8/8 Wire feed Wire cut TOUCHUP > In the above program example. it is executed as the resume program.0. the resume program has been erased. the WIRE_CUT program is taught in the second line of the WELD program and is erased in the sixth line. In the seventh and subsequent lines. UTILITIES B--81464EN--3/01 9.5sec P[12] 20mm/sec FINE WAIT . CAUTION When the RESUME_PROG instruction is executed within the resume program.3 Defining a resume program The automatic error recovery function executes a resume program defined in an original program.9. To define a resume program. The resume program is erased also when: F Backward execution is performed.11. Program control [INST] In the example given in Fig--1. These instructions can be displayed on the edit screen by following the procedure shown below. so the resume program is not executed. F The cursor line is changed manually. in lieu of the original program. F The program terminates. the following programs are used: WELD_1 JOINT 10 % 1/7 1:J P[1] 100% FINE 2: RESUME_PROG=WIRE_CUT 3:L P[2] 100mm/sec FINE : Arc Start[1] 4:L P[3] 100mm/sec CNT100 5:L P[4] 100mm/sec FINE : Arc End[2] 6: CLEAR_RESUME_PROG 7:L P[5] 100mm/sec FINE [End] POINT ARCSTART WELD_PT ARCEND WELD_CUT JOINT 1:L 2:J 3: 4:L 5: 6:L 7:L [End] P[10] 100mm/sec FINE P[11] 100% CNT50 WO[4]=PULSE. it is defined as a resume program for the original program. 501 . use the CLEAR_RESUME_PROG instruction. use the RESUME_PROG= instruction. To erase the defined resume program. Since the WIRE_CUT program is defined as the resume program between the third to seventh lines. the resume operation function does not operate when the original program resumes after the resume program terminates.0.80(sec) 6:L P[11] 20mm/sec FINE 7:L P[10] 50% FINE 8: RETURN_PATH_DSBL [End] POINT ARCSTART WELD_PT 502 ARCEND TOUCHUP > 10 % 8/8 Wire feed Wire cut TOUCHUP > . WELD_1 JOINT 10 % 1/7 1:J P[1] 100% FINE 2: RESUME_PROG=WIRE_CUT 3:L P[2] 100mm/sec FINE : Arc Start[1] 4:L P[3] 100mm/sec CNT100 5:L P[4] 100mm/sec FINE : Arc End[2] 6: CLEAR_RESUME_PROG 7:L P[5] 100mm/sec FINE [End] POINT ARCSTART WELD_PT ARCEND WELD_CUT JOINT 1:L P[10] 100mm/sec FINE 2:J P[11] 100% CNT50 3: WO[4]=PULSE. If the instruction is taught as shown below.5sec 4:L P[12] 20mm/sec FINE 5: WAIT . Program control [INST] The RETURN_PATH_DSBL instruction is valid only when it is taught within resume program instructions.4 Teaching the RETURN_PATH_DSBL instruction The RETURN_PATH_DSBL instruction appears in the menu containing the RESUME_PROG instruction. Use this instruction as shown in the sample program given below.9. even if the resume operation function is enabled. UTILITIES B--81464EN--3/01 9.11. : 0 5 Automatic start feature: DISABLED RESUME PROGRAM type recovery 6 Status DO index No.” 53018 indicates “ARC--018 Lost arc detect.” 503 10 % 2/10 HELP .: 0 3 Incomplete end DO index No. UTILITIES B--81464EN--3/01 9.: 0 [ TYPE ] ALARM DI_ALARM To alarm registration screen Alarm setting screen Error Recovery Set 1 2 3 4 5 6 7 8 9 Monitored Monitored Monitored Monitored Monitored Monitored Monitored Monitored Monitored alarm alarm alarm alarm alarm alarm alarm alarm alarm G1 JOINT code code code code code code code code code [ TYPE ] 53013 53018 0 0 0 0 0 0 0 DONE 53013 indicates “ARC--013 Arc Start failed.: 0 2 0 MAINTENANCE PROGRAM type recovery 9 Fast exit/entry feature: DISABLED 10 Dry run exit/entry: DISABLED 11 Maintenance program: ******** 12 MAINT DO index No.5 Setting the automatic error recovery function On the setting screen of the automatic error recovery function. the following settings can be made: F Enabling/disabling the automatic error recovery function F Defining alarm codes to be monitored F Defining the recovery switch SDI F Defining the error recovery information SDO (indicating conditions for executing the resume program) F Enabling/disabling the alarm--time automatic start feature F Setting the maximum number of automatic start repetitions F Setting the automatic start count register F Enabling/disabling the fast exit/entry feature F Enabling/disabling dry run exit/entry operation F Defining a maintenance program F Defining the maintenance SDO F Defining automatic error recovery alarm conditions MENUS Err recorery 6 Set up Error Recovery Set G1 JOINT 10 % 1/12 Error recovery function common setup 1 Error recovery function: DISABLED 2 Approval DI index No.11.9.: 7 Auto start Max count: 8 Auto start count R[] No.: 0 4 Reset DI index No. when all defined values are 0. For an arc start failure alarm. The specifications of the alarm code monitoring function are listed below. that is. change system variable $RSMPRG_SV. 58. for example. To change the maximum number of alarm codes (up to 20 codes) that can be defined. the following alarm code is indicated: ARC 013 -- ID (53) Arc Start failed = 5 Number 3 ID 0 1 Number For alarm numbers. the resume program is executed at restart. When there is no alarm code defined. the alarm code monitoring function is disabled. the resume program is always executed at restart from the suspended state (except when the error recovery information SDO is off). PREV to exit Typical alarm code IDs are specified as follows. Table 9--9. The alarm code ID indicates the type of alarm. 51.$NUM_ALARM. the resume program is not executed. When this item is disabled. When a defined alarm code is issued. turn the power off then on. PROG PRIO SYST SEAL SENS : * : : : 3. Even when a defined alarm is issued. Enabling/disabling the automatic error recovery function This item enables or disables the automatic error recovery function. 59 INTP SPOT LASR MACR : : : : 12 23 50 57 CAUTION Do not define any warning alarm as an alarm code. and neither monitored alarm codes nor the recovery switch SDI are defined. 26. When the automatic error recovery function is enabled.9. SRVO MOTN PALT ARC COMP : : : : : 11. 15. refer to the alarm code table in the operator’s manual. 13. press the F2 (ALARM) key. Specifications of the Alarm Code Monitoring Function ALARM CODE FUNCTION STATUS ISSUANCE OF DEFINED ALARM EXECUTION OF RESUME PROGRAM AT RESTART All 0s Disabled -------------- Executed At least one alarm code is defined Issued Executed Enabled Not issued Not executed ALARM CODE DEFINITION 504 . refer to the alarm code table in the operator’s manual. Up to ten alarm codes can be defined as standard. Pressing the F5 (HELP) key displays the following screen: Error Recovery Set G1 JOINT 10 % HELP Arrows to scroll. A screen for defining alarm codes is displayed. 53. Defining alarm codes to be monitored To define alarm codes to be monitored. the resume program is not executed if the recovery switch DI is off. and a program is suspended. 24. UTILITIES B--81464EN--3/01 For alarm codes. Each alarm code consists of an alarm code ID and alarm number. input the on state of the recovery switch SDI. power must be turned off then back on. the operator can choose whether to execute the resume program or not at the time of restart from the suspended state by using a peripheral device. If the following conditions are met. F The currently selected program (original program) is suspended. F The currently selected program (original program) has a motion group. -. the recovery switch SDI signal is on. define an SDI number. If any alarm code is defined.The recovery switch SDI function is disabled. the error recovery information SDO goes on: F The automatic error recovery function is enabled. the program set in $TP_DEFPROG). This is because the resume program to be executed is not in single step mode. -. If it is off.There is no alarm code defined.The operation mode (on the automatic error recovery manual operation screen) is TP_TEST. The specifications of the recovery switch SDI function are listed below. Specifications of the Recovery Switch SDI Function SDI NUMBER DEFINITION RECOVERY SWITCH SDI FUNCTION STATUS SDI STATUS EXECUTION OF RESUME PROGRAM AT RESTART 0 Disabled -------------- Executed On Executed Off Not executed Valid number defined Enabled CAUTION Caution: To continue a resume program at program restart after the resume program is suspended. F The resume program is defined in the currently selected program (original program). When the signal is off. the original program is executed at restart.” F When the teach pendant is enabled: -. Defining the error recovery information SDO (conditions for executing the resume program) When the alarm code monitoring function and recovery switch SDI function are both disabled. If this function is enabled. UTILITIES B--81464EN--3/01 Defining the recovery switch SDI To use the recovery switch SDI function. Table 9--10. and the resume program is not yet completed. When both the functions are enabled. F The program to be executed is not in single step mode. 505 . this function is disabled.The operation mode (on the automatic error recovery manual operation screen) is AUTO. With this function. the operator can know which program is to be executed next. it is difficult to determine whether the original program or resume program is to be executed at restart. F When the teach pendant is disabled: -.The remote conditions are met when system variable $RMT_MASTER is 0. the error recovery information SDO is on even if the single step LED on the teach pendant lights. When the resume program is suspended.9.” F The user condition parameter ($AUTORCV_ENB) is true. If this signal number is not defined. the resume program is always executed at the time of restart after the original program is suspended. The single step LED on the teach pendant indicates the single step status of a program currently selected (more precisely. F There is no optional function that disables the automatic error recovery function. After the number is defined. See “Conditions for executing the resume program. -. See “Other specifications and restrictions. the alarm code is issued. The error recovery information SDO is on only when the resume program is executed at restart. the original program is executed. With this function. this function is disabled. then input the start signal. Figure 9--26. the operator must first perform appropriate operation such as jogging the robot to near the stopped position of the original program. Figure 9--27. then input the start signal. input the incomplete--end reset SDI. wait 300 ms before program execution. single step operation cannot be performed.9. When the incomplete end SDO is output. Inputting the incomplete--end reset SDI signal turns off the incomplete end SDO. F While the resume program is being executed. so the robot is not in a specified position. F Even if the error recovery information SDO is on. When the conditions listed above have been changed. which may interfere with obstacles such as a jig. Incomplete End SDO Output Timing Chart Start signal Resume program terminated midway Execution of resume program Incomplete end SDO Defining the incomplete--end reset SDI When the incomplete end SDO is included in the PLC start signal acceptance conditions. The timing chart for the error recovery information SDO status and start signal is shown below. If an interfering object exists. Therefore. the incomplete end SDO is output if a certain forced termination alarm is issued during execution of the resume program. inputting the start signal causes the robot to perform resume operation to return from the current position to the stopped position of the original program. the operator requires a means to turn off the incomplete end SDO externally. Error Recovery Information SDO Output Timing Chart Start signal Conditions are not met Error recovery information SDO Conditions are met Execution of resume program Execution of original program Defining the incomplete end SDO When an incomplete end SDO number is defined. In such a case. If this signal is on. F The update cycle period for the error recovery information SDO is 300 ms. check the current robot position. This signal may be added to the PLC start signal acceptance conditions. UTILITIES B--81464EN--3/01 CAUTION F The selected program means the program to be executed by inputting the start signal. If this signal is set to 0. the resume program terminates in the middle. The output incomplete end SDO is turned off by the next start signal input. jog the robot to a position near the stopped position of the original program. F Backward execution in the resume program is possible. before inputting the start signal. Before inputting the start signal. the resume program is not executed when backward execution of the original program is performed. the operator must check the incomplete end SDO signal status. 506 . WARNING The alarm--time automatic start feature works on a program selected on the teach pendant. but the resume program is not executed automatically. CAUTION If the error recovery information SDO is off when the resume program is executed automatically. To prevent such an endlessly repeated condition. the UOP PAUSED signal is output. and no monitored alarm code is defined. the resume program is executed. suppose that program A having a resume program instruction has been executed from the teach pendant. The reason for this is that the automatic start feature works on a selected program. When the execution of the resume program has terminated. the operator need not input the start signal. If the count exceeds the set value. then resumes the original program. CAUTION Defined alarms must have the suspension alarm attribute. The number of times the resume program is started repeatedly is counted internally. this function is disabled. In this example. the automatic start feature functions again. “INTP--134 Over automatic start Max counter” is issued. Enabling/disabling the alarm--time automatic start feature When this item is enabled. CAUTION While the resume program is being executed. the original program is resumed automatically. then program B without a resume program instruction is selected and executed from the teach pendant. alarm “INTP--135 Recovery DO OFF in auto start mode” is issued. the alarm signal is not output. As the resume program has terminated. eliminate the cause of the alarm issued in the original program. when the start signal is input while the original program is suspended. This is because the original program is in the suspended state. Since the alarm signal is not output. 507 . this feature automatically executes the resume program. Then input the start signal. and the error recovery information SDO is turned off at the same time. and an alarm code to be monitored is defined. For example. the automatic start feature is activated by an alarm indicating an arc start failure. During then. This specification is the same as that for multitasking systems. inputting the start signal for executing the resume program automatically executes the resume program then resumes the original program. If this occurs. If a defined alarm is issued. other robots operating in the same line are not stopped. program B that is currently selected does not define any resume program.9. If an alarm defined in program A is then issued. For example. CAUTION The number of repetitions counted internally is cleared when the execution of a move statement has terminated and when the CLEAR_RESUME_PROG instruction has been executed. UTILITIES B--81464EN--3/01 When this signal is set to 0. the alarm signal is not output. In this case. Setting the maximum number of automatic start repetitions When a defined alarm is issued. In other words. the alarm--time automatic start feature automatically executes the resume program. set the maximum number of automatic start repetitions. the original program is then restarted automatically. WARNING When the automatic start feature item is enabled. then the same alarm is issued again when the original program has resumed. If the defined alarm is issued again when the original program is resumed. this feature functions if the defined alarm is issued. and execute only the move statements of the original program up to the end. 3 Disable arc welding. a resume program must be created so that the same subprogram is called when the register value is 0 and when the value is 1.9. the robot may interfere with part of a workpiece or peripheral devices. a different program can be executed as the resume program each time the resume program is executed. After recovery operation. the register value is 1. UTILITIES B--81464EN--3/01 Defining the automatic start count register As mentioned above. disable arc welding. this item specifies whether exit from the stopped position and return to the stopped position after maintenance program execution are to be performed at dry run speed. and resume the original program operation. The fast exit/entry feature causes the following operation automatically: 1 From the stopped position. the resume program may be executed several times repeatedly by the automatic start feature. When the automatic start count register is defined. CAUTION When the resume program is executed by other than the automatic start feature. Error Recovery Set UALM 1 [ 1] 2 [ 5] 3 [ 10] Severity LOCAL GLOBAL LOCAL G1 JOINT Type DI[ 1] RI[ 2] DI[ 5] 10 % 1/3 Value ON OFF ON PLEASE POWER OFF AFTER CHANGING DI/DO [ TYPE ] DONE HELP 508 . When an alarm is issued again during execution of the original program. By executing a different subprogram in the resume program according to the register value. the resume program takes priority over this feature if the resume program is enabled in the original program. execute the move statements of the original program from the beginning to move the robot to the stopped position. The fast exit/entry feature is provided to avoid the possibility of such interference. The feature can be enabled or disabled by setting this item. Defining a maintenance program Define the name of a maintenance program used as the standard maintenance program. and the resume program is then executed again by the automatic start feature. 4 Enable arc welding. when the resume program is executed for the first time by the automatic start feature. Enabling/disabling dry run exit/entry In the fast exit/entry feature. Therefore. For example. In this case. similar interference may occur when an attempt is made to execute the original program. Even when this feature is enabled. the register value is 2. different resume program operation can be performed each time the repetition count is incremented. Defining automatic error recovery alarm conditions Define the conditions for issuing an automatic error recovery alarm on the definition screen that is displayed by pressing F3 (DI_ALARM) on the setting screen of the automatic error recovery function. the robot moves from the stopped position to the taught point to execute the resume program. In other cases. Defining the maintenance SDO Define the number of the SDO for indicating that the fast exit/entry feature is operating. the register value is 0. 2 Execute a maintenance program. Enabling/disabling the fast exit/entry feature If an alarm is issued during operation in a complicated environment. the maintenance program is executed. The maintenance program name can also be specified using the maintenance program instruction on the edit screen. When this item setting has been changed.$NUM_DI_ALM. The standard number of automatic error recovery alarm conditions is three. the user alarm message with the set number is displayed as an alarm message. and WI. the power must be turned off then back on for the new setting to become effective. When this item setting has been changed. When LOCAL is set. F Signal type Choose the type of the digital signal for issuing the automatic error recovery alarm from among DI. F Signal number Set the number of the digital signal for issuing the automatic error recovery alarm. F Detection signal status Set the status of the digital signal for issuing the automatic error recovery alarm to ON (high) or OFF (low). the alarm is regarded as a global alarm. 509 . When this setting has been changed.9. the new setting becomes effective immediately. UTILITIES B--81464EN--3/01 On this screen. If the automatic error recovery alarm is issued when there is no program being executed. the items shown below can be set. This number can be increased to up to five by changing system variable $RSMPRG_SV. After this system variable has been changed. The alarm code of the automatic error recovery alarm is 12278. When this item setting has been changed. If there is no program that defines a resume program. the automatic error recovery alarm is issued only for the program that defines a resume program. F Alarm severity This item can choose whether the automatic error recovery alarm is a local alarm or global alarm. the power must be turned off then back on for the new setting to become effective. When this setting has been changed. a warning is generated. the power must be turned off then back on for the new setting to become effective. the new setting becomes effective immediately. RI. F User alarm number When the automatic error recovery alarm is issued. the power must be turned off then back on for the new setting to become effective. Flowchart for Executing the Resume Program (When Automatic Start is Disabled) Program suspended by hold Program suspended by alarm Release alarm Input start signal Yes Backward execution? Restart of resume program from stopped position? No No Yes No Is error recovery information SDO on? Yes Execute resume program End of resume program Input start signal Execute original program CAUTION F When forward execution is specified while the original program is suspended. 510 .6 Flowchart for resuming a suspended program The resume program is executed according to the following flowchart: Figure 9--28. F When backward execution is specified while the resume program is suspended. UTILITIES B--81464EN--3/01 9. the original program resumes. backward execution is performed for the resume program. if it is off.9. F When forward execution is specified while the resume program is suspended. the resume program is executed if the error recovery information SDO is on.11. if it is off. backward execution is performed for the original program without executing the resume program. the original program is executed. F When backward execution is specified while the original program is suspended. the resume program resumes if the error recovery information SDO is on. UTILITIES B--81464EN--3/01 9. check that the resume program is correct. the operator can know which program.11. the robot operation is unpredictable. MENUS Error Recovery MNF G1 JOINT Error recovery DO status: Defined resume program: 10 % 1/1 OFF WIRE_CUT 1 Operation mode: AUTO [ TYPE ] DATAIL [CHOICE] Error Recovery MNF 1 2 3 4 5 6 7 8 9 10 11 Err recorery MANUAL FCTNS 10 % 1/11 Auto error recovery enabled: No PAUSED & resume prog incomp: No Program has motion group: No Not in single step mode: No Resume program is defined: No Mode is(TP_TEST): No Approval DI is ON: None Defined alarm occurs: None Remote when $RMT_MASTER is 0: None No disabled options: No User condition param enable: Yes [ TYPE ] G1 JOINT DONE Error recovery information SDO status The error recovery information SDO status is indicated. the resume program or original program.9. Therefore. This screen contains the following: F Error recovery information SDO status F Name of the resume program defined in the currently selected program F Operation mode setting F Detail information about the error recovery information SDO This screen can be selected by following the procedure shown below. From this information. CAUTION If a wrong program is defined as the resume program. the operator can check whether a wrong resume program is defined or not. its status can be indicated. 511 .7 Manual operation screen of the automatic error recovery function A manual operation screen is supported for the automatic error recovery function. is to be executed. Defined resume program The name of the resume program defined in the currently selected program is indicated. Even when the error recovery SDO is not defined. From this information. When no alarm code is defined. 512 . Displaying detail conditions of the error recovery information SDO When F2 (DETAIL) is pressed on the manual operation screen of the automatic error recovery function. and that alarm is issued. “None” is indicated. UTILITIES B--81464EN--3/01 Operation mode There are three operation modes. -. “TP_TEST” is indicated. or when the teach pendant is enabled. the resume program is not in single step mode. and when the teach pendant is enabled. When the SDI number is not defined. When the error recovery information SDO is off. When this mode is selected. For example. the error recovery information SDO is held on. the resume program is not executed.A resume program must be defined in the selected program. the resume program is executed according to the status of the alarm code monitoring function and recovery switch SDI function. F TP_TEST This mode should be set when the teach pendant is enabled. F Mode is (xxxx) This item indicates that the operation mode is suitable for the current status. -. system variable $RMT_MASTER is 0. F Program has motion group This item indicates that the selected program has a motion group. and system variable $RSMPRG_SV. in this mode. the resume program is always executed regardless of the status of the alarm code monitoring function or error recovery switch SDI function. When the display changes from this screen to another. and you cannot find the cause of the SDO being off.The selected program must exist. F Auto error recovery enabled This item indicates whether this function is enabled or disabled on the setting screen of the automatic error recovery function. the resume program is not executed. and the LED indicates that the original program is in single step mode. when the teach pendant is disabled. or when the teach pendant is enabled. F Remote when $RMT_MASTER is 0 This item indicates that remote conditions are met. The single step LED on the teach pendant indicates the single step status of the selected program ($TP_DEFPROG). the error recovery information SDO is always off. F Approval DI is ON This item indicates the recovery switch DI status. detail conditions related to the error recovery information SDO status are displayed. F AUTO This mode should be set when the teach pendant is disabled.The selected program must be in the suspended state. If this mode is selected when the teach pendant is enabled. Therefore. The standard setting is AUTO. F NO_EXEC When this mode is selected. When all items on the detail screen are set to Yes or None. the error recovery information SDO is turned on. F PAUSED & resume prog incomp This item indicates the following conditions: -. Even when the single step key is pressed while the resume program is suspended.$CHK_REMOTE is true.” When the teach pendant is enabled. check this screen. and the execution of the resume program must not have been completed.9. This is because the selected program is the original program. F Resume program is defined This item indicates that a resume program is defined in the selected program. When this mode is selected. “None” is indicated. F Defined alarm occurs This item indicates that an alarm code is defined. AUTO is automatically set again. “AUTO” is indicated in the portion “xxxx. This function is enabled only when the teach pendant is disabled. F Not in single step mode This item indicates that the single step mode is not set. and the single step LED goes on. the automatic error recovery function is used when production is started with the teach pendant disabled.9 Changing conditions for executing the resume program To use resume program execution conditions other than alarm codes. Even when a resume program is defined in a subprogram. the resume program execution status cannot be checked on the program edit screen. 513 . For example. UTILITIES B--81464EN--3/01 F No disabled options There are options that cannot be used together with the automatic error recovery function. When checking the resume program during teaching. Suppose that a resume program is defined in the subprogram. Single step mode is valid only for the original program. the error recovery information DO is turned on.CALL DO_RESUME 2: WHEN R[1]<>1. For how to use this system variable. the resume program is not executed. set the operation mode to TP_TEST on the manual operation screen.” 9.CALL NO_RESUME DO_RESUME.10 Other specifications and restrictions F While the resume program is being executed. CAUTION When using the automatic error recovery function in multitasking systems. use user condition system variable $AUTORCV_ENB and the status monitoring function.CALL DO_RESUME DO_RESUME. This is because the selected program is the main program. In TP_TEST mode. In this case. that resume program cannot be executed.11. when the subprogram is selected and executed.9.CH 1: WHEN R[1]=1. F When the cursor line is changed and executed while the original program is suspended. In this case. Definitions in the main program and subprogram are shown below. MONIT1. TP 1: $AUTORCV_ENB=1 2: MONITOR MONIT_3 MONITI2. In this case. the automatic start function is unavailable. F While the resume program is being executed. the suspended original program is displayed. refer to the operator’s manual on the status monitoring function. 9. to execute the resume program when R[1] is 1. create the following monitor program. For how to use the status monitoring function. pressing the hold button causes both the main program and subprogram to stop. and the error recovery information DO is off. but that no resume program is defined in the main program. so the resume program is executed. 9.CH 1: WHEN R[1]=1. define a resume program only in the main program. and start MONIT1. F User condition param enable This item indicates the status of system variable $AUTORCV_ENB for user conditions.8 Execution of the resume program from the teach pendant and test mode Normally. This item indicates whether such options are present or not.11. see “Changing conditions for executing the resume program. the resume program can be executed regardless of the recovery switch DI status and whether a defined alarm is issued or not. the resume program for the subprogram is not executed.CH on the system monitor screen. F When a multitasking program (a main program and subprogram) is being executed with the alarm code monitoring function disabled and the recovery switch DI undefined. TP 1: $AUTORCV_ENB=0 2: MONITOR MONIT_2 MONITI3. single step operation is not performed. On the edit screen.CALL NO_RESUME The start conditions can be changed by modifying the monitor program.11. when the main program is selected and re--executed.CH 1: WHEN R[1]<>1. TP Sub. observe the following safety precautions: F If a wrong program or a program causing wrong operation is defined as a resume program.Arc sensor -. F The automatic error recovery function supports the power failure handling function. UTILITIES B--81464EN--3/01 Main. F The automatic error recovery function is disabled when one of the following options is loaded: -. F When an operation mode other than AUTO is set on the manual operation screen of the automatic error recovery function. always keep displaying the manual operation screen of the automatic error recovery function. After the resume program terminates. F Never teach the arc and weaving instructions in the resume program. When Yes is entered in response.Line tracking -. specifying program execution displays a popup menu confirming the cursor movement. F If the operation mode is set to TP--TEST on the manual operation screen of the automatic error recovery function. the resume program is started even when a defined alarm is not issued or when the recovery switch DI is off.Constant joint path function (path not overridden) -. F When the cursor line in the original program is moved while the resume program is suspended. the resume program is resumed. F Before inputting the start signal and before pressing the execution key on the teach pendant. the robot moves in a direction the operator cannot predict.11. then the display is changed to another screen.TP 1: RUN Sub 2: RESUME_PROG=WIRECUT No resume program defined F While the resume program is being executed. In addition.Remote TCP -.Root path memorization -.9. If an arc instruction is executed in the resume program while arc welding is being performed by the original program. check the error recovery information DO status to confirm whether the original program or resume program is to be started. To use an operation mode other than AUTO.Coordinated motion -.11 Warnings When using the automatic error recovery function.Multi robot control 9. then program re--execution is performed. F In a single task system.MIG EYE option -. 514 . the operation mode is set to AUTO again automatically. the suspended original program is displayed on the edit screen.Accurate path function -. the original program is executed starting from the new cursor line. weaving operation is not performed within the resume program.Continuous turn -. selecting a program other than the original program on the program directory screen causes the original program to terminate. alarm “ARC--034 Task does not control welding” is issued.Soft float -. for safety. Define a correct program.AVC (TIG arc length control) -. when the resume program is suspended. exercise extreme care when executing the program to check the results of conversion. For example. Care is necessary when executing the program to check the results of the conversion. UTILITIES B--81464EN--3/01 9. 515 . override should be minimized and step execution should be selected. Therefore. This function has been developed to reduce the number of manhours needed for teaching. If the posture seems to change too suddenly. Function description The quality of arc welding depends on the torch posture. override should be minimized and step execution should be selected.9. WARNING An incorrectly specified conversion range may result in an unexpected torch posture. WARNING Conversion at a corner may suddenly change the torch posture. Note the following when using this function: WARNING Interference with the workpiece is not considered when calculating the torch posture. and work angle.12 Torch Posture Conversion This function converts the torch posture on a specified reference plane according to a specified work angle and travel angle. Some combinations of work angle. The operator can specify a position without having to consider the torch posture. travel angle. For example. Therefore. travel angle. the number of manhours needed for teaching can be reduced. All settings must be made to maximize the TCP accuracy. and reference plane may result in the converted torch posture interfering with the workpiece. the number of additional points and the pitch of the additional points specified for the corner smoothing function should be increased. For example. override should be minimized and step execution should be selected. Torch +Z +Y Wire +X NOTE The TCP accuracy largely depends on the conversion accuracy of this function. Also. This function changes the torch posture according to a directly specified reference plane. The travel angle and work angle must be specified correctly. The user should be careful to specify the conversion range correctly. NOTE The tool frame must be set so that the Z (+) direction corresponds to the torch direction. extreme care should be applied when executing the program. For an additional point of a circular corner. F Three--point teaching A plane determined by three points is set as the reference plane.9. ‘‘Circle ADD_pnt’’ is displayed. adding an additional statement. This function consists of the following two major subfunctions: F Corner smoothing function F Absolute adjustment Corner smoothing function This function adds additional points near a specified point so that the torch traverses the joints of specified paths while changing its posture smoothly. CNT100 is selected as the positioning method at the corresponding corner. F When the target robot is NOBOT. and a plane perpendicular to the torch at that point is set as the reference plane. 516 .Using positions held in the position registers -. F When the conversion range contains a palletizing statement. Rules governing conversion F The motion speed at an additional point is the same as that specified in the motion instruction for the corresponding corner. perform conversion before F For the motion instruction for an additional point. The number of additional points and the distance between those additional points (pitch) can be set as necessary. Whenever possible. UTILITIES B--81464EN--3/01 Reference plane setting The reference plane is used to calculate a work angle.By recording positions NOTE If a plane cannot be determined by the three points. ‘‘Additional pnt’’ is displayed in the comment field of the position data. F When motion instructions include an additional statement.Using positions specified in the program to be converted -. conversion cannot be successfully executed. F After conversion. F Torch posture A point is stored. The reference plane can be set using any of the following methods: F Horizontal plane The X--Y plane of the robot world frame is set as the reference plane. the statement will remain only in the corner motion instruction after conversion. therefore. such as when the three positions are on a single line. F When the conversion range contains a motion instruction that uses a position held in a position register. The three points can be specified using any of the following methods: -. F When the conversion range contains an incremental statement. This function cannot be used under the following conditions: F When the conversion range contains up to two motion instructions. . and the spin angle at P2. After this conversion... its posture is changed quickly.FINE P[3] Additional point : 1 pitch : 1 mm P[1] A1 P[2] X X B1 P[3] ( Distance between A1 and P2 ) = ( Distance between P2 and B1) = 1 mm 1 2 3 4 5 : : : : : L L L L L P[1]. half the difference between the travel angles at A1 and B1.. the torch moves along path 1..9.... but the variation does not affect the welding.) The torch posture at B1 is determined from the work angle and travel angle at P2 and the spin angle at P2.CNT100 P[5:Additional pnt].. and half the difference between the spin angles at P2 and P1.. or of straight line and an arc having tangents to match at the joint. When the torch moves to welding path 2.CNT100 P[4:Additional pnt]. UTILITIES B--81464EN--3/01 P[1] P[2] Path 1 Path 2 1 : L P[1]... (The spin angle is the angle of rotation around the Z--axis of the tool frame. The spin angle varies.FINE 2 : L P[2].FINE 3 : L P[3].CNT100 P[3]. The torch posture at P2 is determined from half the difference between the work angles at A1 and B1. NOTE The corner smoothing function is not required when a path consists of two half--circle arcs. maintaining a constant work angle and travel angle.FINE The torch posture at A1 is determined from the work angle and travel angle at P1...CNT100 P[2].. 517 .. .Number of add. the following must be set for the conversion: -.. UTILITIES B--81464EN--3/01 If a program includes a circular motion instruction...Absolute adjustment : FALSE 518 .CNT100 4 : L P[5:Additional pnt]..CNT100 3 : L P[3]...Corner smoothing function : TRUE -.FINE 2 : C P[2] P[4:Circle Add_pnt].FINE 2 : C P[2] P[3]...points : 0 -...9......FINE 3 : L P[4]. the program is converted as shown below: from 1 : L P[1].CNT100 5 : L P[4].FINE to 1 : L P[1].FINE NOTE To delete the additional point motion instructions from a program. UTILITIES B--81464EN--3/01 Absolute adjustment This function changes the specified position data to the specified travel angle and work angle according to the reference plane and path direction data (obtained from the teaching data for two points). MATCH_1 must be specified for Adjustment type on the setting screen. 519 .) For an explanation of setting the reference plane. The signs of the travel angle and work angle are defined as follows: 0 deg Travel angle (--) (+) Direction of movement 90 deg Work angle 0 deg Direction of movement 180 deg Apart from the directly specified travel angle and work angle. To do this.9. see the description given above. the travel angle and work angle at the beginning of the conversion range can be applied to the modification of all position data within the specified range. (ABSOLUTE is set as Adjustment type on the setting screen. F Specify corner points only when a weld path program is generated.” 520 . If the plane has already been specified. it need not be specified again. and the contents of the conversion are to be overwritten. To change the number of add--points and the pitch length. F To execute corner smoothing. Once conversion has been completed. UTILITIES B--81464EN--3/01 Setting execution procedure F Set the tool frame so that the Z (+) direction corresponds to that of the torch. or whether a new program is to be created. then press the F4 (YES) key. The torch posture need not be considered in programming. F Press the F3 (EXECUTE) key. F To perform absolute adjustment. care must be taken to avoid winding in the cable. However. select TRUE for the corresponding function. All settings must be made in order to maximize TCP accuracy. this message appears on the command line: ”The conversion was completed. enter desired values. Torch +Z +Y Wire +X F The TCP accuracy largely depends on the accuracy of the conversion performed by this function. conversion range. P[1] P[2] Path 1 Path 2 P[3] F Specify a reference plane on the posture convert screen. F Select whether the conversion program name.9. specify the torch posture angles (travel angle and work angle) either by directly entering the values or by reflecting the torch posture at the beginning of the conversion range. Then. select TRUE for the corner smoothing function. UTILITIES B--81464EN--3/01 Types of settings screens and their display POSTURE CONVERSION Program: Group :[1] 1 Original Program: [MAIN ] 2 Range: PART 3 Start line: 5 4 End line: 10 5 Create/Replace: REPLACE 6 New Program: [MAIN1 ] 7 Insert line:(Not used) ***** Corner smoothing function 8 Corner smoothing: ENABLE 9 Number of add. Pitch length: Set the distance between additional points for corner smoothing. line: Create/Replace: Select whether the original program is to be overwritten with the converted data (REPLACE) or whether a new program is to be created for the converted data (CREATE). the wrist rotation speed at corners decreases. the wrist rotation speed at corners decreases. Number of add. points: 1 10 Pitch length: 5. points: Set the number of additional points for corner smoothing. specify the number of the line from which the data will be inserted. press the F7 (GROUP) key. Corner smoothing: Enable (ENABLE) or disable (DISABLE) the corner smoothing function.9.The travel angle and work angle are specified directly. Only when Ajustment type is ABSOLUTE.The travel angle and work angle of the torch at the beginning of the conversion range are used. enter the name of the program to be created. Start line: Specify the start line of the conversion range. As the distance increases. the start and end lines must be specified.0deg 14 Work angle: 45. --- ABSOLUTE -. Adjustment type: Select how the torch angles (travel angle and work angle) are specified in absolute adjustment.0deg [ TYPE ] CLEAR Table 9--11. Range: Specify WHOLE or PART as the conversion range.0mm Absolute adjustment function 11 Absolute adjustment: ENABLE 12 Adjustment type: ABSOLUTE 13 Travel angle: 10. End Specify the end line of the conversion range. PLANE EXECUTE > GROUP > Torch posture conversion Setup item Description DESCRIPTION ITEM Group :[1] Indicates the motion group to be converted. Work angle: Specify a work angle directly. To change the indicated group. Insert line: When inserting converted data into an existing program. As the number increases. Absolute adjustment: Enable (ENABLE) or disable (DISABLE) the absolute adjustment. When PART is selected. the current program is automatically selected. At the prompt. MATCH_1 -. Only when Ajustment type is ABSOLUTE. Travel angle: Specify a travel angle directly. If this screen is displayed when nothing is specified for this item. enter the desired group number. Original Program: Enter the name of the program to be converted. 521 . New Program: When selecting Create for the above item. POSTURE CONVERSION Reference plane Group :[1] 1 Reference Plane Teach: [ TYPE ] Table 9--13. F Positions held in position registers are used. Table 9--14.The X--Y plane of the robot world frame is used as the reference plane.ADJUST -. NOTE When the original program name is erased. Torch posture conversion Function keys Description ITEM DESCRIPTION F3. UTILITIES B--81464EN--3/01 Table 9--12. The points can be specified as described below: F Positions specified in the original program are used. F6. F2. End line. Insert line. Reference prane screen (HORIZON case) Function keys Description ITEM F4. F New positions are stored. motion group number.3 POINTS -.HORIZON -.A single point is stored and a plane perpendicular to the torch at that point is used as the reference plane. CLEAR Initializes the Original program name. GROUP Specifies the motion group to be converted. is set immediately. -. Start line. EXECUTE Executes the absolute adjustment and corner smoothing function. New program. if selected. [CHOICE] DESCRIPTION Selects a reference plane format from the options indicated above. -. an alarm prompt message is output to indicate that the attempted conversion is impossible. and cursor line. NOTE If no plane is determined by the three specified points.A plane determined by three specified points is used as the reference plane. 522 .9. F7. the current program. HORIZON [CHOICE] > Reference prane screen (HORIZON case) Setup item Description DESCRIPTION ITEM Reference Plane Teach: Specifies a reference plane format using one of the following options: -. PLANE Displays the reference plane screen (See below). such as when all the points fall on a single line. ****** is displayed.Then. ****** is displayed. Table 9--18. CLEAR Erases the reference plane data. If the posture has already been stored.P3: [ TYPE ] Table 9--15. the field appears blank. RECORD This key is used to store the position data that is used to determine a reference plane by means of position teaching. F4. third. Adjust Posture: Indicates whether the torch posture for determining a reference plane has been specified. POSTURE CONVERSION Reference plane Group :[1] 1 Reference Plane Teach: 2 Adjust Posture: [ TYPE ] Table 9--17. F3. If they are not currently stored. If they have already been stored. or that in the position registers.F4.P1: . If the posture is not currently stored. P2:. This key is valid only for the second. P [ ] -. UTILITIES B--81464EN--3/01 POSTURE CONVERSION Reference plane Group :[1] 1 Reference Plane Teach: . Reference prane screen (ADJUST case) Function keys Description ITEM DESCRIPTION F2. Table 9--16. This key is valid only for the second. CLEAR ADJUST [CHOICE] RECORD> Reference prane screen (ADJUST case) Setup item Description DESCRIPTION ITEM Reference Plane Teach: See above. CLEAR 3POINTS REFER [CHOICE] RECORD> Reference prane screen (3POINTS case) Setup item Description DESCRIPTION ITEM Reference Plane Teach: See above. CLEAR Erases the reference plane data. PR [ ] -. select whether the position data provided by the original program. F5. third.Position data provided by original program -.9. F4. CHOICE Selects a reference plane format from the options indicated above. third. 523 . or fourth line. or fourth line. -.F5. is to be used. enter the number of position data. REFER After pressing this key. CHOICE Selects a reference plane format from the options given above. F5. the same field appears blank. This key is valid only for the second. or fourth line. RECORD This key is used to store the position data which determines a reference plane through position teaching. P1:.P2: . P3: Indicates whether the three points necessary to determine a reference plane have been stored. Reference prane screen (3POINTS case) Function keys Description ITEM DESCRIPTION F2. the travel angle will be 0 degrees. The travel angle is negative when the angle between the vectors is less than 90 degrees. When the angle between the vectors is 90 degrees. The travel angle is positive when the angle between the vectors is greater than 90 degrees. 524 . UTILITIES B--81464EN--3/01 Terminology WORD Travel angle DESCRIPTION Indicates the angle between a path direction vector and a Z--vector of the tool frame. 0 deg (+) (--) Direction of movement Work angle Indicates the angle between the Z--vector of the tool frame and the reference plane. 90 deg 0 deg Direction of movement 180 deg Spin angle Indicates the angle of rotation around the Z--axis of the tool frame.9. or stick out. This function enables fine adjustment of the torch posture over the entire welding path. and stick out must be specified. This function has been developed to reduce the number of manhours required for teaching. For example. therefore. NOTE The tool frame must be set so that the Z (+) direction corresponds to the torch direction. Care should be taken when the program is executed to check the adjustment. override should be minimized and step execution should be selected. This function differs from the posture conversion function in that the reference plane need not be specified. the torch posture must be adjusted by respecifying the travel angle. A correct travel angle. therefore. UTILITIES B--81464EN--3/01 9. the following must be noted: WARNING Interference with the workpiece is not considered in calculating the torch posture. There is a danger. A correct travel angle. For example. travel angle. and stick out must be specified. For example. Function description The quality of arc welding depends on the torch posture. This function enables fine adjustment of the torch posture over the entire welding path. therefore. Care should be exercised when the program is executed to check the adjustment. Torch posture adjustment can thus be executed much more easily. The quality of arc welding depends on the torch posture.9. travel angle. or stick out. This function adjusts the torch posture by a given amount upon a function key being pressed to change the work angle. or stick out. WARNING Adjustment at a corner may result in a sudden change in the torch posture. resulting in fewer manhours being required for teaching. the torch posture must be adjusted by respecifying the travel angle. therefore. When this function is used. or stick out. therefore. Care should be taken when specifying the adjustment range. override should be minimized and step execution should be selected. of the torch striking the workpiece. override should be minimized and step execution should be selected. Care should be exercised when the program is executed. work angle. work angle. work angle. NOTE Torch posture adjustment is covered by the torch posture conversion function option software. If the welding quality is poor. work angle.13 Torch Posture Adjustment This function adjusts the torch posture by a given amount upon a function key being pressed to change the work angle. therefore. If the welding quality is poor. WARNING Specifying the adjustment range incorrectly may result in the torch assuming an unexpected posture. 525 . resulting in fewer manhours being required for teaching. F The conversion range contains a palletizing statement. F The target robot is NOBOT. and the adjustment values (stick out. All settings must be made in order to maximize TCP accuracy.” 526 . All settings must be made in order to maximize TCP accuracy. press the F4 (YES) key. travel angle. F Press the F3 (EXECUTE) key. adjustment range. NOTE This function cannot be used under the following conditions: F The conversion range does not contain two or more motion instructions. F The conversion range contains an incremental statement. F The conversion range contains a motion instruction that uses a position held in a position register. Torch +Z +Y Wire +X F The TCP accuracy largely depends on the accuracy of the adjustment made with this function. Setting execution procedure F Set the tool frame so that the Z (+) direction corresponds to the torch direction. UTILITIES B--81464EN--3/01 Torch +Z +Y Wire +X NOTE The TCP accuracy largely depends on the accuracy of the adjustment made with this function.9. Once adjustment has been completed. this message appears on the command line: ”The conversion was completed. Then. F Specify an adjustment program name. work angle) on the path adjust screen. 9. work angle. and stick out are defined as shown below: 0 deg Travel angle (--) (+) Direction of movement 90 deg Work angle 0 deg Direction of movement 180 deg Stick out (+) Direction of movement (--) 527 . UTILITIES B--81464EN--3/01 F The signs of the travel angle. 528 .9. and cursor line. [MAIN ] PART 5 10 0. motion group number.0deg EXECUTE > GROUP > Torch posture adjustment Setup item Description ITEM DESCRIPTION Group :[1] Indicates the motion group to be adjusted. enter a desired group number. Start line. F2. is set immediately. UTILITIES B--81464EN--3/01 Types of settings screens and their display POSTURE CONVERSION Program: Group :[1] 1 Original Program: 2 Range: 3 Start line: 4 End line: Adjustment values 5 Stick out: 6 Travel angle: 7 Work angle: [ TYPE ] REVERSE CLEAR Table 9--19. At the prompt. the start and end lines must be specified. CLEAR Initializes the Original program name. If this screen is displayed when nothing is specified for this item. F6. the current program is selected by default. Table 9--20.0deg 0. EXECUTE Executes torch posture adjustment to add the specified amount of change. if selected. Range: Specify WHOLE or PART as the adjustment range. NOTE When the original program name is erased. End Specify the end line of the adjustment range. Work angle: Set the amount by which the work angle will be changed. Travel angle: Set the amount by which the travel angle will be changed. Torch posture adjustment Function keys Description ITEM DESCRIPTION F3. End line. To change the indicated group. REVERSE Executes torch posture adjustment to subtract the specified amount of change. GROUP Specifies the motion group to be adjusted. the current program. Start line: Specify the start line of the adjustment range. press the F7 (GROUP) key.0mm 0. F7. When PART is selected. line: Stick out: Set the amount by which the stick out will be changed. Original Program: Enter the name of the program to be adjusted. Stick out 529 . UTILITIES B--81464EN--3/01 Terminology WORD Travel angle DESCRIPTION Indicates an angle between a path direction vector and a Z--vector of the tool frame. The travel angle is negative when the angle between the vectors is less than 90 degrees. When the angle between the vectors is 90 degrees.9. The travel angle is positive when the angle between the vectors is greater than 90 degrees. 0 deg (+) (--) Direction of movement Work angle Indicates the angle between the Z--vector of the tool frame and the reference plane. the travel angle will be 0 degrees. 90 deg 0 deg Direction of movement 180 deg Stick out Indicates the amount by which the wire protrudes from the contact tip. You can turn off tracking during the ramp and then turn it on again with a new and appropriate tracking schedule. TAST supports any ferrous metal welding where the feedback current signal is in a steady state and stable condition.Globular -. and fixturing are some of the common causes of repeatability problems. the current varies as a function of the distance between the contact tip and the weld puddle.Short circuit -. stampings and castings.Spray -.9. Inconsistent forgings. the weld joints are not repeatable to within one-half the weld filler material diameter. tolerance stack-up.Ar and O2 NOTE TAST will not function properly if you program a weld parameter ramp during tracking. Typically.14 Tast Tracking Function In many gas metal arc welding (MIG) applications. TAST can be used with these kinds of processes: F Gas metal arc welding -. processes. Refer to Section 6. In these processes. UTILITIES B--81464EN--3/01 9. also known as MIG. Sensors adapt the path of the robot to the weld seam to ensure consistent weld quality. Through-Arc Seam Tracking (TAST) (an optional feature) is used in constant voltage gas metal arc welding (GMAW).8 for more information on using the arc welding parameter ramping option. Also TAST can be used with linear or circular motion. these applications cannot be satisfactorily welded by a robot without some means of adaptive control.Ar and Ar--C02 -. TAST can be used with SINE type weaving that includes vertical and lateral tracking or without weaving that includes vertical tracking only.C02 -. 530 . distortion.Pulse (50 to 150 Hz) F Shielding gases -. It is recommended that you program ramps only in the non-tracking portions of a weld. across the seam by monitoring changes in the weld current. in the distance between the torch and workpiece. NOTE The six point method for setting the tool frame must be used for proper tracking. The robot path can be adjusted for the weave plane and the vertical plane (z-direction of the tool). Thru-Arc Seam Tracking Vertical tracking Lateral tracking Torch Stickout Resistance Metal Groove Arc Weave 531 . coordinate z+ should move along the nozzle of the torch and away from the work. and laterally. Figure 9--29. When jogging in tool.9. The information provided by TAST enables the system to adjust the robot path to keep the weld centered in the joint.1 Tast tracking TAST allows the robot to track a weld seam both vertically. See Figure 9--29. UTILITIES B--81464EN--3/01 9. You can use vertical tracking with or without lateral tracking.14. and with or without weaving. and vice versa. the pattern becomes offset and distorted. See Figure 9--30. The current feedback follows a cyclic pattern generated by changes in the wire stickout.14. Current Feedback Pattern of Weld Shifted to the Right L L Vgroove ctr Weaving path Motion R Feedback current (A) Lc Rc Lc < Rc 532 . See Figure 9--31.9. Figure 9--30. The side walls of the seam have a higher current value than the center of the seam because of a decrease in weld wire resistance. This decrease in resistance is due to shorter wire stickout. TAST samples the current feedback and calculates the area under the curve for each side of the weld. the current varies as the torch moves back and forth across the seam. UTILITIES B--81464EN--3/01 9.1 Weave plane (XY-plane) lateral tracking When weaving. If the area under the left side is greater than that of the right. Current Feedback Pattern of Centered Weld L L Weaving path Vgroove ctr R Feedback current Motion (A) Lc Rc Lc = Rc If the weld becomes off-center. the robot path is corrected toward the right.1. Figure 9--31. These weld path corrections occur after each weave cycle. or a weld current value can be entered. away from the torch or upward. A path offset will be issued to move the welding torch closer to the seam. toward the torch. TAST samples the current after a predetermined number of weave cycles at the beginning of the weld.2 Vertical plane (Z-plane) tracking The weld can distort either downward.9. The offset then corrects the robot path by moving it farther away from the seam. away from the weld torch. Figure 9--32. The reference current can be set to a constant value when tracking vertically. causing less resistance. If the weld seam is offset downward.14. and uses the recorded value as the reference. If the weld seam is offset upward. See Figure 9--32. the current increases because the wire stickout is shortened. the current at the center of the weave decreases due to the lengthening of the wire stickout. toward the torch. UTILITIES B--81464EN--3/01 9. TAST tracks the current at the center of the weld so the robot path can be offset to compensate for this distortion. TAST Vertical Tracking Moving Compensate upward (Z+) Work Current Co C1 Co < C1 When TAST vertically tracks a weld.1. it compares the current at the weave center to a reference current reading. Refer to the definition of V_Master Current Constant in Table 9--22. 533 . the Adjust Delay Time should be set to 0. after parameters are set.9. Factors that can affect TAST are: F Changes in welding wire type (such as steel and stainless steel) F Changes in welding wire diameter F Extreme changes in weld size F Changes in the welding arc location in respect to the weld puddle F Gas composition F Transfer type or arc transfer mechanism such as spray. in-process adjustments are not required.14 sec. pulsed spray.2 Factors that affect tast tracking TAST performance can be affected by a number of factors. NOTE If your system has more than two motion groups. or globular F Changes in weaving conditions (frequency.14. 534 . UTILITIES B--81464EN--3/01 9. short circuiting. dwell time) F Material surface condition F Extreme changes in workplace temperature CAUTION If you use the on-the-fly function to change welding conditions or welding speed during TAST execution. TAST performance will be affected. For most applications. Refer to Table 9--22 for more information about Adjust Delay Time. This delay time is automatically set up when the software is installed. In some cases. F TAST uses SINE type weaving only. F Tack weld. UTILITIES B--81464EN--3/01 9. F The minimum weave width must be three times the diameter of the electrode or greater. welds that are outside of these guidelines can be tracked successfully. F The material thickness should be greater than 2 mm. F The actual weld seam should deviate less than 15 degrees rotation from the taught weld seam. F Use Ar--O2 98/2.9. F The torch must be positioned close to the center of the weld seam at the start of the weld. Ideally.5 mm or greater. F Set dwell time to . F Grooves should have a consistent included angle of 90 degrees or less. solid wire) occurs with the following weave and shielding gas combinations. F Fit up of the joint (gap) must be within normal (blind) welding robot tolerances. 535 . Pulsing above 60 Hz will not cause problems.05 sec or greater.0 HZ or less.6 Setting for Weaving for more information about the Weave Setup screen. F Fillet joints can have a maximum included angle of 90 degrees and must have at least 5 mm leg length. if possible. Refer to Section 3.4 Tast hardware requirements The welding power source (interface) must provide 0--10 volt analog feedback signals that correspond to the weld current. TAST Weld Joint Configurations Fillets Corner fillets Lap joints Back butt (Square grooves) Prepared grooves Other prepared joints 9. leg size.045. and concave in profile. should be less than or equal to one-half the weld size.14. gaps should be consistent along the weld path F Base metal must be ferrous or have a resistance greater than mild steel. Additional filtering can be required if a pulsed power supply is used and the pulse frequency approaches 15--20 times the weave frequency. F Set frequency to 4. Figure 9--33. Optimum TAST performance (.14.3 Tast application guidelines Application guidelines include: NOTE These are guidelines only. Touch Sensing might be necessary. CS500 and CS1000 Hall Effect Current Sensors are included with the TAST software option. 95/5 or Ar--CO2 90/10 See Figure 9--33 for recommended weld joint configurations that can be used with TAST. F Outside corner and lap joint fillets must use a weave width of 2 mm less than the base metal thickness. Make the following changes: F Set amplitude to 1. UTILITIES B--81464EN--3/01 9. F TRUE indicates that TAST tracking in the lateral direction is enabled. any recorded positions and position registers will also change. F TRUE indicates that TAST tracking in the vertical direction is enabled. TAST Example Program 1: 2: : 3: 4: 5: : 6: 7: 8: J P[1] 100% CNT100 J P[2] 100% FINE Arc Start [1] Weave Sine [1] Track TAST [1] L P[3] 20IPM FINE Arc End[2] Track End Weave End J P[4] 100% CNT100 9. V_Cur(A) This item displays and allows you to change the vertical current reference value. The schedule screen allows you to view limited information for all TAST schedules. V--Bias(%)--L This item displays and allows you to change the vertical and lateral bias independently. Table 9--21. This item allows you to enable or disable TAST tracking in the vertical direction (z plane). This item allows you to enable or disable TAST tracking in the lateral direction (xy-plane). F FALSE indicates that TAST tracking in the lateral direction is disabled 536 . TAST is non-functional. TAST Setup Conditions DETAIL Screen DESCRIPTION CONDITION TAST Schedule:[n] TAST schedule: [ This item indicates the schedule whose information is currently being displayed and allows you to change to a different schedule. Table 9--21 lists and describes each condition on the TAST SCHEDULE screen. Use Procedure 9--12 to set up TAST. TAST Setup Condition SCHEDULE Screen CONDITION DESCRIPTION V--Gain--L This item displays and allows you to change the vertical and lateral gain independently. Table 9--22 lists and describes each condition on the TAST DETAIL screen. When using both. F L_compensation enable default: TRUE FALSE indicates that TAST tracking in the vertical direction is disabled.14.5 Tast programming See Figure 9--34 for a TAST programming example. CAUTION Recorded positions and position registers are affected by UFRAME. Table 9--22. If both L_compensation enable and V_compensation enable are disabled. There are two screens associated with TAST: the SCHEDULE screen and the DETAIL screen.6 Tast schedule setup A TAST schedule allows you to set how TAST will function. The detail screen allows you to view the complete information for a single TAST schedule. If you change UFRAME. and UFRAME has an effect during playback. If both L_compensation enable and V_compensation enable are disabled.14. ] V_compensation enable default: TRUE This item allows you to enter a comment for this schedule. TAST is non-functional. Figure 9--34.9. adjust within 2%. It will be used for the reference sample. V_master sampling start count (feedback) default: 4 min: 2 max: 999 This item allows you to specify at which weave cycle TAST will start collecting the reference sample. This allows the arc enough time to stabilize before recording the sample data. which will be used as the reference frame when tracking vertically without weaving.0 mm min: 0 mm max: 9999.0 min: 0 max: 99.999 This item allows you to specify the conversion scale that TAST uses to convert the incoming amperage to millimeters per 10 amperes (mm/10A) and for vertical tracking. If V_compensation gain enable is set to 0. V_tracking limit default: 600. which TAST will ignore before generating an offset. V_mastering sampling count (feedback) This item allows you to specify the number of weave cycles for which the arc welding system will collect the reference weld current sample for vertical tracking.9.5 mm. the value of frame type on the SETUP Weave screen determines the reference frame.5 mm. that TAST will compensate vertically.9 max: 99.9 mm This item allows you to specify the length. If the V_dead band value is set to 0. UTILITIES B--81464EN--3/01 Table 9--22.9 mm This item allows you to specify an amount of data.5 sec min: 0. If the weld extends beyond this length. V_tracking limit per cycle default: 1. V_dead band is used for arc welding systems that have unstable feedback conditions. V_dead band default: 0 mm min: 0 mm max: 999. F TOOL indicates that the tool frame z axis will be used as the reference frame when tracking laterally without weaving. This can only be used for vertical tracking without weaving. in millimeters. the arc welding system samples the current every weave cycle.9 This item allows you to set the percentage that the offset will compensate closer to or further away from the workpiece. the offset will be towards the workpiece. This allows time for the arc to stabilize prior to tracking. V_compensation start count default: 5 min: 2 max: 999 This item allows you to specify the weave cycle number for TAST to start tracking the weld vertically. either Tool or User. V_compensation gain (sensitivity) default: 25.15 Setting coordinate systems for more information about frame setup. If this value is set to 0. TAST will not generate an offset until the required offset exceeds 0.9 mm This item allows you to set the length. V_bias rate (up +) default: 0 min: --99.0 mm min: 0 mm max: 9999.0 sec max: 99. the offset will be away from the workpiece. This is used for tracking without weaving only. See Figure Figure 9--35. F FEEDBACK indicates that the actual weld controller feedback at the center of the weave. vertical tracking is disabled. It will also be used for the reference sample. (Cont’d) TAST Setup Conditions DETAIL Screen CONDITION V_master current type (feedback/constant) default: FEEDBACK DESCRIPTION This item allows you to specify the weld current that TAST uses to compare the tracking data. in millimeters. If this value is set to a positive percentage. If this value is set to a negative percentage. TAST will not make any vertical corrections. This frame must be accurately defined for TAST to function correctly. that TAST will compensate vertically per weave cycle. Refer to Chapter 3. the value is ignored and the system starts to track on the third cycle. default: 1 min: 1 max: 999 537 . vertical tracking is disabled. If you are weaving. Comp frame (no WV) default: TOOL This item allows you to specify the frame. If you are weaving.99 sec This item allows you to set the length of time in seconds that the arc welding system will sample the current feedback. F USER indicates that the user frame z axis will be used as the reference frame when tracking laterally without weaving. If the value is set to less than 4. Sampling timing (no WV) default: 0. in millimeters. F CONSTANT indicates that the value of the V_master current constant in the Track Schedule. The default value is 25. The vertical adaptive gain function is effective if the calculated compensation values tend to be biased one way. set this to 1. Adjust delay time default:.99 sec This item is automatically set when TAST is installed. that TAST will track the weld laterally. The default value is 25.01 sec max: 9.9 mm This item allows you to specify the length. L_bias rate (right +) default: 0 min: --99.14sec min: . L_compensation start count default: 5 min: 2 max: 999 This item allows you to specify the weave cycle number for TAST to start tracking the weld laterally. If this value is set to a positive percentage. V_AG_correction count (0: disable) default: 0 cyc min: 0 max: 99 This item allows you to specify the weave cycle in which the adaptive gain control begins checking the vertical compensation direction. which TAST will ignore before generating an offset. The applied offset is larger than normal and the torch can return to the weld center faster.9 mm This item allows you to set the length.9 This item allows you to specify an amount of data. it is disabled.9 This item allows you to set the percentage that the offset will compensate towards the left or right side. Adaptive Gain Control TAST checks the direction of vertical or lateral calculated compensation value (up/down or right/left) for each cycle.0 min: 0 max: 99.0 mm min: 0 mm max: 9999. L_tracking limit per cycle default: 1. If the weld extends beyond this length. L_dead band default: 0 min: 0 max: 999. Adaptive gain allows you to set a value that is multiplied times the gain value. the offset will be towards the left side of the weld when looking in the direction of travel.9 This item allows you to specify a constant weld current value which is used as the reference weld current sample instead of using feedback from the system. UTILITIES B--81464EN--3/01 Table 9--22. (Cont’d) TAST Setup Conditions DETAIL Screen CONDITION DESCRIPTION V_master current constant data (constant) default: 0 min: 0 max: 999. L_compensation gain (sensitivity) default: 25. TAST will not make any lateral corrections. then TAST will use this value. L_dead band is used for arc welding systems that have unstable feedback conditions. Motion group number default: 1 min: 1 max: 3 This item allows you to specify the motion group that is actually doing the welding. Left and right directions are relative to robot tip travel direction. If this value is set to a negative percentage.5 mm.9 max: 99. that TAST will compensate vertically per weave cycle. L_tracking limit default: 600. lateral tracking is disabled. lateral tracking is disabled.10 single motion group: . The vertical adaptive gain function is enabled when the V_AG correction count is set to 2 or higher. If L_compensation gain enable is set to 0.9. 538 .5 mm. either up or down. in millimeters. If the value is set to less than 3. The default value for single motion and multiple motion group is set at the time of software installation. the offset will be towards the right side of the weld.999 This item allows you to specify the conversion scale TAST uses to convert the incoming amperage to millimeters per 10 amperes (mm/10A) for lateral tracking.0 mm min: 0 mm max: 9999. This allows time for the arc to stabilize prior to tracking. then this indicates the offset is still smaller than the actual value. When V_master current type is specified as CONSTANT. If the L_dead band value is set to 0. TAST will not generate an offset until the required offset exceeds 0. If this value is set to 0. in millimeters. in millimeters. If you do not have multiple motion groups. the value is ignored and the system starts to track on the third cycle. If the check determines the compensation value uses the same direction multiple times.14sec multi motion groups: . If the V_AG correction count is set to 0. 5 min: 1. UTILITIES B--81464EN--3/01 Table 9--22. L_AG_multiplier default: 1. If the L_AG correction count is set to 0.0 min: 0 max: 9. Figure 9--35.9 This item allows you to specify the amount of data to which the lateral adaptive gain function compares the calculated lateral compensation.0 min: 0 max: 9. it is automatically disabled. A value of over 6. L_AG_correction band default: 4.9 This item allows you to specify the amount of data to which the lateral adaptive gain function compares the calculated lateral compensation. The lateral adaptive gain function is effective if the calculated compensation values tend to be biased to one side. Dead Band for Vertical Tracking Small dead band = small steps Ideal path Offset path Taught path Large dead band = large steps Offset path Ideal path Taught path 539 .0 is required when using a small circular weld or when the weld is not stable.9 This item specifies the multiplier for vertical adaptive gain. the adaptive gain is disabled until the required offset exceeds the set value.0 max: 9.9 This item specifies the multiplier when lateral adaptive gain. A value of over 6.0 max: 9. V_AG_multiplier default: 1. either left or right. The lateral adaptive gain function is enabled when the L_AG correction count is set to 2 or higher.0 is required when using a small circular weld or when the weld is not stable.9. the adaptive gain is disabled until the required offset exceeds the set value. If the value is set to a small amount. If the value is set to a small amount. V_AG_correction band default: 4. (Cont’d) TAST Setup Conditions DETAIL Screen CONDITION L_AG_correction count (0: disable) default: 0 cyc min: 0 max: 99 DESCRIPTION This item allows you to specify the weave cycle in which the adaptive gain control begins checking the lateral compensation direction.5 min: 1. 0 0.0 0.0 25.0 20.0 25.0 0. 9.0 0.0 0.0 25. DATA TAST Sched V-Gain-L 25.0 1 2 3 4 5 6 7 8 9 [TYPE] G1 V_Cur (A) 0.0 DETAIL HELP > 4 Press F2.0 20.0 0.0 0.0 20.0 0.0 20. DETAIL.0 0.0 0. These functions are useful to move the robot around a clamp while the last offset value is maintained.5 HELP> 5 Move the cursor to the TAST schedule data value that you want to change.0 0.0 25.0 20. [TYPE].0 25. type the new value. F Select another TAST schedule which includes changed parameters F Linear motion is required on non-tracking path See Figure 9--36 for a Carry On Offset Function Example.0 0.0 JOINT 50% 1/8 V-Bias (%)-L 0. UTILITIES Procedure 9--12 Step B--81464EN--3/01 Setting Up Thru-Arc Seam Tracking 1 Press DATA. Perform Procedure 9--13 to use the Carry On Offset function. See Figure 9--37 for a Carry On Offset Example Program.0 0. DATA TAST Sched G1 JOINT 50% 1/29 TAST Schedule: [1] 1 TAST Schedule: [First Pass ] 2 V_compensation enable: TRUE 3 L_compensation enable: TRUE 4 V_master current type: Feedbk (feedback/constant) 28 V_AG_multiplier 29 L_AG_multiplier [TYPE] DETAIL 1.0 0.0 0.0 0.0 0.0 0.9.0 25. 3 Select Track Sched.7 Special functions TAST has special functions that allow the robot to move to a taught position. These functions are useful to move the robot around a clamp while the last offset value is maintained.0 0.0 0.0 20.5 1. You will see a screen similar to the following. and press ENTER.0 20.0 0. again.0 0. You will see a screen similar to the following. 2 Press F1.0 20.0 25.0 0.0 25. 540 .0 0.0 20.0 0.14. Carry On Offset The Carry On Offset function allows the robot to move to a taught position with the last TAST offset and then start to execute TAST with welding. UTILITIES B--81464EN--3/01 Figure 9--36. Carry On Offset Example Program No Tracking Offset { 1: : 2: 3: 4: : 5: 6: 7: 8: 9: 10: 11: 12: 13: Procedure 9--13 Step J P[1] 40% Fine Arc Start [1] Weave Sine [1] Track TAST [1] L P[2] 20IPM Fine Arc End[2] Weave End Change TAST schedule Track TAST [5] <--. 3 Set L_Tracking limit per cycle: 0. Carry On Offset Function Example X X } X Offset (mm) X p[1] p[2] p[3] p[4] X X X X Track TAST no tracking p[2] +offset (mm) p[3] +offset (mm) p[5] X Track TAST p[4] +offset (mm) Figure 9--37. 2 Set V_Tracking limit per cycle: 0.”L” is required L P[4] 100 mm/s Fine <--. NOTE All other parameters = TAST [2].0 mm.9.Tracking resumed L P[5] 20IPM Fine Arc End [1] Weave End Track End Carry On Offset 1 Copy the TAST Schedule to an available Track Schedule number. 541 .”L” is required Arc Start [1] Weave Sine [1] Track TAST [1] <--.0 mm.for carry on offset L P[3] 100 mm/s Fine <--. 14. and increase the weave amplitude. Re-adjust gains until snaking occurs. the tracking correction to the taught path will be insufficient to match the part deviation. UTILITIES B--81464EN--3/01 9.Refer to Section 9.9. If the lateral gain is too high.8. Execute the TAST program again and Readjust gains until snaking occurs. Procedure 9--14 Step Fine Adjusting 1 Execute the Weld Program Tracking. See Section 9. -.4 for TAST hardware connections.8.Touch up the destination position with the torch +/ -. the path correction for each weave cycle will be too large. The adjustment is best made by causing Unstable conditions to exist. then incrementally reducing the parameters until the tracking becomes smooth.14. 542 ..Bias problems can be caused by torch orientation.30. Try welding again until snaking is found. F Positions taught incorrectly -.0 or 3.0) until snaking stops.14. If the lateral gain is too low. F The welding arc is not stable -.1 Tracking failure conditions The following are causes for poor tracking performance or failure to track at all: F Gain is too low -.Change bias parameters and execute program again.8 Adjustment of gain value Gain value adjustment might be necessary if TAST performance is poor. F Snaking The gain values should be decreased in small increments (2. 9.Check the Weave Parameters. Refer to Table 9--22. causing the weld bead to ”snake” back and forth across the weld joint in a sinusoidal pattern. SETTING UP THE ARC WELDING SYSTEM F Weaving amplitude is too small for a good feedback signal -.If you do not see snaking when the gain values are 80.100. -. -. Refer to Chapter 3. part orientation.Adjust gains using large incremental values of 20 -. -. or wire flip/bending. To complete Fine Adjusting of the weld parameters. The TAST GAIN parameter adjusts seam tracking sensitivity. then decrease gains slowly until snaking no longer occurs. You should F Write a test program to track the joint in question F Adjust TAST Schedule Parameters Gain Values F Execute TAST program with arc welding 9. follow Procedure 9--14 .14. TAST Setup Conditions DETAIL Screen.Change torch orientation if possible. F Hardware connection has problems -. -.14.14. to minimize vertical bias requirement. 2 Check the following: F No snaking Vertical and Lateral gain values should be increased by the same amount. welding condition or TAST parameter settings have a problem. -. F Bias is required because of torch angle and wire bending -.Check the Weld Parameters and Metal Preparation.9.2 Fine adjusting TAST performs best when the parameters for Gain and Compensation per Weave Cycle are set to just below unstable/overreaction.Check feedback circuit polarity on CS Series Hall Effect Sensor.Inspect Hardware connections.9. For additional information refer to Section 9. then the hardware connection.Check the settings of the TAST parameters.6 mm out of the weld joint. Use Procedure 9--15 to resolve no compensation.14. check the setting data of TAST parameters compared with the value on the “TAST Parameter List.14. Proper value of V_cur is from 150 Amps to the maximum current capacity of the welding wire.9. 2 Execute TAST with arc welding and check the value of V_cur on the DATA/TAST screen. 543 . They are as follows: F No compensation with high Vertical or Lateral gain setting F Poor welding or workpiece conditions. check the setting of the analog input (Feedback current: port2). F The robot wanders away from the path and does not return to the center F Weld path is shifted F Slow response F Snaking F Weld path has changed on specific position F Significant changes in joint gap F Extreme changes in workpiece temperature. then a gain value of 95 (V-gain) and a 90 (L-gain) should be tried. 9.14.1 Poor tracking performance There are several reasons that might lead to poor tracking performance.14.9 Tast troubleshooting This troubleshooting information is provided as an aid to solve poor robot tracking performance.9.9. check the hardware connection (CS-series Hall effect sensor or welding machine connection) from the welding machine to the R-J3 controller.” Check the following data: F V_track limit F V_tracking limit per cycle F L_tracking limit F L_tracking limit per cycle 5 If the data seems to be correct. 3 If the value is almost zero. If the value is small. 9.2 No compensation with high vertical or lateral gain setting If the welding path does not receive compensation with high gain values. refer to Section 9. 4 If the value is appropriate. Procedure 9--15 Step Resolve No Compensation 1 Set the value of V_master comp type to FEEDBACK on the DATA/TAST/DETAIL screen. UTILITIES B--81464EN--3/01 9.9.1. NOTE Be sure that scaling and hardware connections are correct for your welding equipment. such as 2. 9. check the following items: F Check Gas composition. 3 Test run the program. Also check to see whether the values of V_dead band and L_dead band are zero or small values (0. Refer to Section 3. the tracking correction will occur only for large offsets. If too large. If the result is not improved. 9. Check the weave setup. Procedure 9--17 Step Correcting the Path Set 1 Increase the V and L gain values. Step 1 Set a large weave amplitude.6 Slow response If the robot exhibits slow response F Review and/or adjust gain values F Check motion control parameters -.14.9.1 mm ).L_tracking limit -. UTILITIES B--81464EN--3/01 9.14. If heavy vibration is visible.5 degrees. Adjust in increments of 2 -.14.9.4 Robot wanders from path Use Procedure 9--17 to correct the path set if the robot wanders from the correct path set.0 mm center rise. then decrease the gain values in small increments until the snaking stops.9. use Procedure 9--16 to execute TAST.L_tracking limit per cycle Increase value of V_tracking limit per cycle and L_tracking limit per cycle. SETTING UP THE ARC WELDING SYSTEM.14.9. F Adjust the weld until a good.V_tracking limit per cycle -. Do not use single step testing during tracking because it will cancel tracking and welding on the next motion instruction. 2 Execute TAST again. Refer to Table 9--22.V_track limit -. H TOOL and PATH frame are set for proper weaving performance. slightly adjust the value of the elevation angle and the azimuth angle to decrease the vibration when weaving.2 to solve the problem.14. 2 Set a large weave center rise value. TAST requires that this parameter be enabled. 3 If you see snaking. it causes weld path shifting F If no adjustment of torch position can be made.3 TAST schedule If the TAST schedule data seems to be correct. and the desired motion will not be obtained for the next resumed motion. Procedure 9--16 Condition Executing TAST H The Return to path parameter is enabled.0 mm or greater. Refer to Section 9.9. F Execute the program without arc welding and check whether the robot has any vibration during weaving. 544 . stable arc is achieved. the bias values should be adjusted. such as 3. 9. because the required compensation may be larger than those values.5 Weld path is shifted If the weld path shifted F Adjust gain values properly F Set proper torch angle. Refer to Chapter 3.9. CAUTION Single step testing turns off tracking and welding.2 Setting the Arc Welding System. If the torch angle is shifted. 9. 9.9.8 Weld Path has Changed at a Specific Position If the weld path has changed at a specific position F Check wire flip at the problem point by executing the program with weld OFF and observe the wire closely.9. 545 .14.7 Weld path is snaking If the weld path is snaking. F Use as large a work angle as possible.10 Extreme changes in workpiece temperature If the workpiece temperature varies to an extreme degree. F Check to see whether the torch is touching the workpiece. The weld system may have weld wire delivery problems. you should: F Reduce variations in workpiece temperature whenver possible F Apply different TAST schedules for areas of the workpiece with extreme temperature differences. TAST performance may be affected. F Check to see whether the welding schedule changes at the position.9. in small increments until snaking stops.14.9 Significant changes in joint gap If the joint gap changes significantly. F Apply different TAST schedules for different joint gaps. 9.9.14. UTILITIES B--81464EN--3/01 9. you should: F Maintain a constant joint gap as much as possible. decrease the value of both L-gain and V-gain. To avoid this problem. To avoid this problem. such as torch liner or contact tip wear. 9.14. TAST performance might be affected. AVC Tracking Vertical tracking Lateral tracking Torch Stickout Metal Groove ARC Weave 546 Resistance .1 to 10 Hz F Shielding gasses -.9. However. Inconsistent forming. In these processes.Pulsed . -. if weaving is used. AVC can be used with these kinds of processes: F Gas Tungsten arc welding -. UTILITIES B--81464EN--3/01 9. Automatic Voltage Control (AVC) (an optional feature) is used in constant current welding processes.DC electrode negative (straight) or electrode positive (reverse).1 AVC Tracking AVC allows the robot to track a weld seam by monitoring changes in the weld voltage both vertically and across the seam.15.15 Automatic Voltage Control Tracking In many gas tungsten arc welding (TIG) applications. Sensors adapt the path of the robot to the weld seam to ensure consistent weld quality. distortion. Typical applications for AVC utilize vertical tracking only to maintain the weld current along the weld path.Ar -. the weld joint location varies to a degree that weld quality is not acceptable.Ar/He 9. tolerance stack-up. The information provided by AVC enables the system to adjust the robot path to keep the weld aligned with the joint. Figure 9--38. the voltage varies as a function of the distance between the electrode and the weld puddle. AVC can also be used with weaving to laterally track a weld joint. and fixturing are just some of the common causes of repeatability problems.He -. AVC can also be used with or without weaving. AVC can be used on linear or circular paths. Typically.AC -. castings. these applications cannot be welded satisfactorily by a robot without some means of adaptive control. the weave type must be SINE. See Figure 9--38. then the software can sample the voltage after a predetermined number of weave cycles and use this value as the reference voltage value. Figure 9--39. See Figure 9--39.4. 547 . If the weld seam is offset upward toward the torch. the voltage decreases because the arc length is shortened. the voltage of the arc increases due to resistance caused by a lengthening of the arc length. it compares the voltage to a reference voltage setting. The offset then corrects the robot path by moving it farther away from the seam. AVC tracks the voltage during the weld so the robot path can be offset to compensate for distortion or inconsistent parts.9. causing less resistance. If weaving is used. If the weld seam is offset downward away from the weld torch.15. Refer to the definition of V_Master Voltage Constant in Section 9. A path offset will be issued to move the welding torch closer to the seam. AVC Vertical Tracking Moving Compensate upward Work Voltage Co C1 Co < C1 When AVC vertically tracks a weld. The reference voltage can be set to a constant value when tracking vertically. UTILITIES B--81464EN--3/01 Vertical Plane (Z-Plane) Tracking The weld can distort either downward away from the torch or upward toward the torch. Voltage Feedback Pattern of Weld Shifted to the Right L L Weaving path Vgroove ctr Motion R Feedback voltage (V) Lc Rc Lc > Rc 548 . the robot path is corrected toward the right. AVC samples the voltage feedback and calculates the area under the curve for each side of the weld. and vice versa. Figure 9--40. the pattern becomes offset and distorted. See Figure 9--40. The voltage feedback follows a cyclic pattern generated by changes in the electrode to work distance. See Figure 9--41.9. If the area under the left side is greater than that of the right. Figure 9--41. The side walls of the seam produce a lower voltage value than the center of the seam because of a decrease in arc resistance. These weld path corrections occur after each weave cycle. UTILITIES B--81464EN--3/01 Weave Plane (XY-Plane) Lateral Tracking As the torch moves back and forth across the seam. This decrease in resistance is due to a shorter electrode to work distance. the voltage varies. Voltage Feedback Pattern of Centered Weld L L Vgroove ctr Weaving path R Motion Feedback voltage (V) Lc Rc Lc = Rc If the weld becomes off--center. 9. There are two screens associated with AVC: the SCHEDULE screen and the DETAIL screen. NOTE If your system has more than 2 motion groups. 9. F TRUE indicates that AVC tracking in the vertical direction is enabled. the Adjust Delay Time should be set to 0. F L_compensation enable default: TRUE FALSE indicates that AVC tracking in the vertical direction is disabled. after parameters are set. This item allows you to enable or disable AVC tracking in the lateral direction (xy--plane). AVC Setup Condition Schedule Screen CONDITION DESCRIPTION V--Gain--L This item displays and allows you to change the vertical and lateral gain. UTILITIES B--81464EN--3/01 9.4 AVC schedule setup An AVC schedule allows you to set how AVC will function.2 Factors that affect avc tracking AVC performance can be affected by a number of factors. If both L_compensation enable and V_compensation enable are disabled.14 sec.15. 549 . AVC is non--functional. Additional filtering can be required if a pulsed power supply is used. Factors that can affect AVC are: F Changes in welding electrode type or diameter F Extreme changes in weld size F Changes in the welding arc location in respect to the weld puddle F Gas composition F Changes in weaving condition (frequency. F TRUE indicates that AVC tracking in the lateral direction is enabled. V--Bias(%)--L This item displays and allows you to change the vertical and lateral bias. Table 9--23. dwell time) F Material surface condition CAUTION If you use the On-The-Fly function to change welding conditions or welding speed during AVC execution. in-process adjustments are not required. AVC is non--functional. See Table 9--24 for more information about Adjust Delay Time.15. The detail screen allows you to view the complete information for a single AVC schedule. Table 9--24 lists and describes each condition on the AVC detail screen.15. however. F FALSE indicates that AVC tracking in the lateral direction is disabled. This delay time is automatically set up when the software is installed. ] This item allows you to enter a comment for this schedule. For most applications. This item allows you to enable or disable AVC tracking in the vertical direction (z plane).9. The schedule screen allows you to view limited information for all AVC schedules. AVC performance is affected. Table 9--23 lists and describes each condition on the AVC schedule screen.3 AVC hardware requirements The welding power source (interface) must provide 0--10 volt analog feedback signals that correspond to the voltage at the weld. If both L_compensation enable and V_compensation enable are disabled. V_Volt(V) This item displays and allows you to change the vertical voltage. Pulsing above 60 Hz will not cause problems. AVC Setup Conditions DESCRIPTION CONDITION AVC Schedule:[n] AVC schedule:[ V_compensation enable default: TRUE This item indicates the schedule whose information is currently being displayed and allows you to change to a different schedule. Table 9--24. If the value is set to less than 4. V_bias rate (up+) default: 0 min: --99. V_tracking limit per cycle default: 1. This frame must be accurately defined for AVC to function correctly.9. If this value is set to 0. F FEEDBACK indicates that the actual weld controller feedback will be used for the reference sample.9 This item allows you to set the percentage that the offset will compensate towards the top or bottom of a weld. This allows time for the arc to stabilize prior to tracking. the value is ignored and the system starts to track on the third cycle. either Tool or User. If you are weaving. F USER indicates that the user frame will be used as the reference frame when tracking without weaving. If V_compensation gain enable is set to 0. If this value is set to a negative percentage. the arc welding system samples the voltage every weave cycle. vertical tracking is disabled.5mm. 550 . Comp frame (no WV) default: TOOL This item allows you to specify the frame. V_dead band is used for arc welding systems that have unstable feedback conditions.9 mm This item allows you to specify an amount of data. vertical tracking is disabled.9 max: 99.2 sec min: 0. The reference sample is the value to which the arc welding compares the tracking data.9 mm This item allows you to specify the length. the value of frame type on the Setup Weave screen determines the reference frame.9 mm This item sets the length.99 sec This item allows you to set the length of time that the arc welding system will sample the voltage feedback. it is automatically disabled when AVC is executed. which the arc welding system will ignore before generating an offset. If the weld extends beyond this length.0 mm min: 0 mm max: 9999. Refer to Chapter 2 for more information about frame setup. If the V_dead band value is set to 0.0 mm min: 0 mm max: 9999. in millimeters. V_dead band default: 0 mm min: 0 mm max: 999. See Figure 9--42. V_tracking limit default: 600. the bias will reduce the arc length. which will be used as the reference frame when tracking without weaving. V_compensation start count default: 5 min: 2 max: 999 This item allows you to specify the cycle when the arc welding system will start to track the weld vertically. the software will not generate an offset until the required offset exceeds 0. This is used for tracking without weaving only. F CONSTANT indicates that the value of the V_master voltage constant will be used for the reference sample.999 This item allows you to specify the conversion scale the arc welding system uses to convert the incoming voltage to millimeters per 10 volts and add to the compensation data when tracking vertically. the bias will increase the arc length. UTILITIES B--81464EN--3/01 Table 9--24. Gravity can cause the downhill side of a weld to enlarge and degrade tracking. in millimeters. The default value is 25. If you are weaving. Sampling timing (no WV) default: 0. the arc welding system will track the weld per weave cycle.0 min: 0 max: 99. V_master sampling start count (feedback) default: 4 min: 2 max: 999 This item allows you to specify at which cycle the arc welding system will start collecting the reference sample. This allows the arc enough time to stabilize before recording the sample data. (Cont’d) AVC Setup Conditions CONDITION V_master voltage type (feedback/constant) default: FEEDBACK: DESCRIPTION This item allows you to specify whether the arc welding system uses the actual weld controller feedback for the reference sample or uses value of V_master voltage constant as the reference sample. that arc welding system will track the weld vertically.01 sec max: 99. If this value is set to a positive percentage. V_compensation gain (sensitivity) default: 25. F TOOL indicates that the tool frame will be used as the reference frame when tracking without weaving.5mm. in millimeters. lateral tracking is disabled. L_compensation start count default: 5 min: 2 max: 999 This item allows you to specify the cycle when the arc welding system will start to track the weld laterally. this is set to 1.9 This item allows you to set the percentage that the offset will compensate towards the left or right side. the value is ignored and the system starts to track on the third cycle. If the check determines the compensation value uses the same direction multiple times. the bias will be towards the right side of the weld. This allows time for the arc to stabilize prior to tracking.5mm. the bias will be towards the left side of the weld when looking in the direction of travel.9 mm This item allows you to specify the length. that arc welding system will track the weld laterally.5mm.9 This item allows you to specify a constant value which is used as the reference sample instead of using feedback from the system. the arc welding system will track the weld vertically per weave cycle. in millimeters. Adaptive gain allows you to set a value that is multiplied times the gain value. lateral tracking is disabled. the software will not generate an offset until the required offset exceeds 0.9 mm This item sets the length. L_bias rate (right+) default: 0 min: --99. L_tracking limit default: 600.2 sec for mult motion group: . If L_compensation gain enable is set to 0. the reference values can be certified after AVC execution. the arc welding system sets the reference voltage automatically. Adaptive Gain Control AVC checks the direction of vertical or lateral calculated compensation values (up/down or right/left) for each cycle. Over the weld center. This allows time for the arc to stabilize prior to tracking.0 mm min: 0 mm max: 9999.01 sec max: 9.23 sec min: . which the arc welding system will ignore before generating an offset. If this value is set to 0. This is used when welding on a slant. L_tracking limit per cycle default: 1. L_compensation gain (sensitivity) default: 25 min: 0 max: 99. in millimeters. UTILITIES B--81464EN--3/01 Table 9--24. (Cont’d) AVC Setup Conditions CONDITION DESCRIPTION V_master sampling count (feedback) default: 1 min: 1 max: 999 This item allows you to specify the number of cycles for which the arc welding system will collect the reference sample.99 sec This item sets the amount of time that elapses before tracking begins. Motion group number default: 1 min: 1 max: 3 This item allows you to specify the motion group that is actually doing the welding. When V_master voltage type is specified as the reference sample. If the value is set to less than 3. the gain value is set to normal. This is used with weaving only. L_dead band default: 0 min: 0 max: 99. If you do not have multiple motion groups. in millimeters. The applied offset is larger than normal and the torch can return to the weld center quickly.999 This item allows you to specify an amount of data.9. V_master voltage constant data (constant) default: 0 min: 0 max: 999. Adjust delay time default: for single motion group: . Gravity can cause the downhill side of a weld to enlarge and degrade tracking. L_dead band is used for arc welding systems that have unstable feedback conditions. The default value is . then this indicates the offset is still smaller than the actual value.999 This item allows you to specify the conversion scale the arc welding system uses to convert the incoming voltage to millimeters per 10 volts and add to the compensation data when tracking laterally. 551 .9 max: 99. it is automatically disabled when AVC is executed. The default value is 25. If this value is set to a negative percentage. If the weld extends beyond this length. If this value is set to a positive percentage.23 sec and is acceptable for most applications. See Figure 9--42.0 mm min: 0 mm max: 9999. If the L_dead band value is set to 0. Therefore. If the V_AG correction count is set to 0. it is automatically disabled. If the value is set to a small amount.9 This item allows you to specify the multiplier when lateral adaptive gain is enabled. A value of over 6.0 max: 9.9 This item allows you to specify the multiplier when vertical adaptive gain is enabled. L_AG_multiplier default: 1. A value of over 6. it is automatically disabled. V_AG_correction band default: 4.0 max: 9.9 This item allows you to specify the amount of data to which the lateral adaptive gain function compares the calculated compensation. The vertical adaptive gain function is enabled when the V_AG correction count is set to 2. 552 . If the value is set to a small amount. (Cont’d) AVC Setup Conditions CONDITION DESCRIPTION V_AG_correction count (0: disable) default: 0 cyc min: 0 max: 99 This item allows you to specify the cycle in which the adaptive gain control begins checking the compensation direction.5 min: 1. the adaptive gain is disabled until the required offset exceeds the set value.5 min: 1. the adaptive gain is disabled until the required offset exceeds the set value.0 min: 0 max: 9.0 min: 0 max: 9. If the L_AG correction count is set to 0. L_AG_correction count (0: disable) default: 0 cyc min: 0 max: 99 This item allows you to specify the cycle in which the adaptive gain control begins checking the compensation direction. The vertical adaptive gain function is effective if the calculated compensation values are found to be slanted to one side (up/down).0 is required when using a small circular weld or when the weld is not stable. The lateral adaptive gain function is enabled when the L_AG correction count is set to 2. L_AG_correction band default: 4.9 This item allows you to specify the amount of data to which the lateral adaptive gain function compares the calculated compensation.9. UTILITIES B--81464EN--3/01 Table 9--24.0 is required when using a small circular weld or when the weld is not stable. The lateral adaptive gain function is effective if the calculated compensation values are found to be slanted to one side (left/right). V_AG_multiplier default: 1. 9. Dead Band Small dead band = small steps Ideal path Offset path Taught path Large dead band = large steps Offset path Ideal path Taught path 553 . UTILITIES B--81464EN--3/01 Figure 9--42. 5 HELP 9.00 25. and UFRAME has an effect during playback.00 25.5 1.00 20.00 20.0 DETAIL HELP 5 Press F2.0 0.00 20.00 20.00 25.0 0.0 0.9.0 0.5 AVC programming See Figure 9--43 for an AVC programming example. You will see a screen similar to the following.] 4 Select Track Sched.00 [ TYPE ] V-Volt(V) 20.0 0.0 0.00 25.0 0. You will see a screen similar to the following.00 20. If you change UFRAME.0 0.0 0. AVC Example Program 1: 2: : 3: 4: : 5: 6: J P[1] 100% CNT100 J P[2] 100% FINE Arc Start [1] Track AVC [1] L P[3] 20IPM FINE Arc End[2] Track End J P[4] 100% CNT100 554 .0 0.00 0. 2 Press DATA.00 25.15.0 0.0 0.0 0. CAUTION Recorded positions and position registers are affected by UFRAME.0 0. [TYPE. any recorded positions and position registers will also change. DATA AVC Sched JOINT 50 % 1/29 AVC Schedule: [1] 1 2 3 4 TAST Schedule: [First Pass V_compensation enable: TRUE L_compensation enable: TRUE V_master current type: Feedbk (feedback/constant) 28 V_AG_multiplier 29 L_AG_multiplier [ TYPE ] ] 1.0 0.00 25.00 25.0 0. UTILITIES B--81464EN--3/01 Procedure 9--18 Step Setting Up AVC Tracking 1 Press MENUS.0 0.00 20.0 0.0 0. DATA AVC Sched JOINT V-Gain-L 1 2 3 4 5 6 7 8 25.0 50 % 1/8 V-Bias(%)-L 0.0 0.0 0.00 20. DETAIL. Figure 9--43.0 0. 3 Press F1. such as part fixturing. 9.16. there are ten buffers available. The memory area in which the information is stored is pre-assigned during software installation. How RPM Functions PITCH } 10 mm } Recorded Positions for Weld Recorded Position Offsets Actual Weld Seam SYSTEM R-J3 Memory Buffer 1 Buffer 2 Buffer 3 555 . The recorded position offset information is stored in controller memory. Multipass welding can be used with or without root pass memorization. or first. See Figure 9--44. Multipass welding is repeatedly welding the same seam to increase the weld size. UTILITIES B--81464EN--3/01 9.16 Root Pass Memorization and Multipass Root pass memorization (RPM) (optional feature) records position offset information provided by a tracking sensor. The multipass instruction offers ways to offset the different weld passes. Position offset information is the difference between the robot positions you recorded during programming of the weld. The recorded positions plus the position offsets provide the true route the robot should take when welding the seam. See Figure 9--44.9. but more than one weld path can be recorded in a single program. and the robot positions that a tracking sensor indicated were best to weld the seam. 32 blocks of memory are set aside for RPM information and is used as needed. Tracking sensors include Thru-Arc Seam Tracking (TAST). You can increase the amount of memory that is set aside for RPM if you have more memory available. RPM/MP is an option that is included with Thru-Arc Seam Tracking (TAST) or AVC Tracking. The information that RPM records is specific to the program in which RPM is used.1 Root pass memorization Root pass memorization (RPM) is the process of recording position offset information at specified intervals during the root. The recorded information provides accurate weld seam information during welding. These offsets occur because of variations in welding conditions. and welding materials that can have an effect on part fit--up. Also. RPM is used with Multipass (MP) welding. welding pass. and others. By default. you can increase the number of weld paths that can be recorded. How RPM Functions RPM records the position offset information to a buffer data area. This means that up to 10 weld paths can be tracked and recorded. Figure 9--44. Automatic Voltage Control (AVC). Offsetting the weld passes allows proper fill placement for quality bead profile and weld appearance. the RPM position offset information to compensate robot motion while welding the seam. 556 . and UFRAME has an affect during playback.16. The RPM program element cannot be used in a subprogram and then called to a main program for use with multipass. UTILITIES B--81464EN--3/01 Using RPM With Multipass RPM is used for welds that require multiple passes to complete the weld. or use. 2 A multipass offset can be added to the RPM offset to shift the entire weld path. Programming RPM To program RPM you use the TRACK/OFFSET instructions. any recorded positions and position registers will also change. CAUTION Recorded positions and positions registers are affected by UFRAME. refer to Chapter NO TAG. If you change UFRAME. The MP OFFSET program element and the TRACK {sensor} RPM program element must reside in the same program. Secondary passes can be performed without tracking. See Figure 9--45 and Figure 9--46 for programming examples.9. For more information about the multipass function refer to Section 9. There are two main purposes: 1 Your program does not have to track the weld seam on every pass.2. The multipass instruction will playback. The recording of positional offset information starts simultaneously with motion and tracking. CAUTION RPM recorded position offset information is specific to the program and positions in which RPM is used. For more information about the TRACK/OFFSET instructions. 0inch/min CNT100 P[4] 50.0inch/min CNT100 P[8] 50. 1: $RPM_PG.0inch/min CNT100 P[8] 50.Changes $PITCH to 120 ms between recordings 2: $RPM_PG.$PITCH_MODE=1 -.0inch/min CNT100 9:C P[5] : P[6] 50.0inch/min CNT100 19:L P[4] 50.0inch/min CNT100 21:L P[7] 50.0inch/min CNT100 P[7] 50.0inch/min FINE Arc End[1] Weave End MP Offset End -.0inch/min CNT100 10:L P[7] 50.0inch/min CNT100 P[4] 50.0inch/min FINE : Arc End[1] 12: Weave End 13: Track End 14:J P[9] 100% FINE 15: MP Offset PR[32] RPM[1] 16:L P[2] 500mm/sec FINE : Arc Start[1] 17: Weave Sine[1] 18:L P[3] 50.0inch/min CNT100 8:L P[4] 50.Playback RPM Buffer [1] with MP Offset Figure 9--46.0inch/min CNT100 20:C P[5] : P[6] 50.0inch/min FINE : Arc End[1] 23: Weave End 24: MP Offset End 557 .0inch/min CNT100 22:L P[8] 50. RPM Program Example 1:J 2:J : 3: 4: 5:L 6:L 7:C : 8:L 9:L : 10: 11: 12:J 13: 14:L : 15: 16:L 17:L 18:C : 19:L 20:L : 21: 22: P[9] 100% FINE P[2] 40% FINE Arc Start[1] Weave Sine[1] Track TAST[1] RPM[1] P[3] 50.0inch/min CNT100 P[5] P[6] 50.Record RPM Offset in RPM Buffer [1] The path between P[2] and P[8] is recorded -.$PITCH=120 3:J P[9] 100% FINE 4:J P[2] 40% FINE : Arc Start[1] 5: Weave Sine[1] 6: Track TAST[1] RPM[1] 7:L P[3] 50.0inch/min CNT100 11:L P[8] 50.Changes $PITCH_MODE to time. Changing $PITCH and $PITCH_MODE Programming Example -.0inch/min CNT100 P[7] 50.0inch/min FINE Arc End[1] Weave End Track End P[9] 100% FINE MP Offset PR[32] RPM[1] P[2] 500mm/sec FINE Arc Start[1] Weave Sine[1] P[3] 50. UTILITIES B--81464EN--3/01 Figure 9--45.0inch/min CNT100 P[5] P[6] 50.9. linear distance is used.$PITCH_MODE default: 0 This item allows you to specify whether the measurement used between recorded position offset information will be based in time. millimeters. milliseconds. Simple Multipass Weld Overlay 1 2 3 4 1 2 3 End View How Multipass Functions Multipass consists of two programming instructions: MP OFFSET PR[.. millimeters. When pitch mode is distance. or in linear distance. PROGRAM STRUCTURE. 9. modifying RPM system variables is not required. the program speed has to be adjusted so that the time between the two records is greater than 100 ms. Figure 9--47. And multipass can be used with and without weaving. In other words. $PITCH controls the actual length between recordings. Multipass welding is useful in applications where large welds are required. Figure 9--47 shows a simple multipass weld. $PITCH can be changed in your program by using the PARAMETER NAME instruction. For more information about the PARAMETER NAME instruction. $RPM_PG. Table 9--25 contains a description of RPM system variables that you might modify. Different weld and weave schedules can be used between passes. Multipass welding is repeatedly welding the same seam.] RPM[. $PITCH_MODE can be changed in your program by using the PARAMETER NAME instruction. your site and specific type of welding might require some modifications to the $RPM_PG system variable. UTILITIES B--81464EN--3/01 Setting RPM System Variables Ordinarily.. When using milliseconds. refer to Chapter 4. distance. milliseconds. The default is 0. If $PITCH_MODE is set to 0. refer to Section 7.2 Multipass The multipass instruction in the ArcTool software provides an easy method of programming multipass welding. depending upon the setting of $PITCH_MODE. the time between recording must be greater than 100 ms or an error will occur..9. For more information about the PARAMETER NAME instruction.. Table 9--25. If $PITCH_MODE is set to 1. This distance can be in time. The large welds are created by layering and offsetting smaller welds. refer to Chapter 4. $PITCH specifies how often RPM will actually record the information that the sensor is supplying.16. or in linear distance.$PITCH default : 10 mm This item allows you to specify the distance between the recording of position offset information. time is used.] MP OFFSET END 558 4 .7. However. RPM System Variables DESCRIPTION SYSTEM VARIABLE $RPM_PG. PROGRAM STRUCTURE. For more information about viewing and changing system variables. 5. How Changes to the Position Register Affect the Weld Z X Y NOTE Tool frame is required especially for the WPR offset. Movement of the torch will be perpendicular to the weld path and aligned with the tool/path plane. For more information about the TRACK/OFFSET instructions. However. When facing the end of the weld. Y is perpendicular to the torch. W The position register W element changes the tool orientation by rotating about X.. position registers can be modified by your program to change the offset values. PROGRAM STRUCTURE. PR[. The lateral movement will be perpendicular to the tool. NOTE If the position register is set to all zeros. RPM records position offset information on the root. refer to Chapter 4.. Refer to Section 7..2 for more information about the position register programming instruction. Also. allows you to the offset the entire weld and change the tool orientation.9. Table 9--26 and Figure 9--48 explain how changes to the position register affects the weld.] The position register. For more information about RPM. welding pass. The position register is normally set up prior to running the weld program. A tracking sensor provides the position offset information that RPM records. NOTE The Arc Start instruction and the position register instruction is not supported between MP OFFSET PR and MP OFFSET END. Figure 9--48. or first. the root pass memorization information will still be used. RPM[. The RPM buffer contains previously recorded position offset information. X is the weld path.. allows you to specify the RPM buffer to use when performing a multipass weld. NOTE All offsets are relative to the tool and path. 559 . A positive X value adds to the weld length on both ends of the weld.]. positive Y is to the right side of the weld.] RPM[.. UTILITIES B--81464EN--3/01 Multipass instructions are part of the TRACK/OFFSET instructions. How Changes to the Position Register Affect the Weld PR Element Effects on the Weld X The position register X element elongates or shortens the weld.. A negative X value shortens both ends of the weld. the weld will not be offset..1. This changes the torches work angle. MP OFFSET PR[.]. P The position register P element changes the tool orientation by rotating about Y. Table 9--26. R The position register R element has no affect on the weld. Multipass uses the recorded position offset information on subsequent passes of a multipass weld. This changes the torches lead/lag angle relative to the weld path. Y The position register Y element offsets the weld laterally. The root pass memorization.16. Z The position register Z element elevates the weld. refer to Section 9.4 for more information about position registers and Section 4.. UTILITIES B--81464EN--3/01 NOTE If you do not want to use any RPM position offset information when multipass welding. using the position register Z element value. and vertically. The X value can be changed during welding to allow one end of the weld path to be shortened and the other end to be shortened or lengthened. Only the X value in the new position register should be changed. Each pass can be offset laterally. 560 . set the RPM buffer number to 99. The W value in the position register is used to change the torch work angle. MP OFFSET END MP OFFSET END stops the use of the MP OFFSET instruction within the program. The following multipass weld path changes are available: F Vertical and lateral path shifts F Torch angle changes F Staggered weld stop/start (lengthen or shorten weld path) F Corners Vertical and Lateral Path Shifts Path shifts permit layering individual welds to form a pattern. Figure 9--49. Multipass Weld 3 Path V Groove 3 2 3 1 2 1 Top View End View Torch Angle Changes The lateral and vertical offsets of each pass also can be accompanied by welding torch orientation changes. These offsets are applied to the weld path through the use of a position register. See Table 9--26 and Figure 9--50. Applications Multipass offsets change the weld path. The P value in the position register is used to change to torch travel angle. All other values from the starting position register should be used. See Figure 9--51. This will allow the MP OFFSET instruction to ignore the RPM buffer number. This is done by adding another MP OFFSET instruction in the weld path.9. the X value in the position register is used. See Figure 9--49. Multipass Weld Orientation Changes X P1 X P2 X P3 X P4 Side View X PN X X X End View Staggered Weld Start/Stop To offset the start/stop location of the weld. using the position register Y value. A negative value shortens the weld at the start and stop. Figure 9--50. A positive value increases the length of the weld at the start and stop. Figure 9--53. try recording the positions further apart. Positions that are recorded too close together and include large angle changes can produce unexpected torch motion or an error message. Figure 9--52. Record enough positions to gradually change the orientation over an appropriate distance before and after the corner. Multipass Corners X P1 P2 X P3 X Multipass can offset rounded corners also. UTILITIES B--81464EN--3/01 Figure 9--51. The transition around the corner must be smooth to avoid loosing the arc.9. Figure 9--52 shows an outside corner of 90 degrees. Multipass Weld with End of Pass Offsets X P1 X P2 X P3 X P4 X X PN Side View End View Corners If any two path segments differ at all in direction. See Figure 9--53. If this occurs. Rounded Multipass Corners --Y +Y Original Weld Seam 561 . they form a corner of varying degree. The position register Y element controls the offset value for rounded corners. between robot positions.0inch/min CNT 100 7: If R[3] = 2 CALL weld2 Limitation Overlap distance is ignored in paths where a multipass offset is applied. UTILITIES B--81464EN--3/01 Corners With Logic Statements If you insert logic statements. Programming Examples This section contains multipass program examples.0inch/min CNT 100 P2 Original Path P3 P3 Corner Weld Program With Blending 4:L P[1] 50. Multipass Corners When Logic Statements Appear Between Recorded Positions Corner Weld Program Without Blending Offset Path P1 P1 P2 P2 4:L P[1] 50. such as position registers or frames.9. CAUTION RPM recorded position offset information is specific to the program and positions in which RPM is used. Figure 9--57 is an example of a three-pass v-groove weld with no torch angle changes.0inch/min CNT 100 6:L P[3] 50. or change any values. This means the weld will not be following the same offset values for any positions that occur after the logic statement or change. Figure 9--54. The MP OFFSET program element and the TRACK {sensor} RPM program element must reside in the same program.0inch/min CNT 100 6: If R[3] = 2 CALL weld2 7:L P[3] 50.0inch/min CNT 100 5:L P[2] 50. The RPM program element cannot be used in a subprogram and then called to a main program for use with multipass. Figure 9--55 is an example of multipass without RPM. the multipass instruction stops blending. Figure 9--56 is an example of multipass with RPM. or looking ahead. See Figure 9--54. 562 .0inch/min CNT 100 5:L P[2] 50. 0inch/min CNT100 P[4] P[5] 20.multipass offset.no weave (first move must be linear) Third pass -.0inch/min FINE Arc Start[3] P[3] 20.0inch/min CNT100 P[6] 20. data from PR[1] RPM[99] = no RPM change weld schedule -. data from PR[2] RPM[99] = no RPM Change weld schedule -.0inch/min FINE Arc End[1] MP Offset End P[1:Safe Position] 100% FINE First pass -.multipass offset.0inch/min CNT100 P[6] 20.0inch/min CNT100 P[4] P[5] 20.no multipass offset.0inch/min FINE Arc End[1] Weave End P[1:Safe Position] 100% FINE MP Offset PR[1] RPM[99] P[2] 500.0inch/min CNT100 P[6] 20.0inch/min FINE Arc End[1] MP Offset End P[1:Safe Position] 100% FINE MP Offset PR[2] RPM[99] P[2] 500.0inch/min FINE Arc Start[2] P[3] 20.0inch/min CNT100 P[4] P[5] 20. Example of Multipass without RPM 1: 2:J 3:J : 4: 5:L 6:C : 7:L : 8: 9:J 10: 11:L : 12:L 13:C : 14:L : 15: 16:J 17: 18:L : 19:L 20:C : 21:L : 22: 23:J !Multipass W_O RPM P[1:Safe Position] 100% FINE P[2] 100% FINE Arc Start[1] Weave Sine[1] P[3] 20.no weave 563 . UTILITIES B--81464EN--3/01 Figure 9--55.9. weld and weave Second pass -. JMP LBL[1] First pass -.9.0inch/min FINE : Arc End[1] 24: Weave End 25: MP Offset End 26:J P[1:Safe Position] 100% FINE 27: R[1]=R[1]+1 28: IF R[1]=1.0inch/min FINE : Arc End[1] 9: Weave End 10: Track End 11: R[1]=0 12:J P[1:Safe Position] 100% FINE 13: MP Offset PR[1] RPM[1] 14: JMP LBL[2] 15: LBL[1] 16: MP Offset PR[2] RPM[1] 17: LBL[2] 18:L P[2] 500.0inch/min CNT100 8:L P[6] 20.0inch/min FINE : Arc Start[2] 19: Weave Sine[2] 20:L P[3] 20.0inch/min CNT100 7:C P[4] : P[5] 20.0inch/min CNT100 21:C P[4] 22: P[5] 20. Example of Multipass with RPM 1:!Multipass With RPM 2:J P[1:Safe Position] 100% FINE 3:J P[2] 100% FINE : Arc Start[1] 4: Weave Sine[1] 5: Track TAST[1] RPM[1] .TAST with RPM using RPM buffer [1] Multipass instructions for second and third passes Second and third passes -.0inch/min CNT100 23:L P[6] 20.must have same position numbers as RPM pass Logic to increment multipass sequence 564 . 6:L P[3] 20. UTILITIES B--81464EN--3/01 Figure 9--56. TAST with RPM using RPM buffer [1] Multipass instructions for second and third passes Second and third passes -.JMP LBL[1] 26: PR[1.0inch/min CNT100 18:C P[4] : P[5] 20.2] = 5 First pass -. Example of Three-Pass V-Groove Weld 1: !Multipass With RPM 2:J P[1:Safe Position] 100% FINE 3:J P[2] 100% FINE : Arc Start[1] 4: Weave Sine[1] 5: Track TAST[1] RPM[1] .0inch/min CNT100 19:L P[6] 20.0inch/min CNT100 8:L P[6] 20.0inch/min FINE : Arc End[1] 20: Weave End 21: MP Offset End 22:J P[1:Safe Position] 100% FINE 23: R[1]=R[1]+1 24 PR[1.must have same position numbers as RPM pass Program control logic to change the position offset for second pass Program logic to change the position offset data back to the 2nd pass value 565 .0inch/min CNT100 7:C P[4] : P[5] 20.2] = -5 25: IF R[1]=1.0inch/min FINE : Arc Start[2] 16: Weave Sine[2] 17:L P[3] 20. 6:L P[3] 20. UTILITIES B--81464EN--3/01 Figure 9--57.9.0inch/min FINE : Arc End[1] 9: Weave End 10: Track End 11: R[1] = 0 12:J P[1:Safe Position] 100% FINE 13: LBL[1] 14: MP Offset PR[1] RPM[1] 15:L P[2] 500. 9. UTILITIES B--81464EN--3/01 9.16.3 Coordinated motion with RPM and multipass You can use RPM and multipass with coordinated motion, if you have the coordinated motion option. This section contains information on using coordinated motion with RPM and multipass. Refer to Section 9.16.3 for detailed information on coordinated motion. Coordinated Motion with RPM The RPM function can be used with coordinated motion. All features are the same as for non-coordinated motion. The only difference is that the RPM offset is recorded using the coordinated frame instead of the world frame. Teach Pendant Programming Restrictions RPM offset data is recorded based on either the world frame or coordinated motion frame during tracking. For example, if the tracking section of the program uses the COORD motion option, RPM offset data is recorded using the coordinated frame. When RPM offset data is used in the multipass section of a teach pendant program, the motion in this section must be the same as when the RPM offset data was recorded. Otherwise, RPM offset data will be inconsistent and invalid in the multipass section. Teach Pendant Programming Restrictions in the RPM Section All motion in the section of the program in which RPM recording (and tracking recording) is done must use the COORD motion option, if the multipass section of the program uses COORD motion. or All motion in the section of the program in which RPM recording (and tracking recording) is done must not use the COORD motion option, if the the multipass section of the program does not use COORD motion. See Figure 9--58. Figure 9--58. Example of Restrictions in the RPM Recording Section of a Teach Pendant Program 1:J : 2: 3:L 4:L : 5: : 11: 12:L : 13:L 14:L : 15: P[1] 100% FINE Arc Start[1] Track TAST[1] RPM[1] P[2] 20.0inch/min CNT100 COORD P[3] 20.0inch/min FINE COORD Arc End[1] Track End MP Offset PR[1] RPM[1] P[1] 100% FINE COORD Arc Start[2] P[2] 20.0inch/min CNT100 COORD P[3] 20.0inch/min FINE COORD Arc End[1] MP Offset End RPM recording section: All motion must have COORD in this section, if RPM data is used in the multipass section with coordinated motion. Multipass section: All motion must have COORD in this section. Coordinated Motion with Multipass The multipass function can be used with coordinated motion. All features are the same as for non-coordinated motion. The only difference is that the multipass offset is applied relative to the path on the coordinated frame instead of the world frame. Teach Pendant Programming Restrictions The multipass function forms a corner between two path segments if there is a multipass offset contained in a position register (PR[]). To form a corner, each path segment must use the same frame, world frame or the coordinated frame. This means that you cannot use any combination of COORD and non-coordinated motion in the same multipass section of a program. 566 9. UTILITIES B--81464EN--3/01 Teach Pendant Programming Restrictions in the Multipass Section All motion in the multipass section of a program must use the COORD motion option. or All motion in the multipass section of a program must not use the COORD motion option. See Figure 9--59. Figure 9--59. Example of Restrictions in the Multipass Section of a Teach Pendant Program 1: 2:L 3:L 4:L 5: : 11: 12:L 13:L 14:L 15: : 21: 22:L 23:L 24:L 25: MP Offset PR[1] RPM[1] P[1] 20.0inch/min CNT100 COORD P[2] 20.0inch/min CNT100 COORD P[3] 20.0inch/min FINE COORD MP Offset End MP Offset PR[1] RPM[1] P[1] 20.0inch/min CNT100 P[2] 20.0inch/min CNT100 P[3] 20.0inch/min FINE MP Offset End All COORD motion can be used in the same multipass section. or All non-COORD motion can be used in the same multipass section. but MP Offset PR[1] RPM[1] P[1] 20.0inch/min CNT100 COORD P[2] 20.0inch/min CNT100 P[3] 20.0inch/min FINE COORD MP Offset End Both COORD and non-COORD motion cannot be used in the same multipass section. Program Example This section contains a program example of coordinated motion with RPM and multipass. See Figure 9--60 for a program example. Figure 9--61 and Figure 9--62 illustrate the program example. Figure 9--60. Program Example of Coordinated Motion with RPM and Multipass 1:!CD with MPS and RPM 2:J P[1:Safe Position] 100% FINE 3:J P[2] 100% FINE : Arc Start[1] 4: Weave Sine[1] 5: Track TAST[1] RPM[1] 6:L P[3] 20.0inch/min CNT100 COORD 7:C P[4] : P[5] 20.0inch/min CNT100 COORD 8:L P[6] 20.0inch/min FINE COORD : Arc End[1] 9: Weave End 10: Track End 11: 12:J P[1:Safe Position] 100% FINE 13: MP Offset PR[1] RPM[1] 14:L P[2] 100% FINE COORD : Arc Start [2] 15: Weave Sine[2] 16:L P[3] 20.0inch/min CNT100 COORD 17:C P[4] : P[5] 20.0inch/min CNT100 COORD 18:L P[6] 20.0inch/min FINE COORD : Arc End[2] 19: Weave End 20: MP Offset End 21:J P[1]:Safe Position] 100% FINE RPM recording section: All motion must have COORD in this section, if RPM data is used in the multipass section below. Multipass section: All motion must have COORD in this section. 567 9. UTILITIES B--81464EN--3/01 Figure 9--61. Illustration of the RPM Recording Section of Example Program P2 P3 P4 P5 P6 RPM Recording Section Figure 9--62. Illustration of the Multipass Section of the Example Program P2’ P3’ P4’ P5’ Multipass Section 568 P6’ 9. UTILITIES B--81464EN--3/01 9.17 Coordinated Motion Function 9.17.1 Overview What is the coordinated motion function? The coordinated motion function allows a robot to follow the movement of a positioner that is holding a workpiece. With this function, interpolation is enabled for the TOOL frame of the robot so that it can maintain a constant relationship with the TOOL frame of the positioner (see Figure 9--63). Figure 9--63. Coordinated Motion Frame of the positioner (coordinate frame) Constant relationship TOOL frame of the robot Required options The following feature software and software options are required to enable coordinated motion: F Positioner feature software F Coordinated motion function F Multi--motion function Difference from the conventional multi--motion function With the conventional multi--motion function, the robot and positioner can be moved simultaneously, but the TOOL frame of the robot cannot be interpolated to maintain a constant relationship with the coordinate frame. The use of the coordinated motion function enables such interpolation (see Figure 9--64 and Figure 9--65). 569 9. UTILITIES B--81464EN--3/01 Figure 9--64. Conventional Multi--Motion Function Interpolation Program Position P1, Q1 Position P2, Q2 Jog Simultaneous interpolation Interpolation Jog feed for one unit at a time Figure 9--65. Coordinated Motion Function Interpolation Program Position P1, Q1 Position P2, Q2 Jog Interpolation with frame relationship left as is Interpolation Interpolation with frame relationship left as is 570 9. UTILITIES B--81464EN--3/01 Advantages of the coordinated motion function The advantages of the coordinated motion function are shown in Figure 9--66 through Figure 9--70. Figure 9--66. Significant Reduction in Number of Teaching Points Conventional operation Many points needed to be taught according to the placement of the positioner. Advantage of the coordinated motion function Only a few points need to be taught, without considering the placement of the positioner. Figure 9--67. Uniform Welding Conventional operation Because a speed relative to the positioner speed could not be specified, welding became uneven. Advantage of the coordinated motion function Because the relative speed can be held constant, uniform welding is possible. Figure 9--68. Weaving Conventional operation Advantage of the coordinated motion function The direction and amount of weaving can be held constant. As the positioner position changed, the direction and amount of weaving changed. 571 9. UTILITIES B--81464EN--3/01 Figure 9--69. Improved Cycle Time Conventional operation Advantage of the coordinated motion function The positioner had to be positioned prior to the start of welding to ensure a good welding result. This generated an additional wait time. Since the workpiece and robot move simultaneously, no wait time is incurred. Figure 9--70. Reduced Teach Time Advantage of the coordinated motion function Conventional operation Jog feed could not be performed for both the positioner and robot at the same time. As jog feed is performed for the positioner, the robot also moves at the same time, maintaining its position relative to the positioner. Principle of coordinated motion The principle of coordinated motion is as follows: 1 The positioner and robot have each their own frames (WORLD and USER frames). 2 By performing calibration for coordinated motion (for details of the actual procedure, see ”Calibration”), coordinate conversion data (the position of the positioner frame measured with respect to the robot frame) is recorded in the system (see Figure 9--71). 572 9. UTILITIES B--81464EN--3/01 Figure 9--71. Coordinate Conversion Frame of the robot Coordinate conversion Frame of the positioner 3 The position data of the positioner and robot are recorded as position data relative to their own frames (see Figure 9--72). 4 The robot recognizes the position data of the positioner relative to the frame of the robot itself by calculating the equation given below, and performs coordinated motion according to the positioner movement (see Figure 9--73). (Position data of the positioner relative to the frame of the robot) = (coordinate conversion data) x (position data of the positioner with respect to the frame of the positioner) Figure 9--72. Position Data Position data of the robot Position data of the positioner Figure 9--73. Coordinated Operation Position data of the positioner relative to the frame of the robot 573 9. UTILITIES B--81464EN--3/01 Specifications and restrictions The specifications and restrictions of the coordinated motion function are explained below. F A positioner with up to six axes can be used. F When all the axes of the positioner are at position 0, the direction of each axis must be parallel to the X--, Y--, or Z--axis of the WORLD frame of the positioner (example: Figure 9--74). Figure 9--74. Direction of Each Axis of the Positioner Parallel Right hand rule Parallel Parallel F The incremental instruction cannot be used. F Joint operation of the robot is not allowed. F Linear and circular wrist joint operation of the robot is not allowed. F This function cannot be used together with MIG EYE. F Allowable coordinate pairs (combinations of groups that perform coordinated operation) are shown in Figure 9--75. 574 9. UTILITIES B--81464EN--3/01 Figure 9--75. Valid Coordinate Pairs Jog Program execution One robot + one positioner One robot + one positioner The above figure shows the case in which coordinated operation is performed by one program. When alternately executing multiple programs, coordinated operation is possible in a system having two robots and one positioner. Two robots + one positioner 9.17.2 Setting a coordinated motion system Before coordinated motion can be performed, a coordinated motion system must be set. Set up the coordinated motion system by means of the procedure below. 1 Initialize the positioner by means of a control start. 2 Set each item on the pair setting screen. 3 Perform calibration on the calibration screen. Setting a pair Call the pair setting screen (see Figure 9--76) by means of the procedure explained below. 1 Press the MENUS key. 2 Select 6, SETUP. 3 Press F1, [TYPE]. 4 Select Coord. Figure 9--76. Pair Setting Screen SETUP Coord JOINT Coord Pair Number : Leader Group : Follower Group : X: ******** [ 1] 1 2 Y: ******** Follower orientation Leader frame number [ TYPR ][C_TYP] 575 10 % 3/5 : : Z: ******** ATTACHED 1 9. UTILITIES B--81464EN--3/01 When the pair setting screen appears, enter values for each item. The meaning of each item is explained below. Coord Pair Number: The number of a coordinate pair (combination of target groups for coordinated operation) for which subsequent settings are to be made. You can set a value of either 1 or 2. Leader Group: The group number of the positioner. (This item name is assigned because the positioner leads the robot.) Follower Group: The group number of the robot. (This item name is assigned because the robot follows the positioner.) Calibration Calibration is performed to teach the coordinate conversion data (the position of the positioner frame measured relative to the frame of the robot; for details, see ”Principle of coordinated motion”). Poor calibration accuracy can result in inaccurate coordinated motion. Therefore, calibration must be performed accurately. There are three calibration types: Known 4Pt, Unknown Pt, and Known Direct. When performing calibration, select just one of these three types. An appropriate calibration type should be selected as follows (see Figure 9--78). Known 4Pt calibration: The dimensions of the positioner structure can be determined from the drawings. The offset for each axis of the positioner (see Figure 9--77) will have been set in the positioner initialization at control start. Unknown Pt calibration: The dimensions of the positioner structure are unknown. Known Direct calibration: The offset for each axis of the positioner is already set, and the relative positional relationship between the robot and positioner can be determined from the drawings. The values of coordinated conversion elements X, Y, Z, W, P, and R will have already been recognized. Call the calibration screen from the pair setting screen (see Figure 9--76) by means of the procedure explained below. 1 Press the F2 (C_TYP) key. 2 Select one of the three types (1: Known 4 Pt, 2: Unknown Pt, 3: Known Direct). Figure 9--77. Offset Value of Each Axis of the Positioner J2 position J3 position J1 position X J1 offset value 0 mm J2 offset value 0 mm J3 offset value --300 mm 576 Y 0 mm --1000 mm 0 mm Z 0 mm 250 mm 0 mm 9. UTILITIES B--81464EN--3/01 Figure 9--78. Selecting a Calibration Type Select calibration type Offset of each positioner axis already set? Coordinate conversion elements X, Y, Z, W, P, and R already known? Unknown Pt Known 4Pt Known Direct Known 4Pt calibration Figure 9--79 shows the Known 4Pt calibration screen. Figure 9--79. Known 4Pt Calibration Screen SETUP Coord 10 % 1/4 Known type calibration Coord Pair: 1 Group Number Leader: 2 Follower: 1 X: ******** Y: ******** Z: ******** W: ******** P: ******** R: ******** Leader’s TCP Point : UNINIT Orient Origin Point : UNINIT X Direction Point : UNINIT Y Direction Point : UNINIT [ TYPR ][C_TYP] G2 EXEC JOINT MOVE_TO RECORD Perform Known 4Pt calibration by means of the procedure explained below (example: Figure 9--80). 1 Position the cursor to Leader’s TCP Point. 2 Jog the positioner and robot to align their tool tip points. 3 Press and hold down SHIFT and then press F5 (RECORD). (The UNINIT indication changes to RECORD.) 4 Position the cursor to Orient Origin Point. 5 Jog the robot to a position where the robot can easily be jogged in the +X and +Y directions of the WORLD frame of the positioner. 6 Press and hold down SHIFT and then press F5 (RECORD). 7 Position the cursor to X Direction Point. 8 Jog the robot in the +X direction of the WORLD frame of the positioner. 9 Press and hold down SHIFT and press F5 (RECORD). 10 Position the cursor to Y Direction Point. 11 Jog the robot in parallel with the X--Y plane of the WORLD frame of the positioner and in the +Y direction. 12 Press and hold down SHIFT and then press F5 (RECORD). 13 Check that RECORDED appears against all four items (Leader’s TPC Point through Y Direction Point). 14 Press and hold down SHIFT and then press F3 (EXEC). (The RECORDED indication changes to USED. Coordinate conversion data is calculated, and the results are displayed on the screen.) 15 Perform a cold start. 577 9. UTILITIES B--81464EN--3/01 Figure 9--80. Known 4Pt Calibration Leader’s TCP position Along X--axis Parallel Match TCPs of positioner and robot. WORLD frame of positioner Reference point of direction Move robot TCP to position where TCP can be moved easily. 578 Along Y--axis 9. UTILITIES B--81464EN--3/01 Unknown Pt calibration Figure 9--81 shows the Unknown Pt calibration screen. Perform Unknown Pt calibration by means of the procedure explained below (example with a three--axis positioner: Figure 9--82). Figure 9--81. Unknown Pt Calibration Screen Calibration screen for a linear axis SETUP Coord 10 % 1/5 Unknown type calibration Coord Pair: 1 Group Number Leader: 2 Follower: 1 X: ******** Y: ******** Z: ******** W: ******** P: ******** R: ******** Axis Number: 1 (Total: 1) Axis Type: LINEAR Axis Direction: +Y Point 1: UNINIT Point 2: UNINIT [ TYPR ][C_TYP] G2 EXEC JOINT MOVE_TO RECORD Calibration screen for a rotary axis SETUP Coord 10 % 2/6 Unknown type calibration Coord Pair: 1 Group Number Leader: 2 Follower: 1 X: ******** Y: ******** Z: ******** W: ******** P: ******** R: ******** Axis Number: 1 (Total: 2) Axis Direction: -Z Point 1: UNINIT Point 2: UNINIT Point 3: UNINIT [ TYPR ][C_TYP] G2 EXEC JOINT MOVE_TO RECORD 1 Set all the axes of the positioner to position 0. 2 Position the cursor to Axis Number, and then enter the number of the positioner axis to be taught. 3 Position the cursor to Axis Direction, then press the ENTER key. (Then, the Axis Direction menu appears.) 4 Select the axis direction (--Z, --Y, --X, +X, +Y, or +Z) to be taught. 5 For a linear axis: a. Position the cursor to Point 1. b. Determine a reference point on the positioner mechanical unit. (This point must move linearly when you jog the linear axis in the positive direction. The tool tip of the robot must also be able to touch the point.) c. Jog the tool tip point of the robot to the reference point. d. Press and hold down SHIFT and then press F5 (RECORD). (The UNINIT indication changes to RECORDED.) e. Position the cursor to Point 2. f. Jog the positioner axis to be taught as far as possible in the positive direction. g. Jog the tool tip point of the robot to the reference point. h. Press and hold down SHIFT and then press F5 (RECORD). 6 For a rotary axis: a. Position the cursor to Point 1. b. Determine a reference point on the positioner mechanical unit. (This point must be rotated by jogging the rotary axis in the positive direction. Also, the tool tip of the robot must be able to touch the point.) c. Jog the tool tip point of the robot to the reference point. d. Press and hold down SHIFT and then press F5 (RECORD). (The UNINIT indication changes to RECORDED.) 579 9. UTILITIES B--81464EN--3/01 e. Position the cursor to Point 2. f. Jog the positioner axis to be taught in the positive direction, moving it through an angle of 30o to 90o, if possible. g. Jog the tool tip point of the robot to the reference point. h. Press and hold down SHIFT and then press F5 (RECORD). i. Position the cursor to Point 3. j. Further rotate the axis to be taught, again moving it through 30o to 90o if possible. k. Jog the tool tip point of the robot to the reference point. l. Press and hold down SHIFT and then press F5 (RECORD). 7 Repeat the above procedure for all axes of the positioner. 8 Check that RECORDED appears against all the Point items for all the positioner axes. 9 Press and hold down SHIFT and then press F3 (EXEC). (Then, the RECORDED indication changes to USED. The coordinate conversion data is calculated, and the results appear on the screen.) 10 Perform a cold start. Figure 9--82. Unknown Pt Calibration All axes at position 0 All axes at position 0 +J1 jog All axes at position 0 +J2 jog +J3 jog +J2 jog +J3 jog Performing the above calibration operation also calculates the offset for each axis of the positioner. These offsets, however, are not displayed. This completes the calibration. 580 9. UTILITIES B--81464EN--3/01 Known Direct calibration Figure 9--83 shows the Known Direct calibration screen. Figure 9--83. Known Direct Calibration Screen SETUP Coord 10 % 1/6 Known type calibration Coord Pair: 1 Group Number Leader: 2 Follower: 1 X: ******** Y: ******** Z: ******** W: ******** P: ******** R: ******** X: 0.000 Y: 0.000 Z: 0.000 W: 0.000 P: 0.000 R: 0.000 [ TYPR ][C_TYP] G2 JOINT EXEC Perform Known Direct calibration by means of the procedure explained below. 1 In the lower part of the screen, enter values for X, Y, Z, W, P, and R. 2 Check that the values entered for X, Y, Z, W, P, and R are correct. 3 Press and hold down SHIFT and press F3 (EXEC). (The entered X, Y, Z, W, P, and R values appear on the screen.) 4 Perform a cold start. Leader frame setup Leader frames function as TOOL frames of leader groups. You can use this frame to define the orientation of a workpiece mounted on the faceplate of the leader group. In the same way as a USER frame, a leader frame is also useful in teaching. With leader frame jogging, when the leader group (table) is rotated, the follower group (robot) TCP is also rotated to maintain its relationship with the leader group along the current jog path. See Figure 9--84. Figure 9--84. Leader Frame Jogging Procedure 9--19 Leader Frame Setup NOTE Condition In a table coordination application, the leader group is the table. It is thus difficult to define the leader frame by moving the leader group; therefore, use the follower group to perform leader frame teaching. H The coordinate pair must have been calibrated. H A workpiece must be mounted on the faceplate of the leader group. 581 9. UTILITIES Step B--81464EN--3/01 1 Press the MENUS key. 2 Select SETUP. 3 Press F1, [TYPE]. 4 Select Coord. Then, the following screen appears: SETUP Coord JOINT Coord Pair Number : Leader Group : Follower Group : X: ******** W: ******** 10 % 3/5 [ 1] 1 2 Y: ******** P: ******** Follower orientation Leader frame number : : Z: ******** R: ******** ATTACHED 1 [ TYPR ][C_TYP] 5 Press F2, [C_TYP]. 1 2 3 4 Known 4 Pt Unknown Pt Known Direct Leader Frame 6 Select Leader Frame. Then, the following screen appears: SETUP Coord G2 JOINT 10 % 1/6 Leader Frame Setup Coord Pair: 1 Group Number Leader: 2 Follower: 1 Leader Frame X: 0.000 Y: 0.000 Z: 0.000 W: 0.000 P: 0.000 R: 0.000 Leader Frame number : 1 Orient Origin Point : UNINIT X Direction Point : UNINIT Y Direction Point : UNINIT [ TYPR ][C_TYP] EXEC MOVE_TO RECORD NOTE If the Leader Frame option is not displayed, the coordinate pair must be calibrated. NOTE The initial values of x, y, z, w, p, and r of the leader frame are 0. 7 Set the leader frame number. Follow the procedure described below. a Position the cursor to Leader Frame number. b Enter a leader frame number, and then press the ENTER key. 8 Record the origin. Follow the procedure described below. a Position the cursor to Orient Origin Point. b Jog the follower group (robot) to position its tip to the reference point on the leader group. See Figure 9--85. c Press and hold down the SHIFT key and then press F5, RECORD. 582 9. UTILITIES B--81464EN--3/01 Figure 9--85. Setting the Origin 9 Record the X direction. Follow the procedure described below. a Position the cursor to X Direction Point. b Jog the follower group (robot) to position its tip to a point on the +X axis. See Figure 9--86. NOTE If the follower group (robot) TCP cannot be moved to a point on the +X axis, jog the leader group so that the TCP can touch this point. Figure 9--86. Setting the X Direction c Press and hold the SHIFT key and then press F5, RECORD. 10 Record the Y direction. Follow the procedure described below. a Position the cursor to Y Direction Point. b Jog the follower group (robot) to position its tip to a point on the +Y axis. See Figure 9--87. NOTE If the follower group (robot) TCP cannot be moved to a point on the +Y axis, jog the leader group so that the TCP can touch this point. Figure 9--87. Setting the Y Direction c Press and hold down the SHIFT key and then press F5, RECORD. 583 9. UTILITIES B--81464EN--3/01 11 Press and hold down the SHIFT key and then press F3, EXEC. Then, the element values of the new leader frame are displayed. 9.17.3 Coordinated jogging In coordinated jogging, the leader group and follower group of a coordinate pair perform jogging with their motion coordinated. The jog feedrate of the coordinate pair depends on the speed of the leader group. During coordinated jogging, the relationship between the frame of the leader group and the follower group TCP is maintained. Coordinated jogging varies according to the group in the coordinate pair that is to be operated. F In coordinated jogging, the leader group and follower group operate together. The follower group maintains its position and orientation relative to the frame of the leader group. F Subgroup coordinated jogging is used when an integrated extended axis of the leader group is moved. This jog type is effective only when the leader group has integrated extended axes. F Leader frame jogging is used when the follower group is jogged relative to the leader frame. WARNING In each type of coordinated jogging, if the follower group TCP is located far from the rotary axis of the leader group, jogging that axis causes the follower group to move at high speed even if the same override value is set. When performing jogging, therefore, note this point. The high--speed movement presents a danger of damage or injury. Jog mode display The method used to perform coordinated jogging is selected from the FCTN menu. When the jog key is pressed, the method being used appears in the upper part of the screen. This is indicated in C#* format, where # is the group number of the leader group, and * is the group number of the follower group. The display shown in Figure 9--88 indicates that the leader group is 2 and the follower group is 1. For subgroup coordinated jogging, S appears instead of C. In this case, an extended axis is jogged. Figure 9--88. Coordinated Jogging Display Program C21 JOINT 50 % The display shown in Figure 9--89 indicates that the leader group is 2 and the follower group is 1. Subgroup coordinated jogging is used, so S appears instead of C. Figure 9--89. Subgroup Coordinated Jogging Display Program S21 JOINT 50 % Table 9--27 lists the displayed jog modes where the leader group is assumed to be 2 and the follower groups are assumed to be 1 and 3. Table 9--27. Coordinated Jog Mode Display MEANING DISPLAY C21 Performs coordinated jogging for leader group (2) and follower group (1). G1 Jogs follower group (1) only. No coordinated motion. G2 Jogs leader group (2) only. No coordinated motion. S23 Performs subgroup coordinated jogging for leader group (2) and follower group (3). G2/S Jogs subgroup of leader group (2). No coordinated motion. LDR2 Jogs follower group relative to leader frame. 584 a new jog mode called LDR (leader frame) is supported. When you teach a program under these circumstances. JOINT (JOINT frame). UTILITIES B--81464EN--3/01 Leader group jogging (coordinated jogging) In applications performing coordinated motion. you must set a leader frame. TOOL (TOOL frame). Jogging the leader group in coordinated jog mode enables. jog the follower group to the next position on the workpiece. USER (USER frame). a workpiece is mounted on the leader group and the follower group (robot) works on the workpiece. an axis direction of the JOG frame of the follower group to be matched with the direction of movement to the next teach point on the workpiece.9. when the leader group (table) is rotated. which allows you to jog the follower group easily. then teach the position. the follower group TCP maintains its position and orientation relative to the leader group. 585 . you would normally jog the leader group to the point where the workpiece is located. See Figure 9--92. JOG (JOG frame).Table Rotation Leader frame jog mode In addition to the existing jog modes. With leader frame jogging. Coordinated Jogging -. the follower group (robot) TCP is rotated accordingly. See Figure 9--90 and Figure 9--91. In coordinated jogging. maintaining its relationship with the leader group along the current jog path. and TOACH (PATH frame). For an explanation of how to set the leader frame. Coordinated Jogging -. see ”Leader frame setup.” Figure 9--90. CAUTION Before leader group coordinated jogging can be performed. for example.Tilt Side view Figure 9--91. where 2 indicates the group number of the leader group. Table 9--28. effective for integrated extended axes that move linearly). Only the follower group moves rectangularly. The follower group moves according to coordinate conversion data. If there is more than one leader group for a follower group. Only the follower group moves in JOINT.9. frame or USER frame. Group 2: Leader Group) DISPLAY DESCRIPTION C21 Coordinate pair jog The frame of the leader group moves in No effect. When the follower group is jogged in leader frame jog mode. maintaining the relationship with the leader group. leader frame jogging is disabled so that you can not use LDR mode. See Figure 9--93. EFFECT OF JOINT JOG 586 EFFECT OF RECTANGULAR JOG . Leader Frame Jogging When the leader group is jogged. UTILITIES B--81464EN--3/01 Figure 9--92. No effec LDR2 (G1) Follower group (robot) jog The follower group moves with respect to Jogging is performed as with the JOG the leader frame. and the jog mode is indicated as LDR2. maintaining the relationship with the leader group. Types of Coordinated Jogging (Group 1: Follower Group. Only the leader group moves in JOINT. or Z direction (dependent on frame axis assignment. you can switch between the leader groups using TOGGLE LDR GROUP on the FCTN menu. the TCP operates relative to the WORLD frame of the leader group. but this frame moves as the leader group moves. G1 Follower group (robot) jog No coordinated motion. Leader Frame Jog Mode Display Program G1 LDR2 50 % CAUTION When the leader group (robot) is selected. The follower group moves according to coordinate conversion data. The frame of the leader group moves in the X. Y. JOINT. Figure 9--93. S21 Subgroup (integrated extended axis) coordinated jog The frame of the leader group moves in JOINT. The follower group moves according to coordinate conversion data. LDR2 appears in the upper right part of the screen. G1 on the screen indicates that the current target for jogging is group 1. No coordinated motion. G2 Leader group (positioner) jog No coordinated motion. Jogging examples Table 9--28 lists the type of coordinated jogging that are supported. See Figure 9--93. You can have coordinated motion on more than one axis being jogged at the same time. Figure 9--94. The high--speed movement presents a danger of damage or injury. WARNING In each type of coordinated jogging. Coordinated Jogging -. if the follower group TCP is located far from the rotary axis of the leader group. Coordinated Jogging -.Table rotation CAUTION The tool orientation maintains a constant positional relationship with the table during jogging. Linear Coordinated Jogging Figure 9--95. When performing jogging.9. therefore. note this point. jogging that axis causes the follower group to move at high speed even if the same override value is set. UTILITIES B--81464EN--3/01 Figure 9--94 through Figure 9--96 show examples of coordinated jogging. 587 .Tilt Figure 9--96. 4 Press the auxiliary key. F Linear and Circular move instructions with CNT 1 to 100 cannot be used immediately before a move statement that performs coordinated motion. and select TOGGLE COORD JOG. note the following: F The INC instruction cannot be used in a move statement when that statement contains a COORD instruction.4 Coordinated motion in a program To program coordinated motion. C P[1] 300mm/sec CNT100 COURD The follower group performs circular movement at a speed of 300 mm/s relative to the leader group. F Weaving is possible only in the follower group. Notes on programming When specifying coordinated motion in a program. 2 Position the cursor to CHANGE GROUP. then select TOGGLE COORD JOG. 9. The following shows the upper part of the screen: Program C21 JOINT 10 % 6 To change the follower group. use COORD that is one of the optional move instructions (such as Wjnt and INC) (example: Figure 9--97). Figure 9--97. See Figure 9--98. the operation is performed in the same way as when no coordinated motion is performed. 588 . 5 Position the cursor to TOGGLE COORD JOG.9.17. press the auxiliary key repeatedly until a desired coordinate pair is displayed. F Even when only the robot is being operated (the positioner does not move). 3 Enter the group number of the leader group. C#* appears. and * is the group number of the follower group. The follower group (robot) operates as specified by the operation formats (L. 7 To terminate coordinated jogging. press the auxiliary key. C) while the leader group (positioner) always performs joint operation. F The wrist joint (Wjnt) instruction cannot be used in a move statement when that statement contains a COORD instruction. F The USER frame and TOOL frame of the leader group are not supported. the COORD instruction can be added. F Neither the program shift nor mirror image function is supported. F Wrist joint feed cannot be performed. The leader group performs joint operation at the maximum speed for which the relative speed can be maintained. JOINT operation or CNT 0 can be specified immediately before the move statement. In such a case. where # is the group number of the leader group. Example of Coordinated Motion L P[1] 100mm/sec FINE COURD The follower group (robot) moves linearly at a speed of 100 mm/s relative to the leader group (positioner). and then press the ENTER key. and then press the ENTER key. In the upper part of the screen. The leader group performs joint operation at the maximum speed for which the relative speed can be maintained. UTILITIES B--81464EN--3/01 Procedure 9--20 Step Switching to coordinated jogging 1 Press the auxiliary key. CD--023 PAUSE.17. Make correction on the leader groups. CD--021 PAUSE. and perform cold start. CD--016 PAUSE. 589 . Cause: Remedy: Check the setting.5 Main alarm codes The following lists the main alarms specific to the coordinated motion function: CD--009 PAUSE. the number of follower groups is 0.G More than one leader More than one leader group has been set up. Cause: Remedy: Check the motion command. Cause: Remedy: Re--teach the positions of the leader and follower groups so that the specified speed can be attained. because it has no kinematics. the Linear instruction with the COORD instruction added must be specified at the start point of the coordinated motion. two.9. Cause: Remedy: Alter the robot. or greater. UTILITIES B--81464EN--3/01 F When coordinated motion is performed with the root path memorization function. Cause: Remedy: Set the number of follower group to 1.G Illegal CD setting The specified coordination control setting is illegal. CD--020 WARN Not reach relative speed The follower group has not attained the specified speed.G Illegal follower setting In this motion. CD--019 PAUSE.G No calibration for CD Coordination control calibration has not been completed. Figure 9--98. Cause: Remedy: Perform coordination control calibration. CD--018 PAUSE.G No kinematics in CD group Coordinated motion is impossible for this robot. Cause: Remedy: Delete incremental commands.G INC motion is not supported Incremental motion is not supported as coordinated motion. Example Coordinated Motion Instructions Correct: 1: L P[1] 2: L P[2] 1: J P[1] 2: L P[2] 250mm/sec CNT0 20mm/sec FINE COURD 100% CNT100 20mm/sec FINE COURD Wrong: 1: L P[1] 250mm/sec CNT0 2: L P[2] 20mm/sec FINE COURD 9. 000 298 1. the following data is also collected: time. The data is tab delimited for importing into a spreadsheet application.000 200. Limit -. Specifically. The maximum sampling frequency is 250 Hz. To use the Data Monitor feature you make selections in two teach pendant screens and add two teach pendant program instructions.592 TEST 3 20. F Enable or disable any specific features in the Data Monitor Utility screen F Select items to monitor (such as arc current feedback) with one of the Data Monitor schedules F Add Sample Start[schedule number] and Sample End instructions to your TP program to control when monitoring occurs You can monitor up to five items at once with a Data Monitor schedule.000 0.000 198 .A specific data element to be monitored. it can be formatted as a report and sent to a file. As the items specified in the schedule are recorded. Data Monitor operates much like a strip chart recorder or a data acquisition system.192 TEST 2 0. For example.392 TEST 4 0. an I/O signal. distance. like WO[2] or AI[2]. Data Monitor can monitor the following kinds of items: F System variables (Real or Integer only) F KAREL program variables (Real or Integer only) F I/O ports (digital and analog) F Registers (numeric only) Schedule --A set of parameters that define how to monitor specific items and where to save recorded data.A defined high or low value for a monitored item.A condition that must be met to begin or end monitoring.000 Definitions This section contains definitions of terms you should know to use Data Monitor. As data is recorded. UTILITIES B--81464EN--3/01 9.9. date.000 0.792 TEST 3 20.18 Data Monitor Data Monitor is a tool for improving process quality. Item -.000 248 . Figure 9--99.000 200.392 TEST 3 20.992 TEST 3 20.192 TEST 3 20. It can alert you to a parameter going out of limit and it can record data for use in a quality record. A short example report is shown in Figure 9--99.000 98 . You can specify separate frequencies for limit checking and for recording. Trigger -. Report Example DATA MONITOR REPORT Number 1 2 3 4 5 6 7 Tick Time Program Line Voltage [Volts] Wire feed[IPM] 48 . You can choose the items you want to monitor from the Data Monitor Schedule screen.000 200.000 148 .000 348 1.000 200. 590 . You can use it to monitor and record important process parameters. program name and line number.000 200. UTILITIES B--81464EN--3/01 Monitoring Limits Data monitoring can check each sampled item against upper and lower limits.9. When the program ends. If a pause limit is crossed for the specified time a PAUSE severity error is posted. and a time duration for each monitored data item. a pause limit. Process Limits If a warning limit is crossed for the specified time. the limit digital output is turned ON. It is turned OFF by a system RESET. If the average of the item samples returns to within the WARN limit for the specified time the digital output is turned OFF. a WARN severity error is posted and the limit digital output is turned ON. if enabled. and the program is paused. Figure 9--100. You must specify a nominal value. 591 . the limit digital output is set to ON. If the average of the item samples is out of limits for a specified time period (Tmin in Figure 9--100) a warning or a pause alarm will occur. a warning limit. if a WARN or PAUSE limit error occurred during execution. 9. 592 . Table 9--29. Setup Default: Disabled This item enables or disables printing of data monitor setup information in the report header. Filing Default: Enabled This item turns report filing ON and OFF. Record Buffer Size Default:10 Min:1 Max:99 This item specifies the size of the record buffer. Limit Error Output Default: DO[0] This item defines the port type and port number for the limit output. Triggers Default: Disabled This item enables or disables printing of Trigger information in the report header. Warning Limits Default:Disabled This item turns Warning Limits ON and OFF. This digital output is turned ON when a limit error is detected.1 Data monitor setup You must set up Data Monitor before you can use it. Recording Default: Enabled This item turns data recording ON and OFF.18. Schedule Default: Disabled This item enables or disables printing of Schedule information in the report header. See Figure 9--101. Sample Buffer Size Default:10 Min:1 Max:99 This item specifies the size of the sample buffer. Table 9--29 lists and describes the items found on the Data Monitor Setup screen. Program Name Default: Enabled This item enables or disables printing the program name column in the Data Monitor report. UTILITIES B--81464EN--3/01 9. Date Default: Disabled This item enables or disables printing the date and time of day column in the Data Monitor report. See Figure 9--101. Items Default: Disabled This item enables or disables printing of information in the report header about each of the items you want to monitor. See Figure 9--101. See Figure 9--101. Data Monitor Setup Screen Menu Items ITEM DESCRIPTION Data Monitor Operation Default: Enabled This item enables and disables operation of the Data Monitor function. Line Number Default: Enabled This item enables or disables printing the line number column in the Data Monitor report. NOTE Data monitoring is also disabled during step mode. See Figure 9--101. Pause Limits Default: Disabled This item turns Pause Limits ON and OFF. Tick + time Default: Disabled This item enables or disables printing the Tick and Time column in the Data Monitor report. there is only one event defined. UTILITIES B--81464EN--3/01 Table 9--29. See Figure 9--101. Use Procedure 9--21 to set up Data Monitor Figure 9--101. (Cont’d) Data Monitor Setup Screen Menu Items ITEM DESCRIPTION Event Default: Disabled This item enables or disables printing the event column in the Data Monitor report. NOTE At this time. Distance Default: Enabled This item enables or disables printing the distance column in the Data Monitor report. Sample Report XX XX XX XX XX XX XX XX XX XX XX Date Tick +Time Distance Event Line Number Program Name 593 . See Figure 9--101. An event value of 1 indicates the data was recorded as a result of the recording frequency.9. These items are initialized for you. You will see a screen similar to the following. ITEM DESCRIPTION 9 Voltage (Command) [ TYPE ] DETAIL [CHOICE] ITEM NUM 1 HELP 7 Press F4. UTILITIES B--81464EN--3/01 Procedure 9--21 Condition Step Setting Up Data Monitor H Data Monitor is installed on your controller. 1 Press MENUS 2 Select UTILITIES. the DETAIL. move the cursor to item 9. You will see a screen similar to the following 594 . [CHOICE]. 4 Select Data Monitor. and HELP function keys will be available. DETAIL allows you to edit that item. [TYPE]. The right column contains an item number from 1 to 20. Edit Data Monitor Items 6 Data Monitor allows you to define 20 items to monitor. 3 Press F1. When the cursor is on item 9. but you can edit them to suit your needs. If you want to edit Data Monitor items. [CHOICE] allows you to choose an item from a list. [CHOICE]. UTILITIES DMON SET 1 2 3 4 5 6 7 8 JOINT Data Monitor Operation: Recording: Filing: Warning limits: Pause limits: Limit error output: Sample buffer size: Record buffer size: ENABLED ENABLED ENABLED DISABLE DISABLED RO[ 1] 10 samples 10 samples ITEM DESCRIPTION 9 Voltage (Command) ITEM NUM 1 REPORT TABLE CONTENTS 10 Setup: 11 Items: 12 Schedule: 13 Triggers: REPORT TABLE CONTENTS 14 Pause limits: 15 Line number: 16 Date: 17 Tick + time: 18 Event: 19 Distance [ TYPE ] DETAIL 10 % 9/19 ENABLED ENABLED ENABLED ENABLED ENABLED ENABLED DISABLED ENABLED DISABLED ENABLED ENABLED DISABLED 5 Select each item on the menu and set it as desired. The left column contains the corresponding item description. Item 9 has two columns.9. to select a different item by number. or press F3. If they are not available the item is not numbered. E1 JOINT 10 % 1 Integer 2 Real 3 I/O 4 Register UTILITIES DMON ITM 1 2 3 Item type: REAL Item sub type: 0 Program name: [ *SYSTEM*] Var: [ $awepor[1]. 9 Press the F3. You will see a screen similar to the following. and press ENTER. Press F2.NEXT -- 10 % ENABLED RO[ 0] 10 samples 10 samples 2 [CHOICE] HELP 8 Select an item from the list by number or by moving the cursor and pressing ENTER.9.00 [ TYPE ] ITEM EXIT [CHOICE] HELP 10 This is the screen you use to edit an item.00 7 Intercept 0. 2 Wire feed has been selected. 595 . ITEM.$wfs_cmd] [ TYPE ] ITEM EXIT [CHOICE] HELP 11 To change the Item type. In this example. 12 When you are done editing this item you can press F2. UTILITIES DMON ITM E1 JOINT 10 % Item number: 2/20 1 Item type: REAL Item sub type: ** Port or register number:** 2 Program name: [ *SYSTEM*] 3 Var: [ $awepor[1]. UTILITIES B--81464EN--3/01 1 Voltage (Command) 2 Wire feed (Command) 3 Voltage (Feedback) 4 Current (Feedback) UTILITIES DMON SET 5 Pause limits: 6 Limit error output: 7 Sample buffer size: 8 Record buffer size: 9 Wire feed (Command) [ TYPE ] DETAIL 5 6 7 8 JOINT Item 5 Item 6 Item 7 -. Not all of the menu items are available for all item types.$wfs_cmd] 4 Des: [ Wire feed (Command)] 5 Units [ IPM] 6 Slope: 0. To set the Item type. and it displays as ***. move the cursor to line 1 and press [CHOICE]. you cannot move the cursor to it. ITEM to select a different item by number. move the cursor to Item type. EXIT to return to the setup screen. You will see a screen similar to the following. DETAIL function key to edit the selected item. This is the monitoring frequency you specify F Recording Actual . During execution of Sample Start[n]. it may be greater than or less than the monitoring frequency you specify.18. You can specify a file name and a file device on the Data Monitor Schedule screen for the Data Monitor report. Reports Reports are created automatically when you set the Reporting item on the Data Monitor schedule screen to ENABLED. File name index Default: 0 Min: 0 Max: 999 This item allows you to specify an index number to be appended to the file name when a report is generated. If you specify 0 as the file size. Since there are only certain frequencies available. FR:. F WARN and STOP limits F Start and Stop triggers. 596 . Sampling This item specifies the sampling frequency. A . For example if the file name is SAMPL then successive reports will be named SAMPL001. You can also specify: F Report file naming details F Sampling frequencies.This is the actual monitoring frequency that Data Monitor will use. it may be greater than or less than the sampling frequency you specify. Since there are only certain frequencies available. If you leave this item blank. File name Default: Blank This item allows you to specify the name of the file to be used for a report. This item specifies the recording mode.This is the actual sampling frequency that Data Monitor will use.This is the sampling frequency you specify. CONTINUOUS . File device This item allows you to specify the name of the device to be used when writing a report. File size Default: 0 Min:0 Max:99999 This item specifies the amount of memory in KB you expect to use on the file device. Use Procedure 9--22 to set up and edit a Data Monitor schedule Table 9--30. F Monitoring This item specifies the monitoring frequency. CONS:. it may be greater than or less than the monitoring frequency you specify. If it is not available. and so forth. F Request . an error is posted. the system only checks that there is at least one available block on the media.DT. F Request . SAMPL002.DT.This is the actual monitoring frequency that Data Monitor will use. and Reporting is enabled. F Request . Data Monitor Schedule Menu Items DESCRIPTION ITEM Schedule Comment You can add a comment to each Data Monitor schedule. each time a report is generated this index will be incremented.9. If this item is non zero. MC:. This item specifies the recording frequency. or RD:.Data will be recorded until the record data buffer is full F Number of items Default: 5 Min: 1 Max: 5 Actual .2 Data monitor schedule You choose the items you want to monitor in a Data Monitor schedule. Since there are only certain frequencies available.This is the monitoring frequency you specify. the device is checked for this amount of free memory. You can choose from FLPY:. This item specifies how many items are monitored by this particular schedule. PRN:.The record buffer is re-used when full. UTILITIES B--81464EN--3/01 9. F Record mode Default: CONTINUOUS Actual . the saved data file will be named “SAMPL”.DT file extension is always used. F ONE BUFFER . 7 and 8 of the Data Monitor Schedule screen.00 10. and enter the number of the schedule you want to modify after the prompt. or Recording Frequency. 4 Select Data Monitor Schedules. UTILITIES DMON SCH JOINT 10 % Sched: 1/5 [Weld cmd + fbk ] 12/17 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 Schedule: 1 File device: File name: File name index: File size: [Weld cmd + fbk ] [MC:] [ ] 1 0 KB FREQUENCY REQUEST ACTUAL Sampling: 250.9. To select a different schedule. the Actual column will update with the closest available frequency. If you modify the Sampling frequency. the Requested Frequency that you specify. 13 Each Data Monitor schedule can monitor up to 5 items simultaneously. move the cursor to line 2 and press F4. or leave it set to 0. 12 To modify the Record mode.00 125. 6 To enter or modify the schedule comment. NOTE The Monitoring and Recording Frequencies must be fractions of the Actual Sampling frequency. 1 Press MENUS. You can specify the number of items to monitor on line 10 of the Data Monitor Schedule screen. Monitoring. the maximum Monitoring and Recording frequency can only be 125 Hz. SCHEDULE. if desired. press F2.5 3 < 200. move the cursor to line 9 on the Data Monitor Schedule screen and press F4.00 250.00 Hz Monitoring: 125. If you have an actual sampling frequency of 125 Hz.00 Hz Record mode: CONTINUOUS Number of items to monitor: 5 ITEM DESCRIPTION ITEM NUM Voltage (Command) 1 Wire Feed (Command) 2 Current (Feedback) 3 Voltage (Feedback) 4 Fast Clock 5 16 Start item: 17 Stop item: 2 > 22. If you don’t want to create a new indexed file each time this schedule is used. 7 To specify the File device. Monitoring. 597 .0 ENABLED ENABLED [ TYPE ] SCHEDULE LIMITS [CHOICE] HELP 5 There are 5 Data Monitor schedules. [CHOICE]. [TYPE]. 3 Press F1. You will see a screen similar to the following. 10 Move the cursor to line 5. the Actual frequency may change for all three frequencies. The top line of the Schedule screen displays the current schedule number and its comment. enter 0 on line 4. UTILITIES B--81464EN--3/01 Procedure 9--22 Condition Step Setting Up and Editing a Data Monitor Schedule H You have installed the Data Monitor schedule on your controller. There are two values shown for these three items. 9 If you want to generate multiple report files with an index number in the file name. move the cursor to menu item 1 and press ENTER. and the Actual Frequency that will be used as the Sampling. 2 Select UTILITIES. and specify the maximum report size.00 Hz Recording: 10. 8 To specify the data monitor report file name. [CHOICE]. move the cursor to menu item 3 and press ENTER. specify the starting index number on line 4. When you enter the desired frequency in the Requested column. and Recording frequencies on lines 6. 11 You specify the Sampling. $wfs. Start and Stop Trigger Items 20 You can specify the Start and Stop trigger items and conditions using the fields in menu items 16 and 17 on the Data Monitor Schedule screen. 19 When you finished setting items. 16 Move the cursor to one of monitored items. You will see a that contains details on how specifically to monitor the item you selected. press F3. DATA Monitor TEST JOINT 10 % LINE 0 1/4 Schedule: 1 [Sample example ] Item: 2 Des:[Wire feed (Command) ] Var:[$awepor[1]. EXIT. to display the previous screen. Press F4. 598 .00 Volts 0. [CHOICE]. LIMITS.00 Volts 0.9. 17 Press F3. UTILITIES B--81464EN--3/01 14 Specify the items you want to monitor on lines 11 through 15 of the Data Monitor Schedule screen.cmd ] 1 2 3 4 Nominal value: Warning limit: Pause limit: Time before error: [ TYPE ] EXIT 0. You can also specify an item by number in the Item Num column. Specify WARN and STOP Limits for Process Signals 15 To specify WARN and STOP limits.00 Volts 0 seconds HELP 18 Select each item and set it as desired. move the cursor to each item you have specified on lines 11 to 15 and press the LIMITS function key. and select the item you want from the list of items displayed. 0inch/min FINE Arc End[1] Sample End [End] The Sample Start and Sample End instructions are located in the Data Monitor category of the Teach Pendant Editor INST menu. NOTE You cannot start multiple data monitoring sessions at one time.3 Programming You can use the following teach pendant instructions to start and end data monitoring: F Sample Start[] F Sample End Sample Start[] Sample End The Start instruction has a schedule number as an input parameter. F Example To stop data monitoring. 599 . UTILITIES B--81464EN--3/01 9. Figure 9--102.18. include the Sample End instruction in a teach pendant program. Sample Start[1]Example F To start data monitoring. Example of Using Sample Start[] and Sample End in a Teach Pendant Program 1: 2:J : 3:L : 4: Sample Start[1] P[1] 40% FINE Arc Start[1] P[2] 20.9. include the Sample Start[] instruction in a teach pendant program. You must end a monitoring session with a Sample End before executing another Sample Start. Sample End See Figure 9--102 for an example of how to use these instructions in a teach pendant program. F Storing the found location of the object. speed. NOTE You must wire the necessary connections for the input and output signals to be used for touch sensing. F Output signal that enables and disables the touch sensing circuit. Store offset in pos. These power supplies can be automatically set up for the appropriate inputs and outputs when software configuration is performed. If you decide to use an I/O point other than the standard. reg.19 Touch Sensing Touch sensing (optional feature) allows the robot to change a path automatically to compensate for object displacement.4. See Figure 9--103 for an example of a program that includes touch sensing. and direction. F Support for coordinated motion. The hardware monitors an input signal to determine when the robot comes into contact with the object. F Using an input signal to indicate that the robot has come into contact with the object. F Assign I/O to enable and use the electrical interface circuit. The wire stick detection circuit on the process I/O board also can be used for touch sensing. Refer to Section A. F Set up how the robot moves to the object and the type of position offset information that is stored.10 to set up the tool frame. 3 Teach a search starting position Do a search motion in Y direction Teach a search start position Do a search motion in X direction End of the search Teach an intermediate point (optional) The following points will be offset by PR[3] P[7] is offset by PR[3] Begin welding P[8] is offset by PR[3] End welding End of offsetting positions 9. Figure 9--103. F Using the stored position to move the robot to the stored position. then the controller must be wired and configured correctly. UTILITIES B--81464EN--3/01 9. such as the Lincoln Electric PowerWave 450 provide internal touch sensing circuitry. Example Program Including Touch Sensing Routine INSTRUCTION DESCRIPTION -----------------------------------------------------------------------------------------------------------------------------------1: 2: 3: 4: 5: 6: 7: 8: 9: 10: 11: 12: 13: 14: J P[1] 100% Fine Search Start[3] PR[3] J P[2] 100% Fine J P[3] 100% Fine Search [Y] J P[4] 100% Fine J P[5] 100% Fine Search [X] Search End J P[6] 100% Fine Touch Offset PR[3] J P[7] 100% Fine Arc Start [1] L P[8] 30IPM Fine Arc End [1] Touch Offset End Teach a point in space Use touch schedule 3. in position registers. To use touch sensing you must: F Set up the robot Tool Center Point (TCP) properly.1 Assigning touch sensing I/O To use touch sensing you must assign the F Input signal that the touch sensing circuit monitors to indicate when the robot has reached the object. The R-J3 controller supports numerous I/O options. or using the stored position offset information to shift one or more positions in your welding program. 600 . Touch sensing consists of: F Moving the robot tool center point (TCP) toward the object using pre-defined robot motion. F Set up a coordinated motion pair for coordinated motion touch sensing F Create a touch sensing program. F Set up touch sensing hardware.19. (such as a modular I/O). or position offset information. NOTE Some welding power supplies.9. SETTING UP THE ARC WELDING SYSTEM. Touch Sensing Enable/Disable Output Signal Any of the following can be used to enable the touch sensing circuit: F Robot Digital Outputs (RO) 1--20 found on the digital output (DO) 1--16. and I/O signal specifications. found on the Axis Control PCB. the dedicated function it performs must be disabled. found on the CRWI connector of the process I/O board. Assigning the Touch Sensing Inputs and Outputs You must assign touch sensing inputs and outputs to match the hardware interface at your site. found on the CRM2A and CRM2B connectors of the process I/O board. found on the CRW1 Connector of the process I/O board.9. Refer to Section 3. NOTE To use touch sensing. NOTE After you have decided what I/O to use for touch sensing. When the selected output turns on during a touch sensing routine. the weld interface cable must be installed. Refer to the Connections section of the R-J3iB Maintenance and Connection Manual for connector location. F Robot Digital Inputs (RI) 1--16. CAUTION If a WI is assigned as the touch sensing input signal. You can also set up touch sensing to monitor the condition of any RO or DO signal as an input signal. (such as a Modular I/O). you should add a comment to the selected I/O indicating that the I/O has been assigned to touch sensing.1 Welding Input/Output Signals. pin configuration. F Optional Digital I/O. Refer to the Connections section of the R-J3iB Maintenance and Connection Manual for connector location. Touch sensing inputs are shown as sensor ports in the ArcTool software. F Welding Digital Outputs (WO) 1--8 found on the CRW1 Connector of the Process I/O Board.19. Refer to Chapter 3. the current robot position is stored in a position register. F Digital Outputs (DO) 1--20 as an option for additional digital outputs. When the input is received.4 for more information about the touch sensing circuit. Any of the following can be used as the touch sensing input signal: NOTE Robot inputs(RI) 1--4 or 8 are typically used because they are wired directly to the EE Connector on the robot. UTILITIES B--81464EN--3/01 Touch Sensing Input Signal The touch sensing input signal indicating contact with a part is monitored by the touch sensing circuit. the dedicated function it performs must be disabled. CAUTION If a WO is assigned as the touch sensing input signal. and I/O signal specifications. 601 . Touch sensing outputs are shown as circuit ports in the ArcTool software. This is done using the SETUP menu. the power source must be turned on for touch sensing to work. WDI--). If you are using the Lincoln PowerWave 450 weld power supply. pin configurations. F Digital Inputs (DI) 1--22. Refer to Section 3. F Welding Digital Inputs (WI) 1--8.1 Welding Input/Output Signals. the controller reads this as a received input signal. F Wire stick detection circuit enable WSE is an internal output on the process I/O board that enables the detection circuit and allows it to be used for touch sensing. This involves assigning both input and output type and port number. found on the Axis Control PCB. Refer to Section 9. F Wire stick detection circuit input WSI (WDI+. Up to five search motions in one search direction can be done to improve the accuracy of locating an object. the ArcTool software calculates an average value of the searches and uses the average for the offset calculation except when using the search pattern 1D+Rotate. or 3D+Rotate. NOTE The allowable input range for the sensor and circuit ports is from 1 to 256. When more than one search motion in a direction is used. For touch sensing with coordinated motion. you can select the touch frame relative to the UFRAME of the robot (follower) or the coordinated frame of the reference group (leader). y or z axis of a selected touch frame. 2 Select SETUP. The search motion is actually a programmed move along the x. only one search motion is used for each search direction. If the reference group is set for the leader group. The ArcTool software checks the validity of the port type and port number when running your program that includes touch sensing.9. You will see a screen similar to the following. 6 Assign Sensor and Circuit number: a Move the cursor to the line you want to assign. of the object in a position register. 3 Press F1. 5 Assign Sensor (input) and Circuit (output) types as follows: a Move the cursor to the line you want to assign. The stored information is either the found position or position offset information depending on the search pattern used. UTILITIES Procedure 9--23 Step B--81464EN--3/01 Assigning Touch-Sensing Inputs and Outputs 1 Press MENUS. Some search patterns require two search motions in each of two search directions for the ArcTool software to calculate an angular offset. Search motions use F Touch frames F Touch patterns F Touch schedules A touch frame determines the direction of the search motion. If the port type or number is invalid. 9. b Type the value and press ENTER. perform a test to verify that it is connected properly. The input signal condition can be monitored from the I/O Menu. Touch I/O Setup G1 JOINT NAME Sensor port type Sensor port number Circuit port type Circuit port number [TYPE] 50% 1/4 VALUE RDI 1 RDO 1 [CHOICE] NOTE This screen shows the settings of the currently selected motion group. [F4]. NOTE After the input signal has been wired and assigned. [TYPE] 4 Select Touch I/O. change the motion group by selecting an auxiliary menu item CHANGE GROUP. the search direction will be relative to that group. b Press CHOICE.19. 602 . Search patterns determine the type of information stored in the position register. To view the settings of another motion group. d Press ENTER. c Move the cursor to the desired input/output type.2 Setting up touch sensing Search motions locate an object and store the found location. or position offset information. the system displays an I/O invalid error message. Typically. 2D +Rotate. These conditions include the position register. Figure 9--104.2. systems have only 10 position registers available.9. Search Using Searches in One Direction Original position Y X Original position X SIDE VIEW 603 . Figure 9--104.19. you can include a maximum of 15 searches between the program instructions SEARCH START and SEARCH END. touch frame and search pattern to use. and other conditions. Touch Sense defaults to using the position register 32. and Figure 9--106 represent how search motions are used in a program. UTILITIES B--81464EN--3/01 Also. the robot speed and motion type. A Second Controlled Start is required after you install Touch Sense before the system will “automatically” increase the number of position registers to 32. Touch Sense installation is a “semi-automatic” function. Figure 9--105. Touch schedules allow you to set up the conditions that define the search motions. Typically. Refer to Section 9. UTILITIES B--81464EN--3/01 Figure 9--105. Search Using Offsets in Two Dimensions Original position Z X Start Start point X Original position SIDE VIEW 604 .9. y. or z movements in a search motion are aligned with an object by using one of the touch frames. 605 . The positive x axis could be aligned with the current z direction. Search Using 2 Search Motions in 2 Different Directions to Obtain X and Y Offset and Rotation about Z Original position Z Y X Original position Rotate About Z SEARCH Y 1 SEARCH Y 2 SEARCH X 1 SEARCH X 2 TOP VIEW The characteristics of a search motion are controlled by variables set in touch schedules. This would re-define positive z to be in the opposite direction of the current positive x direction. The x. The first point defines the origin.9. Figure 9--107 shows a touch frame and how it is used in a touch sensing program. The orientation of the touch frame to the object is arbitrary in Figure 9--107. UTILITIES B--81464EN--3/01 Figure 9--106. The third point defines the positive x-y plane. The second point defines the positive x direction of the touch frame. or starting point. A touch frame is defined by three points. Touch Frames A touch frame determines the motion direction of the robot TCP. Touch frames are set up using the touch frame screen in the Setup menu. The teaching method defines the touch frame by recording three points. Table 9--31. +Y direction This item allows you to define the +Y direction of the touch frame. Rotate about Y This item specifies the rotation about Y for touch frame. Touch Frame Setup Items ITEM DESCRIPTION Frame Number This item specifies the number of the touch frame you want to define. Table 9--31 lists and describes the items you must set to define the touch frame.Procedure 9--25 Rotate about X This item specifies the rotation about X for the touch frame. Teach Method -. NOTE You must define a touch frame before you perform a search motion in a program. 606 . Reference Group This item specifies the reference group to which the touch frame is relative: F 1: Touch frame is relative to the UFRAME of the robot (follower) Robot Group F 2: Touch frame is relative to the coordinated frame of robot group 2 (leader) F 3: Touch frame is relative to the coordinated frame of robot group 3 (leader) F 4: Touch frame is relative to the coordinated frame of robot group 4 (leader) F 5: Touch frame is relative to the coordinated frame of robot group 5 (leader) This item specifies a motion group for which the touch frame is set.Procedure 9--24 Origin This item allows you to record the origin of the touch frame. Rotate about Z This item specifies the rotation about Z for touch frame. Direct Entry -. Touch Frame Used in a Program FRONT VIEW SIDE VIEW Z Z Y X Y X NOTE You can set up a maximum of 32 touch frames. The direct entry method defines the touch frame by the rotation angle value you enter in the touch sense setup screen. There are two ways to define touch frames: The teaching method and the direct entry method.9. UTILITIES B--81464EN--3/01 Figure 9--107. +X direction This item allows you to define the +X direction of the touch frame. and Z items remains unchanged. 4 Select Touch Frame. but the display of the Rotate about X. to a point on the X-Y plane. [TYPE]. Type the number of the frame to define and press ENTER. the touch frame changes with the coordinate frame. b Jog the Robot TCP to the desired starting point (origin). Record. 607 .000 Teach Method: Origin +X +Y [TYPE] G1 : : : UNINIT UNINIT UNINIT RECORD DONE 5 Move the cursor to Frame Number. DONE to complete the definition of the frame. 9 Define the +Y direction a Move the cursor to Y. 2 Select Setup. c Press F2.9. c Press F2. 3 Press F1. 6 Move the cursor to Reference Grp. You will see a screen similar to the following. Y. 8 Define the +X direction a Move the cursor to X. Use Procedure 9--24 to define your touch frame by using the teaching method. b Jog the robot in the +Y direction of the touch frame. UTILITIES B--81464EN--3/01 NOTE When Reference Group is not equal to 1. Type the number of the reference group and press ENTER. b Jog the robot TCP to a point along the +X axis of the touch frame.000 Rotate about Y: 0. RECORD. RECORD. Touch Frame Setup Joint 10% 1/7 Frame Number:10 Reference Grp:1 Robot Grp:1 Direct Entry: Rotate about X: 0. c Press F2. 7 Define the origin point of the Touch Frame a Move the cursor to Origin. Move the cursor to Robot Grp. Type the robot group number and press ENTER. 10 Press F5.000 Rotate about Z: 0. Use Procedure 9--25 to define your touch frame by using the direct entry method Procedure 9--24 Step Setting Up a Touch Frame Using the Teaching Method 1 Press MENUS. the frame data will be reinitialized. a Move the cursor to Rotate about Z. 3 Press F1. 10 Press F5. DONE to complete the definition of the frame. the following warning message will be displayed: Frame data will be cleared! Yes No If you press F3. 7 Define the rotation angle about X.000 Rotate about Y: 0. UTILITIES Procedure 9--25 Step B--81464EN--3/01 Setting Up a Touch Frame Using the Direct Entry Method 1 Press MENUS. a Move the cursor to Rotate about Y. Type the number of the frame to define and press ENTER.9. a Move the cursor to Rotate about X. 608 . or it has not been calibrated for coordinated motion. b Enter the value (in degrees). Yes. b Enter the value (in degrees). Type the robot group number and press ENTER. You will see a screen similar to the following. [TYPE]. but no leader group matches the selected reference group.000 Rotate about Z: 0. 2 Select SETUP. 6 Move the cursor to Reference Grp.000 Teach Method: Origin +X +Y [TYPE] G1 : : : UNINIT UNINIT UNINIT RECORD DONE 5 Move the cursor to Frame Number. 9 Define the rotation angle about Z. the value of Reference Grp will not change and the following warning message will be displayed: Referenced group does not exist Move the cursor to Robot Grp. NOTE If you change the value of Reference Grp for an initialized frame. 4 Select Touch Frame. b Enter the value (in degrees). If you set Reference Grp > 1. Type the number of the reference group and press ENTER. 8 Define the rotation angle about Y. Touch Frame Setup Joint 10% 1/7 Frame Number:10 Reference Grp:1 Robot Grp:1 Direct Entry: Rotate about X: 0. The two-dimensional search that Simple Search does is called a pattern type.19. UTILITIES B--81464EN--3/01 Search Pattern Search patterns determine the kind of information stored in the position register. Simple Search For a simple search. The starting position of the second search defines the remaining positional information. F Searches to be done in two different directions. A simple search stores the found position (x. The second search defines the other direction positional information (z.2. See Figure 9--108 for an illustration of a simple search routine. the robot is programmed to move to the position stored in that position register. Simple search requires: F That the surfaces being searched are perpendicular to each other. for example).9. w. F The second search motion to be performed with the desired torch angle. p. r. CAUTION Do not use simple search when you use the multipass option with touch sensing because both simple search and multipass use position registers. for example) that determines the torch angle for welding and. See Section 9.2 for example programs using simple search. The two-dimensional search is the only valid pattern type for a simple search. the y value. y.19. Refer to Section 9. (y. Multipass cannot use position registers to plan paths. Changing the search pattern type has no effect. a two--dimensional search is executed to find the actual location of one position on an object. The first search defines the positional information for that search direction only (x. Use the 2D fillet search pattern when using multipass with touch sensing. A two-dimensional search is programmed in the software as the only valid search pattern type when a simple search is used. for example). Simple Search Routine Using Searches in Two Directions Original Search Start Original position Y X X Original position SIDE VIEW 609 . Once completed. Figure 9--108. or the position offset information depending on the search pattern used and the reference group specified in the touch schedule. Simple search stores the computed position in a position register. Simple search is typically used to find the starting point of a weld path that uses the Thru-Arc Seam Tracking(TAST) option. The stored information is either the found position. w. p. Refer to Table 9--32 for information on search patterns and valid pattern types for each search pattern. z. in this case. r) into a position register PR[ ]. Four types of search patterns are available: F Simple search F Fillet/lap search F V-Groove search F Outside/inside diameter search NOTE You select the type of search pattern that is used when you set up the touch sensing schedule. The offset can be in one. two. a fillet search can offset for a rotation about the z axis. Figure 9--110. Fillet Search in One Direction (x) with Rotation about z Z X Y SEARCH X 1 Rotate About Z SEARCH X 2 TOP VIEW Another type of offset can be in three directions plus rotation about the axis of which no searching is performed. the first touch point is used as the arc start point. Note that is this type of search. if the object is being searched for offset in x. See Figure 9--110 and Figure 9--111 for illustrations of Fillet/Lap Searches. For example. A fillet search stores an offset into a position register [PR]. Another type of offset can be in one direction plus rotation about an axis of which no searching is performed.9. a fillet search can offset for a rotation about z. two or three directions. The offset can also be in two directions plus rotation about the axis of which no searching is performed. The robot program then uses the touch offset The type of searches that a Fillet/Lap Search does is called a pattern type. a fillet search can offset for a rotation about the z axis. if the object is being searched for offset in both x and y directions. See Figure 9--109. See Figure 9--110 for information on search patterns and valid pattern types for each search pattern. if the object is being searched for offset in x. Figure 9--109. This offset can be applied to one or more positions in a programmed path. or three dimensional search is executed to obtain positional offset information. Fillet Search in Two Directions (x and y) with Rotation about z SEARCH Y 1 Z Y X SEARCH Y 2 SEARCH X 1 Rotate About Z 610 SEARCH X 2 TOP VIEW .19. A Fillet/Lap Search stores positional offset information in a positional register PR[ ]. commands to begin and end the offset. For example. For example.2 for example programs using Fillet/Lap Search. y. Refer to Section 9. UTILITIES B--81464EN--3/01 Fillet/Lap Search For a Fillet/Lap Search a one. and z directions. Refer to Figure 9--113 for information on search patterns and valid pattern types for each search pattern.19. See Figure 9--112 for an illustration of a V-Groove Search. Fillet Search in Three Directions (x.2 for example programs using OD/ID Search. Refer to Figure 9--112 for information on search patterns and valid pattern types for each search pattern. See Figure 9--113 for an illustration of a OD/ID Search.19. This offset can be applied to one or more positions in a programmed path. UTILITIES B--81464EN--3/01 Figure 9--111. 611 . This offset can be applied to one or more positions in a programmed path. Refer to Section 9. The types of searches that a V-Groove Search does is called a pattern type.9. Figure 9--112. V-Groove Search Original position X Y X SIDE VIEW Outside/Inside Diameter Search (OD/ID) For Outside/Inside Diameter Search (OD/ID Search) a two dimensional search is executed to obtain the positional offset information of the center point of a circular path relative to the original (master) location. z) with Rotation about z SEARCH Z 1 SEARCH Z 3 SEARCH Z 2 SEARCH Y 1 Z X Y Rotate About Z SEARCH X 1 SEARCH Y 2 SEARCH X 2 TOP VIEW V-Groove Search For V-Groove Search a one-dimensional search is executed to obtain positional offset information. A V-Groove Search stores positional offset information in a positional register [PR]. Refer to Section 9.2 for example programs using V-Groove Search. An Outside/Inside Diameter Search stores positional offset information in a positional register [PR]. y. The types of searches that an Outside/Inside Search does is called a pattern type. Minimum 1 search per direction.y. Not Valid Not Valid Not Valid Not Valid 612 .z. x and y. 3 searches in one direction (usually --z) 2 searches in each of the remaining directions. Requires 2 different search directions. Minimum 1 search per direction. Minimum 2 searches per direction. For example. Requires 3 different search directions. Not Valid Not Valid Not Valid Not Valid Fillet/Lap Requires 1 search direction. Minimum 1 search per direction. x and z.9. Minimum 1 search per direction. Search Patterns Pattern Type 1_D Search Pattern and Valid Pattern Type Pattern Type 2_D Pattern Type 3_D Pattern Type 1_D and Rotation Pattern Type 2_D and Rotation Pattern Type 3_D and Rotation Simple Search Not Valid Requires 2 different search directions. and z. Table 9--32.--x.+y. OD/ID Search in Two Directions (x and y) +X +Y Y --X X TOP VIEW Table 9--32 shows a matrix of possible search pattern and valid pattern types. Minimum 1 search per direction. V-Groove Requires 1 search direction. Select a combination that you would like to use on your application and verify that it will provide the proper results. NOT x. Minimum 2 searches per direction. Requires 1 search direction. x.y. y and z. Requires 3 different search directions. Requires 2 different search directions. +x. Not Valid Not Valid Not Valid Not Valid Not Valid OD/ID Not Valid Requires 3 different searches in 2 different directions. UTILITIES B--81464EN--3/01 Figure 9--113. Minimum 1 search per direction. Default = 50. is displayed when this distance is reached without making contact with the object. this search speed is also used. when the search routine is executed. You display the detail screen by pressing the function key F2. Error code THSR-017 (Pause) No contact with part. This means the when touch sensing finds the object in its master position. If set to ON. not by what is indicated in the position instruction. when the search is performed. This item defines the touch frame to be used in the touch schedule. the position offset information in the position register is set to all zero values. UTILITIES B--81464EN--3/01 Touch Schedule A touch schedule is a series of conditions that control how the search motion is completed. The SCHEDULE screen allows you to view and set limited information for nine schedules at once. This flag must be set to OFF after the master search is completed in order to generate position offset information on the objects to be searched. 613 . Table 9--33. the touched positions are recorded as the reference positions to be used by future searches. During testing. NOTE The Master Flag condition has no effect on simple searches. DETAIL allows you to view and set the complete information for a single schedule. The dry run speed has no effect on search motion. (mm) Default = 100 mm FRAME Default = 1 Master Flag Default = OFF This item defines how far the robot can move when it is performing a search. The same touch frame can be used in more than one touch schedule. Also. y. and z directions for the search motion.0 mm/sec CAUTION A search motion is programmed as a motion option at the end of a position instruction. no offset is to be applied to the weld path. Table 9--34 lists and describes each DETAIL screen condition. You display the schedule screen by pressing the PREV MENU key.9. This determines the x. DETAIL. There are two screens associated with touch schedules: the SCHEDULE screen and the DETAIL screen. Table 9--33 lists and describes each SCHEDULE screen condition. Use Procedure 9--26 to define touch schedules. You access touch schedules from the DATA menu. The speed at which the robot will move is determined by the search speed. This item enables the search routine to be used as a mastering routine for those touch sensing programs that generate position offset information. Touch Sensing SCHEDULE Screen Conditions ITEM (mm/sec) DESCRIPTION This item specifies how fast the robot will move when performing a Search Motion. Thirty-two touch schedules are available. when dry run is in effect. and V-Groove search patterns are pre-defined. Offsets are in the x. Pattern Type Default = 1_D Shift 1_D Shift This item selects the type of offset to be stored in the position register. For example. Default = 1 Search Patterns This item defines the type of object to be searched and causes the Arctool software to compute the found position or positional offset information dependent on the search pattern selected. 3_D Offset Stores a three dimensional offset with rotation about the axis of which no searches are performed. a 3_D Shift & Rotate search can offset for a rotation about the z axis. Six pattern types are available: Stores a one dimensional offset.19. 3_D Shift Stores a three dimensional offset to a program. when dry run is in effect. Changing the pattern type for these searches has no effect.0 mm/sec CAUTION A search motion is programmed as a motion option at the end of a position instruction.19. The same touch frame can be used in more than one touch schedule. Touch Sensing SCHEDULE Screen Conditions ITEM DESCRIPTION Touch Schedule This item indicates the number of the displayed schedule. 614 . See 9. OD/ID. Search Speed This item specifies how fast the robot will move when performing a Search Motion. is displayed when this distance is reached without making contact with the object. 1_D Offset Stores a one dimensional offset with rotation about the axis of which the search is not performed.2 for a description of search patterns. 2_D Offset Stores a two dimensional offset with rotation about the axis of which no searches are performed.9. During testing. UTILITIES B--81464EN--3/01 Table 9--34. The dry run speed has no effect. or z direction. Default = SIMPLE There are four available search patterns: F Simple Search F Fillet Search F V-Groove Search F OD/I D Search Refer to Section 9. The computed data is stored in a position register. The speed at which the robot will move is determined by the search speed. or z direction. Default = 100 mm Touch Frame This item defines the touch frame to be used in the touch schedule. y. NOTE Simple. if the object is being searched for an offset in both the x and y directions. 2_D Shift Stores a two dimensional offset. and z directions for the search motion. Error code THSR-017 Pause No contact with part. a 2_D Shift & Rotate search can offset for a rotation about the z axis. A comment can be entered. This determines the x. y.2 for valid pattern types for selected search patterns. this search speed is also used. For example. or z direction. y. not by what is indicated in the position instruction. Offsets can be in two of the x. Offsets can be in the x. if the object is being searched for an offset in both the x and y directions. Default = 50. Search Distance This item defines how far the robot can move when it is performing a search. y. UTILITIES B--81464EN--3/01 Table 9--34. the robot found the x-offset but cannot find the z--offset. which will be described later. NOTE For searches other than simple search. an error message. This item specifies the speed at which the robot will return to the search start position upon making contact with the part. Program Example: J P[4] 100% FINE J P[5] 100% FINE SEARCH [-X] J P[6] 100% FINE J P[7] 100% FINE SEARCH [-Z] Search Start for z--offset based on X offset dimension X--OFFSET X--OFFSET Original Search Start Original Search Start Original Search Start X X Original position Original position X Original position Without incremental search. Otherwise an error message. If set to OFF. the robot stops at the contact point and moves straight to the next position. This item specifies how the offset is recorded: If the specified number is the same as the number specified in the robot group item.9. Otherwise. The following illustration shows how the incremental search affects the search routine. Reference Group must be same as the specified number of Robot Grp. If set to OFF.” will be displayed. Auto Return Default = ON Return Speed Default = 100 mm/sec Return Term Type Default = Fine Return Distance Default = 2000 mm Minimum = 0 mm Maximum = 2000 mm Reference Group This item moves the robot back to the search start position when contact is made with the object. This item specifies the termination type the robot will use to return to the search start position. the robot returns to the original starting position. the robot will return to the initial start position. grp. OFFSET is recorded with respect to the user coordinate system of the robot group of the number. search in a search routine by the amount of offset found by the first search motion. “Illegal motion ref. “Reference grp mismatch. OFFSET is recorded with respect to the coordinated frame of the robot group specified in the robot group item and the robot group (leader) specified in this item. Reference Group must equal the frame Reference Group. If the return distance passes the initial search start position. For simple search. (Cont’d) Touch Sensing SCHEDULE Screen Conditions ITEM Incremental Search Default = ON NOTE: Simple search does not support incremental search DESCRIPTION Offsets the starting position of the second etc. (no coordination) If the specified number is different from the number specified in the robot group item.” will be displayed. Incremental search requires a separate SEARCH START point for each search. Five Return Term Types are available: F FINE F CNT20 F CNT40 F CNT100 When Auto Return is set to ON. Return Distance specifies the distance the robot will return automatically. 615 . The purpose for this temporary position register buffer is to provide the ability to look at the positional data of an individual search.0 WORLD 4 % 1/32 FRAME MASTER Group 1 OFF 1 1 OFF 2 1 OFF 1 1 OFF 1 1 OFF 1 1 OFF 1 1 OFF 1 1 OFF 1 1 OFF 1 DETAIL HELP> 4 To copy schedule information from one schedule to another: a Press NEXT. DATA 1 2 3 4 5 6 7 8 9 [TYPE] Touch Sched (mm/sec) 50. [TYPE].0 50.0 100. Search output position register should be assigned to the last position register number in your system.0 50. You will see a screen similar to the following.0 100. Default = ON Programming Hint: If this is set to OFF. When OFF.0 50. Default = 1 Procedure 9--26 Step Defining Touch Schedules 1 Press DATA. this register is position register 32. 2 Press F1.0 50. the next instruction in the program looks at the contents of the Error Register and branch accordingly. The data will be copied. A successful search sets this register to 0. the contents of this temporary buffer is a real position. >. but the comment will not be copied. the program execution continues with the next instruction if the Search Distance is exceeded.0 100. Also. d Enter the schedule number to which you want to copy the data. UTILITIES B--81464EN--3/01 Table 9--34.0 100.0 (mm) 100.0 100. Error on Failure This item posts error code THSR -.0 50.0 100. 616 . Enter schedule number to copy to: e Press ENTER.0 50.0 100. if the search move exceeds the distance set in Search Distance. or to extract data from the buffer in a program. Do not program motion instructions to use this position register data as an offset. this register is set to 1 when the search distance is exceeded. 5 To clear the information you have entered for a schedule: Clear this schedule? [NO] YES NO a Move the cursor to the schedule.017( PAUSE) No contact with part. 3 Select Touch Sched. c Press F2.0 50. (Cont’d) Touch Sensing SCHEDULE Screen Conditions ITEM DESCRIPTION Contact Record PR Default = 32 The search output position register is used as a temporary buffer to hold the last search contact position.9. Robot Group This item specifies the robot group which uses the touch sensing schedule. Error Register Number Default = 32 When Error On Failure is set to OFF. CAUTION The data in the position register is overwritten at each search motion so the same position register should not be used to store the final positional data from the search motion. not an offset.0 100. b Move the cursor to the schedule you want to copy.0 50. By default. COPY. d When you are finished. CLEAR. 617 . 10 To copy schedule information from one schedule to another: a Press NEXT. press F2. >. c Press F2. b Move the cursor to the schedule you want to copy. The data will be copied. 7 To display more information about the schedule. CLEAR. DETAIL. DATA Touch Sched Touch Schedule:8 [ 2 Master flag: 3 Search speed 4 Search distance 5 Touch frame 6 Search pattern 7 Pattern Type 8 Incremental search: 9 Auto return: 10 Return speed 11 12 13 14 15 16 17 18 WORLD 10% 1/17 1 ] Touch OFF 50. press ENTER.0 mm/sec Return distance: Reference Group: Return term type: Contact record PR: 50 mm 1 Fine 32 Error on failure: Error register num: Robot & group: ON 32 1 [ TYPE] HELP > 8 Set each schedule item as desired. Enter schedule number to copy to: e Press ENTER.0 mm 2 Simple 2_D Shift ON ON 100. 6 Move the cursor to the desired schedule number. >. UTILITIES B--81464EN--3/01 b Press NEXT. c Press the appropriate function keys to add the comment. See the following screen for an example. b Select a method of naming the comment. The data will be cleared. but the comment will remain. d Enter the schedule number to which you want to copy the data.9. c Press F2. 9 To add a comment: a Move the cursor to the to the comment line and press ENTER. The data will be cleared. b Press NEXT. >. c Press F2. but the comment will remain. COPY.0 mm/sec 100. 11 To clear the information you have entered for a schedule: Clear this schedule? [NO] YES NO a Move the cursor to the schedule. but the comment will not be copied. 9. See Figure 9--114.The Search [ ] motion option directs the motion of the robot (in a positive or negative x. NOTE Any changes to the tool frame affects the touch start position. NOTE Search and Search Start must use FINE termination type.. CAUTION Recorded positions and position registers are affected by UFRAME. so motion to the search start position must be recorded in a separate motion instruction. any recorded positions and position registers will also change. The x. and offset instructions to displace programmed positions. When contact is made Search [ ] Motion Option J P[1] 50% Fine Search [ ] with the object.3 Touch sensing programming A touch sensing routine consists of search instructions to locate an object. the robot’s current TCP position is stored and robot motion is stopped.y or z direction) to search for the object. UTILITIES B--81464EN--3/01 9. Touch Sensing Instructions Touch sensing instructions are used to implement touch sensing programming. The motion and speed could be different than what is displayed on the motion instruction. If you change UFRAME. y and z vectors are defined by the touch frame assigned in the touch schedule. The Search [ ] motion option is entered at the end of a motion instruction. The recorded position that has the search motion option is not executed. not by the motion instruction associated with that line of the program. Touch Sensing Motion Option Example INSTRUCTION DESCRIPTION -------------------------------------------------------------------------------------------------------------------------------------------------------J P[3] 100% FINE J P[3] 20% FINE SEARCH [-X] Move to search start position Search motion WARNING Motion speed and direction are controlled by values set in the touch schedule assigned by the Search Start instruction. 618 . Figure 9--114. Use Procedure 9--27 to enter the Search[ ] instruction.19. and UFRAME has an affect during playback. Four touch sensing instructions are provided: F Search Start F Search End F Touch Offset F Touch Offset End Touch Sensing Motion Option There is one Touch Sensing motion option: Search [ ]. Figure 9--115. all testing and cautions must be followed. [CHOICE] to view the motion option choices.9. Since this is a real position. 7 Select the direction of the search to be performed and press ENTER.w.p. Motion Instructions Used with Touch Sensing Touch sensing routines. Executing a Touch Sensing Program When executing a touch sensing program. Refer to Chapter 6.r) and put the data in the position register defined by the SEARCH START[1] PR[x] instruction. TOUCHUP when editing your program to modify the recorded robot position. 3 Move the cursor to the end of the motion instruction line of the selected position. follow Procedure 9--28 . apply the positional data by using a motion instruction. Next Page 6 Select Search and press ENTER. When you use the TOUCHUP function with touch sensing. V-Groove. Refer to Chapter 5. Touch Sensing Robot Position Touchup You can use the function key F5. 2 Record another position at the same location.z. EXECUTING A PROGRAM for more information about testing programs and running production. 2 Running the program to establish master positions for all search motions.19. OD/ID search pattern programs you must establish master positions for all search motion by: 1 Setting the master flag in the touch schedule that is specified in the SEARCH START command used to ON. This second motion instruction will be controlled by the touch sensing software during the search. Use Procedure 9--28 to touchup robot positions in a touch sensing program. After a “simple” search routine. 619 . Arc End [1] Touch Offset End In order to correctly touch up Touch Offset positions. A simple search stores an actual position in the specified position register. For Fillet/Lap. UTILITIES B--81464EN--3/01 Procedure 9--27 Entering a Search [ ] Instruction into a Program NOTE Refer to Chapter 5. the robot will be commanded to move to the position in the position register instead of to a recorded position. 4 Press F4. the new position information is added to the offset information to determine the weld path. using a simple search.y. PROGRAMMING for details on creating and modifying a program. Example: J PR [4] 100% FINE ARC START [1] J PR[4] 100% FINE ARC START[1] shows where position register 4 is the position register specified in the simple search routine. 3 Setting the master flag in the touch schedule that is specified in the SEARCH START command to OFF. Refer also to Sections 9. the touch sense software will calculate a real position (x. 5 Select 8. Step 1 Jog the robot to the search start position and record the position. PROGRAMMING for details on creating and modifying a program. Figure 9--115 shows an example of points that require touching up. Points that Require Touching Up Touch Offset PR[3] J P[7] 100% Fine Arc Start [1] L P[8] 30IPM Fine These points require Procedure 9--28 to touch them up.5. Figure 9--116. to store position Teach a search starting position. 620 .Figure 9--119. CAUTION Do not execute a Touch Offset End instruction and then use backward execution to move to the program line that contains the robot position you want to touchup. Simple Search Example Program INSTRUCTION DESCRIPTION -------------------------------------------------------------------------------------------------------------------------------------------------------1: 2: 3: 4: 5: 6: 7: 8: J P[1] 100% Fine Search Start [4] PR[4] J P[2] 100% Fine J P[3] 100% Fine Search [Y] J P[4] 100% Fine Search [-Z] Search End J PR[4] 100% Fine ARC START[1] Teach a point in space. 3 Single step to a line in the program that contains the first robot position that you want to touchup. 2 Execute the line of your program that contains the Touch Offset instruction. Figure 9--120. See line 3 in the Simple Search Example Program.Figure 9--116 F One-dimensional search (Fillet/Lap. press and hold in the SHIFT key and press F5. use the FINE term type. 5 Touch up all necessary robot positions between the Touch Offset Start and Offset End positions.9. Otherwise. position register 4. the offset data will be incorrect.Figure 9--117 F Two-dimensional with rotation -. TOUCHUP. Do a search motion in the Y direction. Do a search in the --Z direction. Programming Examples Example programs contained in this section include: F Simple search -. Second. Move the robot to to the computed position PR[4]. 4 Jog the robot to the new position. V-Groove) -. End of the search. the position register contains an absolute position instead of an offset. Instead.Figure 9--118 F Two-dimensional with coordinated motion -.Figure 9--122 NOTE Do not use a continuous term type (CNT) for motion that is right before a Search. the search cannot compute a valid offset. If you use continuous. UTILITIES B--81464EN--3/01 Procedure 9--28 Step Touching Up Robot Positions in a Touch Sensing Program 1 Execute the program so that the search data is complete and the position register contains the offset information. and Figure 9--121 F Simple search with coordinated motion -. the master flag in the schedule is always set to off. Search uses schedule 4. NOTE Simple search is different from all other searches in two aspects: First. P[6] is offset by PR[1]. Do a search motion in the Y direction. Search uses schedule 2 position. register 1 stores Offset Teach a search starting position. Teach an intermediate point (optional) The following positions will be offset by PR[2] P[7] is offset by PR[2]. End of the search Teach an intermediate point (optional) The following positions will be offset by PR [1]. P[5] is offset by PR[1]. register 2 stores Offset Teach a search starting position. Prog. Do a search motion in the Y direction. Figure 9--118. P[8] is offset by PR[2]. V-Groove) INSTRUCTION DESCRIPTION -------------------------------------------------------------------------------------------------------------------------------------------------------1: 2: 3: 4: 5: 6: 7: 8: 9: 10: 11: 12: J P[1] 100% Fine Search Start [1] PR[1] J P[2] 100% Fine J P[3] 100% Fine Search [Y] Search End J P[4] 100% Fine Touch Offset PR[1] J P[5] 100% Fine ARC START[1] L P[6] 30IPM Fine ARC END[1] Touch Offset End Teach a point in space Search uses schedule 1.9. UTILITIES B--81464EN--3/01 Figure 9--117. Two Dimensional Search Example Program INSTRUCTION DESCRIPTION -------------------------------------------------------------------------------------------------------------------------------------------------------1: 2: 3: 4: 5: 6: 7: 8: 9: 10: 11: 12: 13: 14: J P[1] 100% Fine Search Start [2] PR[2] J P[2] 100% Fine J P[3] 100% Fine Search [Y] J P[4] 100% Fine J P[5] 100% Fine Search [X] Search End J P[6] 100% Fine Touch Offset PR[2] J P[7] 100 Fine ARC START[1] L P[8] 30IPM Fine ARC END[1] Touch Offset End Teach a point in space (optional). Go to another search start position Do a search in the X direction End of the search. One-Dimensional Search Ex. (Fillet/Lap. End of offsetting position. End of offsetting position. 621 . register 2 to store offset Teach a search start position (follower/leader) Do a search in X-direction relative to part Go to another search start position Do a search in the X-direction relative to part Teach an intermediate point Go to another search start position Do a search in Y-direction relative to part Go to another search start position Do a search in Y-direction relative to part End of search Go to home position The following positions will be offset by PR[2] Go to starting position P[12] is offset by PR[2] P[13] is offset by PR[2] End of offsetting position Go to home position NOTE: D The search direction is part relative as shown in Figure 9--120.9. When the part moves. UTILITIES B--81464EN--3/01 Figure 9--119. D Motions between searches are allowed. D Offset PR[2] is part relative as shown in Figure 9--121. Figure 9--120. Two Dimensional Search with Coordinated Motion Example Program (See Figure 9--120 and Figure 9--121 for illustrations) INSTRUCTION DESCRIPTION -----------------------------------------------------------------------------------------------------------------------------------1: 2: 3: 4: 5: 6: 7: 8: 9: 10: 11: 12: 13: 14: 15: 16: 17: 18: 19: 20: 21: J P[1] 20% FINE Search Start[2] PR[2] J P[2] 100% FINE J P[3] 100% Search[X] J P[4] 100% FINE J P[5] 100% FINE Search[X] J P[6] 100% CNT100 J P[7] 100% FINE J P[8] 100% FINE Search[Y] J P[9] 100% FINE J P[10] 100% FINE Search[Y] Search End J P[1] 100% FINE Touch Offset PR[2] J P[11] 100% FINE ARC START[1] L P[12] 30mm/sec FINE COORD L P[13] 30mm/sec FINE COORD ARC END[1] Touch Offset End J P[1] 100% FINE Teach a home position (follower/leader) Search uses schedule 2. First Illustration of Two Dimensional Search with Coordinated Motion Program Example (Figure 9--119) 1 (X) 2 (X) 4 (Y) 3 (Y) 1 2 4 3 622 . the search direction does not change. register 2 to store position Teach a search start position (follower/leader) Do a search in X-direction Go to another search start position. Simple Search with Coordinated Motion Example Program INSTRUCTION DESCRIPTION -----------------------------------------------------------------------------------------------------------------------------------1: 2: 3: 4: 5: 6: 7: 8: 9: 10: 11: 12: J P[1] 100% FINE Search Start[2] PR[2] J P[2] 100% FINE J P[3] 100% Search[X] J P[4] 100% FINE J P[5] 100% FINE Search[Y] Search End J P[6] 100% FINE J PR[2] 100% FINE ARC START[1] L P[4] 30IPM FINE COORD ARC END[1] Teach a home position (follower/leader) Search uses shcedule 2. Second Illustration of Two Dimensional Search with Coordinated Motion Program Example (Figure 9--119) 1 2 4 3 1 4 2 3 Figure 9--122. add searches in the Z-direction.9. UTILITIES B--81464EN--3/01 Figure 9--121. To do a 3D search. Three Dimensional Search Example Program The 3D search is very similar to the 2D search. 623 . leader can’t move Do a search in Y-direction End of search Intermediate position Move the robot to PR[2] Begin welding Coordinated motion NOTE: D The simple search frame can be relative to the follower or to the leader group. D The stored position is relative to the follower. D The leader is not allowed to move between the searches. register 3 to store offset Teach a search start position Do a search in X-direction Go to another search start position Do a search in the X-direction Teach an intermediate point Go to another search start position Do a search in Y-direction Go to another search start position Do a search in Y-direction Teach an intermediate point Go to another search start position Do a search in Z-direction Go to another search start position Do a search in Z-direction Go to another search start position Do a search in Z-direction End of search Go to home position The following positions will be offset by PR[3] Go to starting position P[19] is offset by PR[3] P[20] is offset by PR[3] End of offsetting position Figure 9--124. UTILITIES B--81464EN--3/01 Figure 9--123.9. Three Dimensional Search with Rotation Example Program (See Figure 9--124 for an illustration) INSTRUCTION DESCRIPTION -------------------------------------------------------------------------------------------------------------------------------------------------------- 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: J P[1] 100% Fine Search Start [3] PR[3] J P[2] 100% Fine J P[3] 100% FINE Search[X] J P[4] 100% FINE J P[5] 100% FINE Search[X] J P[6] 100% CNT100 J P[7] 100% FINE J P[8] 100% FINE Search[Y] J P[9] 100% FINE J P[10] 100% FINE Search[Y] J P[11] 100% CNT100 J P[12] 100% FINE J P[13] 100% FINE Search[Z] J P[14] 100% FINE J [15] 100% FINE Search[Z] J P[16] 100% FINE J P[17] 100% FINE Search[Z] Search End J P[1] 100% FINE Touch Offset PR[3] J P[18] 100% FINE ARC START[1] L P[19] 30IPM FINE L P[20] 30IPM FINE ARC END[1] Touch Offset End Teach a home position Search uses schedule 3. Illustration of Three Dimensional Search with Rotation Program Example (Figure 9--123) Z Z Z P[18] P[20] X P[19] Y X Y 624 . 20.16. 625 .19.4 Touch sensing hardware Typically for GMAW (Gas Metal Arc Welding). When the input is received. an internal output on the process I/O board that enables the wire stick detection circuit for touch sensing Refer to Section 9. F Digital Outputs (DO) 1 -. the current robot tool center point (TCP) position is stored and robot search motion is stopped.19. When the selected output turns on during a touch sensing routine.19. Touch Sensing Enable/Disable Output Signal Any one of the following outputs can be selected as the output to enable/disable the touch sensing circuitry: F Robot digital output (RO) 1 -. an internal input through the process I/O WDI+. WDI-- You can also set up touch sensing to monitor the condition of any RDO or DO signal as an input signal. F Welding Digital Outputs (WO) 1 -. UTILITIES B--81464EN--3/01 9. a low voltage signal is applied to the welding wire.1 for more information on how to assign this output.8.9. the controller reads this as a received input signal. The touch sensing circuit is enabled in a program by the SEARCH START instruction that turns on an output that has been assigned for touch sensing. the circuit is completed and the required input signal is sent to the robot.1 for more information. F Wire stick detection circuit enable WSE. Touch Sensing Input Signal The touch-sensing input signal being monitored during the touch sensing routine can be any one of the following: F Robot Digital Inputs (RI) 1--16 F Digital Inputs (DI) 1--22 F Welding Digital Inputs (WI) 1--8 F Wire stick detection circuit input WSI. Refer to Section 9. When contact is made with the object. Any other circuit that will provide the required input can be used.3K DI--1 CRM2A (31) + -L RELAY A ONI DV WIRE SHORTED L CRM2B (33) DO--1 BASIC OPERATION Enable the circuit by turning on the robot DO[1] output. Figure 9--125. RELAY B CIRCUIT ENABLED + WIRE STICK DETECTION CIRCUIT ASSY NOTE: Any I/O can be used. 626 -24 VDC POWER SUPPLY CAUTION: DO NOT ENABLE CIRCUIT DURING WELDING . The input will turn on when the weld wire touches the workpiece. UTILITIES B--81464EN--3/01 Simple Low Voltage Touch Sense Detection Circuit Figure 9--125 shows the schematic for a simple low voltage circuit.50) + 24VE WORK RV 3.1 for input. Simple Low Voltage Touch Sense Detection Circuit LOW VOLTAGE TOUCH SENSE DETECTION CIRCUIT WELD POWER SUPPLY ROBOT I/O -- PROCESS CONTROL BOARD WELD TORCH + BLOCKING DIODE MILLER #O42--102 (450A) #042--104 (600 A) LINCOLN #K--826 (400A) CRM2A(49. Monitor DI.9. you will have to remaster.19.19. Remastering is accomplished by turning the Master Flag ON and running through the program. Also. if the path must be altered significantly. if the specific schedule reference group is not equal to 1 (follower). This section contains the details of mastering a part for touch sensing with the following items F Mastering F Remastering F Offsets F Patterns F Master Flag F Touching up Path Positions and Incorrect Touch Up F Adding New Positions F Multiple Searches F Touching Up Search Start Positions Mastering Mastering refers to defining taught positions in a program as the expected locations of positions. If you change the reference group in a schedule. NOTE Complex parts with multiple searches might only require remastering of specific portions of the path. all of the mastering information is stored with respect to the reference group.5 Touch sensing mastering Touch sensing provides a method for determining part location and automatic adjustment of the robot path. it is recommended to remaster to ensure a correct path.19. In addition. Figure 9--126. Remastering is required if the search start positions must be retaught. UTILITIES B--81464EN--3/01 9. When the robot follows the taught positions of the master path. An example is shown in Figure 9--126. After executing the program. 627 .9. Part in Mastered position and Offset Applied Illustration Mastered Part (Expected Position) Offset Part Remastering The touch up procedure described in Section 9.5. the Master Flag is turned OFF. then the offset is zero. The path followed will be the master path with no offset applied. to compensate for part displacement. Points not in the correct location must be touched up. For Touching up path positions refer to Section 9.5 should work for most instances where the search start positions do not need to be moved or if the parts do not change drastically. F The search performed during mastering establishes the expected location (which is indicated by the small straight line). F Both searches were started at point 2 and the offset information is stored in position register 1. Figure 9--127 illustrates the offset value. F Points 5. F The search is a two dimensional search. Refer to Figure 9--128 and the program example screen shown below. one in the X direction and the second in the --Z direction. F An offset is computed by comparing the location of the part with this stored location.9. and 7 are offset according to the results of the search. Figure 9--127. F A 2_D Fillet/Lap search was performed. UTILITIES B--81464EN--3/01 Offsets Offsets generated by touch sensing are relative to the position found while mastering. F The offset is part relative when the schedule reference group is not equal to 1. 628 . 6. The search patterns that require mastering are as follows: F Fillet/Lap F V-Groove F Outside and Inside diameter searches NOTE A simple search does not require mastering since it produces an actual location stored in a position register. Program Example The following program example describes a part with a search start location and three points along a straight path. F The points are numbered according to the program example. F This location is stored when mastering the part. An offset is computed by comparing the location of the part with the stored location. F The type of search and other details are defined in Touch Sense Schedule 3. Offset Value Illustration Part Mastering Position Offset Part Mastering Position Patterns Mastering is needed for search patterns that generate offset data. F The search is performed and the path is followed according to the taught positions.9. check the Master Flag. line 5 was included so the Incremental search feature could be used for the second search. The Master Flag might have been inadvertently left on. line 5 could be removed and both searches would start at the taught location of position 2. Master Flag The first time the program is executed the part must be mastered. Figure 9--128. UTILITIES B--81464EN--3/01 PROG_01 JOINT 10% 1: J P[1] 100% FINE 2: Search Start[3] PR[1] 3: J P[2] 100% FINE 4: J P[3] 100% FINE Search[X] 5: J P[2] 100% FINE 6: J P[4] 100% FINE Search[-Z] 7: Search End 8: 9: Touch Offset PR[1] 10: J P[5] 100% FINE 11: L P[6] 20IPM CNT100 12: L P[7] 20IPM CNT100 13: Touch Offset End POINT ARCSTART WELD_PT ARCEND TOUCHUP > To perform Incremental searches. and Three Points along a Path. NOTE Incremental search is disabled while the Master Flag is turned ON. 5. the Master Flag is turned OFF. 6. 2. If Incremental is turned off. 7 2 5 6 7 PROG_01 JOINT 10% 1: J P[1] 100% FINE 2: Search Start[3] PR[1] 3: J P[2] 100% FINE 4: J P[3] 100% FINE Search[X] 5: J P[2] 100% FINE 6: J P[4] 100% FINE Search[-Z] 7: Search End 8: 9: Touch Offset PR[1] 10: J P[5] 100% FINE 11: L P[6] 20IPM CNT100 12: L P[7] 20IPM CNT100 13: Touch Offset End POINT ARCSTART WELD_PT ARCEND TOUCHUP > 629 . Part with One Touch Sense Start Position. F Once the program is completed. In the example program. F Execute the program. Program Example If Incremental search does not appear to be operating as expected. F Mastering is done by turning on the Master Flag in the Touch Sense Schedule 3. each search must have its own start point. 9. Figure 9--131 illustrates the result of the touch up process. Example An example of a incorrect touch up is as follows: F You can move through the program without executing the touch sense. 6. 630 . and 7 will be offset by the amount stored in position register 1. The entire process of remastering is not need to accommodate these changes. F You can touch up point 6 to place it on the part. Refer to Figure 9--130 for an illustration of offset path touchup to adjust the location of points. F The offset is then applied to the master path to produce the new. UTILITIES B--81464EN--3/01 F The path represented by points 5. offset path. New Master Touch Up Illustration 5 7 Master Path 6 New Master Touch Up Incorrect Touch Up A common error is to alter the path without the correct offset being applied. Touching up must be done after executing the search and while the Touch Offset is applied. F Figure 9--129 shows the position of the master path. F The search is performed and the offset from the master location is computed and stored in position register 1. Refer to Figure 9--132. Illustration of the Path when an Offset is Applied 5 7 6 Master Path Touch Offset Amount Offset Path Touching Up Path Positions Occasionally the part or its placement on a fixture will change requiring adjustment of the path. Figure 9--130. NOTE Touch up must be performed after a successful touch sense and at the same time the offset is being applied. Offset Path Touch Up to Adjust location of points 6 and 7 Master Path Offset Original Offset Path 5 7 Touched Up Path 6 Touch Up Figure 9--131. Figure 9--129. F The search must be completed. Path Followed After Altering 1 Point Master Path Offset Part Executed Path Adding New Positions Additional points can be added in the same manner as touching up. The results would be similar to what is shown in Figure 9--133. F An accurate offset must be generated. Figure 9--133. F Figure 9--133 exhibits the path that was followed after altering one point. Figure 9--134 illustrates adding a point to a path. Refer to Figure 9--133.9. F The offset shifts points 5 and 7 to the correct location along the part. the offset is cancelled. UTILITIES B--81464EN--3/01 F The master path has been altered as shown by the new master path. F Points can then be added to the offset path. Figure 9--132. The offset must be actively applied for the master path to be correctly updated. Incorrect Touch Up of a Path 5 7 Master Path 6 Part Touch Up New Master Path (Incorrect) 5 7 6 F The part will not be followed correctly when the program is run. 631 . F The program is executed by first performing the search and then generating a valid offset. New positions will be taught as actual locations rather than positions with an offset applied. NOTE If the program is ABORTED while adding new positions. Point 6 will not be along the part since the master path was incorrectly touched up. It shows that the part is not followed correctly. It was originally intended for the path to be straight and follow the part. and 15 using the offset. If the path using positions 13. F The second search stores offset data in position register 2 with positions 13. F The master will be correctly updated. and 12 can be touched up as normal. See the following screen for an example. PROG_01 JOINT 10% 1: J P[1] 100% FINE 2: SEARCH START[3] PR[1] 3: J P[2] 100% FINE 4: J P[3] 100% FINE SEARCH [X] 5: J P[4] 100% FINE SEARCH [-Z] 6: SEARCH END 7: J P[5] 100% FINE 8: SEARCH START[4] PR[2] 9: J P[6] 100% FINE 10: J P[7] 100% FINE SEARCH [-X] 11: J P[8] 100% FINE 12: J P[9] 100% FINE SEARCH [-Z] 13: SEARCH END 14: 15: TOUCH OFFSET PR[1] 16: J P[10] 100% FINE 17: L P[11] 20IPM CNT100 18: L P[12] 20IPM CNT100 19: TOUCH OFFSET END 20: 21: TOUCH OFFSET PR[2] 22: J P[13] 100% FINE 23: L P[14] 32IPM CNT100 24: L P[15] 32IPM CNT100 25: TOUCH OFFSET END [TYPE] CREATE DELETE [CHOICE] HELP > 632 . NOTE Using this method can reduce the amount of time required to adjust a small section of the program. New Point Taught while Executing the Offset Path. F The offset is applied and the positions. the corresponding search must be performed. F The first search must be executed to obtain an accurate offset. Figure 9--136 shows the complex part with a section moved and the path represented by positions. 10. F The first search stores the offset data in position register 1 with positions 10. Master Path Offset Offset Path 5 8 New Point 6 7 New Master Path 5 8 6 7 Multiple Searches Complex programs can have multiple searches generating several offsets as shown in Figure 9--135. and 12 using the offset. If a position of the taught path is to be touched up. UTILITIES B--81464EN--3/01 Figure 9--134. the second search must be executed. 14. 11. and 15 using the offset. 14. and 12 which must be touched up. 11.9. Program Example The following program example shown in Figure 9--135 exhibits two searches that can be performed for complex shapes. and 15 must be touched up. F The second search stores offset data in position register 2 with positions 13. 11. 10. 14. Multiple Searches can be Performed for Complex Shapes Second Search P[13] First Search P[14] P[15] P[10] P[11] P[12] Figure 9--136. then F The search start position needs only to be moved back along the search direction. If the search start position is moved. UTILITIES B--81464EN--3/01 Figure 9--135. then the search and affected path positions must be remastered. There is one exception: F Moving the search start position along the axis of the search. Illustration of Part Shape Change and the Effect on Multiple Searches Performed Second Search P[13] First Search P[14] P[15] Original Part Location P[10] P[11] P[12] Touch Up This Section Touching Up Search Start Positions Touching up a search start position is different from touching up the path position.9. or a change in the part location. changes in the part. If the search start position is too close to the part due to poor programming. F This can be accomplished with no effect on the path positions and remastering will not be required. 633 . Program Example The following program example shown in Figure 9--137 exhibits a part and search start position. Moving a Search Start Position along the Search Direction Part Original Search Start Position New Search Start Position Figure 9--138.19.5. then: F Remastering is required. To remaster refer to Section 9. Search Start Position moved to a New Location Off the Axis of the Search Direction Part Original Search Start Position New Search Start Position 634 . UTILITIES B--81464EN--3/01 Program Example The program example shown in Figure 9--138 shows the search start position moved to a new location off the axis of the search direction. Figure 9--137.9. If the search position is moved off the axis of the search direction. They are used to specify load information and the information about devices on the robot. They also let you switch the load setting among two or more loads.00 JOINT 10 % Comment [ [ [ [ [ [ [ [ [ [ ] ] ] ] ] ] ] ] ] ] Active PAYLOAD number = 0 [ TYPE ] GROUP DETAIL ARMLOAD SETIND > 5 Load information can be specified for condition No.00 PAYLOAD INERTIA Z [kgfcms^2] 0. 2 Select “6 SETUP” described on the next page.20. $PAYLOAD_IX. $PAYLOAD_X. $PAYLOAD_IY. (If any other screen appears.00 PAYLOAD INERTIA Y [kgfcms^2] 0. 3 Press F1 (TYPE) to display the screen switch menu. 4 Select Motion. MOTION/PAYLOAD SET 1 2 3 4 5 6 7 8 JOINT 10 % Group 1 Schedule No [ 1]:[****************] PAYLOAD [kg] 0.00 2 0. an appropriate condition number can be selected as the load is changed by a hand change. The list screen appears.00 6 0. 1 Press MENUS to display the screen menu.. PAYLOAD[kg] 1 0. $PAYLOAD_Z.00 PAYLOAD CENTER Y [cm] 0.00 4 0. Move the cursor to the desired No.1 Overview Setting the information about the load on the robot appropriately can cause the following effects: F Increase in motion performance (such as lower vibration and shorter cycle time) F More effective reaction of functions related to dynamics (such as increase in performance related to collision detection and gravity compensation) For effective use of the robot. workpiece. $PAYLOAD_Y. and device setting screen.00 7 0. These screens let you easily specify the information that has conventionally been set in system variables ($PAYLOAD.00 [ TYPE ] GROUP NUMBER 635 DEFAULT HELP . 9. 10. A load estimation function is optionally available. it is recommended to appropriately set information about loads such as the hand.) For a multigroup system.00 5 0.00 10 0.00 PAYLOAD INERTIA X [kgfcms^2] 0.00 PAYLOAD CENTER Z [cm] 0. UTILITIES B--81464EN--3/01 9. 1 to No.00 PAYLOAD CENTER X [cm] 0. press [PREV] several times until the list screen appears.00 3 0.00 8 0.00 9 0. MOTION PERFORMANCE Group1 No.9.20. and $PAYLOAD_IZ in the $PARAM_GROUP). This function enables the robot to calculate load information automatically. and devices mounted on the robot. As stated later.2 Motion Performance Screens There are three motion performance screen types: List screen. load setting screen.20 Load Setting 9. the list screen of another group can be reached by pressing F2 (GROUP). and press F3 (DETAIL) to display the related load setting screen. 3 Program Instructions Pressing F5 “SETIND” on the list screen lets you switch the screen. For a multigroup system. After setting the mass of a device. using program instructions rather than selecting a desired load setting condition No. NOTE 1 [kgf cm s2] = 980 [kg cm2] When a value is entered. and inertia around its gravity center. PAYLOADstatement 1 PAYLOAD[. The X. is 0. Press F5 “SETIND”. selected is used during program execution and jog operation.00 DEFAULT HELP 10 Specify the mass of the devices on the J1 and J3 arms. to be used to i. 636 10 % . 7 Pressing F3 “NUMBER” lets you go to the load setting screen for another condition No.00 0. 8 Press PREV to go back to the list screen. pressing F2 “GROUP” lets you move to the setting screen of another group. and enter a desired load setting condition No.) 9 Pressing F4 “ARMLOAD” on the list screen lets you move to the device setting screen. (The initial condition No. turn the power off and on again. (Even after program execution is finished. The last condition No. Press F4 (YES) or F5 (NO) whichever is necessary. MOTION/ARMLOAD SET JOINT Group 1 1 ARM LOAD AXIS #1 2 ARM LOAD AXIS #3 [ TYPE ] [kg] [kg] GROUP 10 % 0. Y. Set it? appears. UTILITIES B--81464EN--3/01 6 Specify the mass and gravity center of the load.] 2 3 4 PRG JOINT 5 6 7 8 Example 1: Additional setting [i] This program selects load setting condition 1.. Using the condition without changing from the initial setting causes the initial system variable setting to be used. 9. Using the setting on the load setting screen requires enabling that setting.9. Set it?. and Z directions displayed on the load setting screen are in reference to the default tool coordinate system (which is valid when no other tool coordinate system is set up). Entering values displays the message Path and Cycletime will change.20..) Instruction 1 Miscellaneous 2 Skip 3 Payload 4 Offset/Frames PRG 5 6 7 8 JOINT 10 % Multiple control SENSOR Program control ---next page--- (1) Additional setting [i] This instruction changes the load setting condition No. selected is used during later program execution and jog operation. Press F4 (YES) or F5 (NO) whichever is necessary. the confirmation message Path and Cycletime will change. the last condition No. 637 . PRG 1: [End] JOINT 10 % 1/2 PAYLOAD[. 1 for groups 2 and 3.9. it is possible for this instruction to specify what group to be subjected to load setting condition No..] Enter value GROUP DIRECT INDIRECT Pressing F1 (GROUP) displays a menu that contains choices for specifying a group. for all operation groups enabled for the program. however. Example PAYLOAD[i] This program selects load setting condition No. You can select a group from the menu. UTILITIES B--81464EN--3/01 Multi--operation group environment The PAYLOAD[i] instruction usually selects a load setting condition No. For a multigroup system.. switching. 00 6 0. Using the load estimation function requires the load estimation option (A05B--****--J669)(*). PAYLOAD[kg] 1 0.00 10 0. 9. such as tool and workpiece. 2 Select “6 SETUP” described on the next page. mounted on the hand of the robot. 3 Press [F1] (TYPE) to display the screen switching menu.2 Operating Procedure Load is estimated in the following flow: 1 Set the range of motion to be subjected to load estimation 2 Execute load estimation.) For a multigroup system. 4 Select Motion. This screen is entered from the motion performance screen.00 2 0. The load estimation screen appears. MOTION PERFORMANCE Group1 No.21.00 3 0. If no calibration is made after mechanical part replacement.21. then [F2] F2 “IDENT”.00 5 0.3 Load Estimation Procedure (for 6--Axis Robots) This procedure is performed on the load estimation screen. The function enables the information stated above to be estimated automatically by running the robot. 9. If your model does not support the function. 638 . UTILITIES B--81464EN--3/01 9. it becomes necessary to make calibration.9. the list screen of another group can be reached by pressing F2 (GROUP).21.21 Load Estimation 9. (If any other screen appears.00 JOINT 10 % Comment [ [ [ [ [ [ [ [ [ [ ] ] ] ] ] ] ] ] ] ] Active PAYLOAD number = 0 [ TYPE ] GROUP DETAIL ARMLOAD SETIND > 5 Press [F!].00 9 0. Once a mechanical part such as a motor is replaced. The list screen appears. 1 Press MENUS to display the screen menu. press [PREV] several times until the list screen appears.00 7 0.00 4 0. you cannot use it.00 8 0. the precision of load estimation becomes lower.1 Overview Load estimation is a function for estimating the weight of the load. Using the function also requires that your model support the load estimation function. 02E+02) J5: 0.00E+00 (9. F The load gravity center must be sufficiently far from the J5 and J6 rotation axes.00E+00 (4.000[Kg] 3 CALIBRATION MODE 4 CALIBRATION STATUS [ TYPE ] GROUP [OFF] ***** NUMBER EXEC APPLY > 6 Place the robot in the position where load estimation is to be performed.41E+02) Axis Inertia [Kg cm^2] J4: 0.9.41E+05) 2 MASS IS KNOWN [ NO] 165. and select the load setting condition No. estimation is possible provided that the following condition is satisfied. 8 If the mass of the load for which load estimation is to be performed is known. and the distance between points A and B must be sufficiently large. F As for positions set up on estimation position 1 and 2 screens. 7 Press F3 “NUMBER”. select “YES”.82E+05) J5: 0.00E+00 (8. (See steps 10 and 12. move the cursor to line 2. and specify (enter) the mass. 639 . The other axes stay in the position where they are when load estimation begins. the gravity center of the load must be in or near the plane that contains the J5 and J6 rotation axes. UTILITIES B--81464EN--3/01 MOTION/PAYLOAD JOINT 10 % Group1 Schedule No [ ]:[ ] 1 PAYLOAD ESTIMATION ***** Previous Estimated value (Maximum) Payload [Kg ]: 0. NOTE Only the J5 and J6 axes move during load estimation. NOTE F The estimation precision becomes higher when a mass is specified. The moment around the J5 and J6 axes must be sufficiently high. the lower the precision of estimation becomes. Even if no mass is specified. The more vertical posture the J5 rotation axis takes.00(165. for which a load estimate is to be set up. Specify the mass as much as possible.) NOTE Put the J5 rotation axis in a horizontal position.82E+05) J6: 0. The range of motion is defined as an interval between two points specified on estimation position 1 and 2 screens.00E+00 (4.00E+00 (8.00E+00 (9. However the precision becomes lower.00) Axis Moment [ Nm] J4: 0.02E+02) J6: 0. J5 rotation axis B J6 rotation axis A Load gravity center F The mass must be sufficiently great. 000> < -90. 11 Pressing [F2] POS. the initial value can be used.000> <**********> <**********> <**********> High<100%> High<100%> MOVE_TO RECORD 10 Specify estimation position 1.2 DEFAULT JOINT 10 % POSITION1 <**********> <**********> <**********> <**********> < -90. Now pressing [Shift] + F4 “MOVE_TO” moves the robot to estimation position 1. Alternatively.) Specify the positions of the J5 and J6 axes by entering their values directly. Use this procedure to identify the set position. UTILITIES B--81464EN--3/01 J5 rotation axis Load gravity center J6 rotation axis F As for the J6 axis. 9 Press [F!].000> < 90.2 displays the estimation position 2 screen. then [F4] (DETAIL).1 DEFAULT 640 JOINT 10 % POSITION2 <**********> <**********> <**********> <**********> < 90. The estimation position 1 screen appears. (Alternatively. the interval between points specified on the estimation position 1 and 2 screens must be 180° in terms of angle.000> <**********> <**********> <**********> High<100%> High<100%> MOVE_TO RECORD . then press [Shift] + F5 “RECORD” to record the position. MOTION/ID POS1 Group1 1 POSITION for ESTIMATION J1 J2 J3 J4 2 J5 3 J6 J7 J8 J9 4 SPEED 5 ACCEL [ TYPE ] Low< 1%> Low<100%> POS. move the robot to the desired position by jogging.9. MOTION/ID POS2 Group1 1 POSITION for ESTIMATION J1 J2 J3 J4 2 J5 3 J6 J7 J8 J9 4 SPEED 5 ACCEL [ TYPE ] Low< 1%> Low<100%> POS. F Not to set the estimate.9. and press F4 “EXEC”. NOTE If calibration is performed with anything attached to the robot hand. The list screen appears. 15 Specify whether to execute load estimation.00 3 0.21. 9. 19 If the value to be set is greater than the maximum allowable load (indicated in parentheses).00 8 0. using the load estimation screen. 5 Select Motion. In this case.) F To perform load estimation by running the robot. properly this time. Even when the robot is running at low speed. the message Load is OVER spec ! Accept? appears.00 9 0.00 7 0.00 JOINT 10 % Comment [ [ [ [ [ [ [ [ [ [ ] ] ] ] ] ] ] ] ] ] Active PAYLOAD number = 0 [ TYPE ] GROUP DETAIL ARMLOAD SETIND > 641 . 1 Make sure that there is nothing on the hand of the robot. 16 After low--speed and high--speed operations are finished. Calibration is started by setting the calibration switch to ON and executing load estimation. 14 Set the teach pendant enable switch to OFF. (Alternatively. just as in the above step. the precision of load estimation becomes lower. make calibration again. Pay sufficient care to avoid danger. press [F4] (YES). The message Robot moves and estimates. the initial value can be used. it becomes necessary to make calibration. 3 Select “6 SETUP” described on the next page. move the robot to the desired position by jogging. If no calibration is made after mechanical part replacement. thus hampering a normal estimation. The message Path and Cycletime will change. do not get close to it. Alternatively. PAYLOAD[kg] 1 0.00 10 0. incorrect calibration data is set up. the list screen of another group can be reached by pressing F2 “GROUP”. Ready? appears. (Operation switches automatically from low speed to high speed. (If any other screen appears. F To set the estimate. 13 Press [PREV] to return to the estimation screen. UTILITIES B--81464EN--3/01 12 Specify estimation position 2.00 2 0. 4 Press [F1] (TYPE) to display the screen switching menu. 18 Specify whether to set the estimate. F To quit execution. Calibration is controlled. Specify whether to set this value.) For a multigroup system.4 Calibration Procedure (for 6--Axis Robots) Once a mechanical part such as a motor is replaced. Calibration must be made without attaching anything to the hand of the robot. 2 Press MENUS to display the screen menu. MOTION PERFORMANCE Group1 No. press [F4] (YES).) Specify the positions of the J5 and J6 axes by entering their values directly. Now pressing [Shift] + F4 “MOVE_TO” moves the robot to estimation position 2. load information is estimated. then press [Shift] + F5 “RECORD” to record the position. Use this procedure to identify the set position.00 4 0.00 6 0. Set it? appears.) 17 Press F5 “APPLY” to set the estimate at a load setting condition No. press [F5] (NO). press [PREV] several times until the list screen appears. (Selecting “YES” causes the robot to move. because otherwise you may get in a dangerous situation when the robot suddenly starts running at high speed.00 5 0. press [F5] (NO). 00E+00 (8.2 DEFAULT JOINT 10 % POSITION1 <**********> <**********> <**********> <**********> < -90. manipulate the J1 to J4 axes by jogging to move the robot to a position where the robot can move safely.00E+00 (4. The range of motion is defined as an interval between two points specified on estimation position 1 and 2 screens. 642 .02E+02) J5: 0.82E+05) J6: 0.9.000> <**********> <**********> <**********> High<100%> High<100%> MOVE_TO RECORD 9 Specify estimation positions 1 and 2. The load estimation screen appears.) NOTE 2 Put the J5 rotation axis in a horizontal position. UTILITIES B--81464EN--3/01 6 Press [F!]. 10.00E+00 (9. The other axes stay in the position where they are when load estimation begins. and acceleration.00) Axis Moment [ Nm] J4: 0. 8 Press [F!].82E+05) J5: 0. MOTION/ID POS1 Group1 1 POSITION for ESTIMATION J1 J2 J3 J4 2 J5 3 J6 J7 J8 J9 4 SPEED 5 ACCEL [ TYPE ] Low< 1%> Low<100%> POS. speed.02E+02) J6: 0. NOTE 1 Only the J5 and J6 axes move during load estimation. and specify default values for estimation positions 1 and 2. then F4 (DETAIL).00(165.00E+00 (8. Make sure that it is safe to move the robot to estimation position 1.41E+05) 2 MASS IS KNOWN [ NO] 165. The more vertical posture the J5 rotation axis takes. 11 Pressing F2 “POS. and 12. The estimation position 1 screen appears.000[Kg] 3 CALIBRATION MODE 4 CALIBRATION STATUS [ TYPE ] GROUP NUMBER [OFF] ***** EXEC APPLY > 7 Place the robot in the position where load estimation is to be performed.00E+00 (9. If it is dangerous to move the robot to estimation position 1. then F2 “IDENT”.000> < -90. 10 Pressing [Shift] + F4 “MOVE_TO” moves the robot to estimation position 1. the lower the precision of estimation becomes. (See steps 9. MOTION/PAYLOAD JOINT 10 % Group1 Schedule No [ ]:[ ] 1 PAYLOAD ESTIMATION ***** Previous Estimated value (Maximum) Payload [Kg ]: 0. Press F3 “DEFAULT”.41E+02) Axis Inertia [Kg cm^2] J4: 0.2” displays the estimation position 2 screen.00E+00 (4. Try to use default values as much as possible. Even when the robot is running at low speed. press F2 “POS. Otherwise. press [F4] (YES). If it is dangerous to move the robot to estimation position 2.9. 17 After low--speed and high--speed operations are finished. and follow this procedure again from step 10.5 Other Related Matters (1) Motion range If the motion range between estimation positions 1 and 2 becomes narrower. (Selecting “YES” causes the robot to move. press [F5] (NO). F To quit execution.000> < 90.) F To perform load estimation by running the robot. CALIBRATION MODE becomes “off” automatically. The message Robot moves and estimates. 643 . UTILITIES B--81464EN--3/01 MOTION/ID POS2 Group1 1 POSITION for ESTIMATION J1 J2 J3 J4 2 J5 3 J6 J7 J8 J9 4 SPEED 5 ACCEL [ TYPE ] Low< 1%> Low<100%> POS. the estimation precision may get lower. and set the teach pendant enable switch to OFF. calibration is completed. 16 Specify whether to perform load estimation. This is because the influence by the moment inertia to the torque of the robot motor is weak.High” on the estimation position 1 and 2 screens. Pay sufficient care to avoid danger. calibration may be made incorrectly or may not be made at all. do not get close to it. however. Ready? appears.” NOTE Once calibration is completed. 14 Move the cursor to CALIBRATION MODE on line 3 to turn it “on.2” to go back to the estimation position 1 screen. then press “EXEC”. The actual motion range should preferably be as wide as the default motion range. The estimation precision for this light load may be able to be increased by increasing the acceleration used during operation for load estimation.21. because otherwise you may get in a dangerous situation when the robot suddenly starts running at high speed.) 9. Make sure that it is safe to move the robot to estimation position 2.000> <**********> <**********> <**********> High<100%> High<100%> MOVE_TO RECORD 12 Pressing [Shift] + F4 “MOVE_TO” moves the robot to estimation position 2. 15 Move the cursor to line 4 (so that “EXEC” appears at [F4]). (Operation switches automatically from low speed to high speed. Do not change CALIBRATION MODE during calibration or load estimation. manipulate the J1 to J4 axes by jogging to move the robot to a position where the robot can move safely.1 DEFAULT JOINT 10 % POSITION2 <**********> <**********> <**********> <**********> < 90. (2) Acceleration for motion used in load estimation The estimation precision is low for the load whose moment inertia is relatively low compared with the maximum allowable load of the robot. If you moved any of the J1 o J4 axes. do not specify so large a value that vibration becomes serious during operation. Try to increase the acceleration by specifying a larger value in “ACCEL -. 13 Press [PREV] to return to the load estimation screen. 9. for example. It is recommended to keep note of the previous calibration data so as to enable restoration. reassigning the previous data to the system variable can restore the previous calibration data. by making calibration with a load mounted by mistake. UTILITIES B--81464EN--3/01 (3) Calibration data The following system variable hold calibration data.$TRQ_MGN[axis] group : Group number axis : Axis number If improper calibration data is set up. SPLCL_GRP[group]. 644 . Also.) 2 Run the above program. see below.$PARAM[120] = --7282 n : Hardware axis number of auxiliary axis n=7~ for aux. If the program for production is already exist.$PARAM[47]) $SBR[n]. In this case. you must consider above. Collision Detection for Auxiliary Axis Option (A05B--2400--J645) or High Sensitive Collision Detection Package Option (A05B--2400--J684) that includes above is required. Axis / n=1~6 for robot axes 4 Cycle power 9. the re--tuning might be required. Load ratio = (Load Inertia + Motor Inertia) / Motor Inertia When the auxiliary axis is designed.22.22.$PARAM[119] = 7282 $SBR[n].$PARAM[112] = 2097152 / ($SBR[n].22.9. this feature has not been applied for the auxiliary axis. Because of the disturbance torque.1 General The Collision Detection Function is the feature that stops the robot immediately and reduces the damage to the robot. if this program was modified. 1 Create the program that includes heavy motion like an inverse motion with CNT100 beforehand. Generally. acceleration time. (However. will be cleared at just re--start the program 3 Measure the max. 645 . UTILITIES B--81464EN--3/01 9. this feature has been applied for the robot axes. then the parameters for this feature can not be set beforehand. It should be tuned without mis--detection.4 TUNING PROCEDURE The sensitivity of collision detection will be tuned by below procedure. if other program was run.2 CAUTION The load ratio of auxiliary axis should be less than 5. To apply this feature to the auxiliary axis. If the load ratio of auxiliary axis is more than 5 times. the parameter tuning is required with tuning procedure on this manual. Because of the auxiliary axis is design by customer. when the robot collides with other objects. and etc.22.3 INITIAL SETTING 1 Setup auxiliary axis (Gear ratio.) normally 2 Turn power on 3 Set the following system variables $SBR[n]. the sensitivity can be optimized for production with this program. Also this program must not be paused. 9. / min. 9. It can be used to tune. the mis--detection might occur. the motion performance and sensitivity for collision detection may deteriorate. disturbance torque on STATUS/AXIS/DISTURB screen after running the program. NOTE To tune the collision detection parameters for auxiliary axis. But.22 Collision Detection for Auxiliary Axis 9. 3×Max.0) : 0.0) [TYPE] MONITOR TRACKING DISTURB [UTIL] > As said above.0 8.0( 20.3 × Max.0 12.0( -30. value.0( 40.0 + 0. / min.0( 40.0( 40.0) : 0.0 24.0) [TYPE] MONITOR TRACKING DISTURB [UTIL] > CAUTION When the disturbance torque exceeds above allowed value.0( -40.0) -30.0 8.0( -20.9.(Allowed)/Min. F make new program that call all program for tuning and run this main program.0( -40. Lower Limit = Min.0( -40. allowed value + 0.0) -10.0) : 0.0 19.0 20. PNS001 STATUS Axis J1 J2 J3 J4 J5 J6 J7 Line 1 G1 ABORT FINE 100% Disturbance Torque (A) Curr.0 20.0( 20.0) -4.0) : 0.(Allowed) : 0. SRVO--050 Collision Detect alarm (G:x. 4 Move the cursor to allowed value in parentheses for the axis.0 10.A:x) Part of 0.0( -40.0) : 0.0( -20. Upper Limit = 24.0 22.0 19.0) -20.0) -11.0) : 0.0( -20.0) -20.0) -19.0( 40. is the margin to prevent the mis--detection.0 -.0( -56.0.0) : 0. Change the allowed value to same as measured max.0) -4.3 × 40 = 36 A Lower Limit = --30.0) -11.0( 20.0( -40.0 24.0) -5.(Allowed) : 0.0 22.3 × 40 = --42 A 5 Run the programs again with above disturbance allowed setting. F record the max.0) -5. If there are some programs.0) : 0.0.0( 24.0) -30.0( 20.0( 20. disturbance torque for each programs and find max. value in these recorded value.0 10.(Allowed)/Min.0) : 0. and confirm that there is no mis--detection.0) : 0./ Max.0) -19.0( -20. UTILITIES B--81464EN--3/01 PNS001 STATUS Axis J1 J2 J3 J4 J5 J6 J7 Line 1 G1 ABORT FINE 100% Disturbance Torque (A) Curr. Upper Limit = Max.0( 56.0( -40. the following WARNING occurs SRVO--053 Disturbance excess (G:x. / min. current of amp.0( 20. 6 Finished 646 . For example in above screen with 40A amplifier.0( -20.A:x) Following servo alarm (servo power off) occurs when the disturbance torque exceeds below ALARM LEVELs./ Max. allowed value -.0( -20.0) : 0.0) : 0.0) -10.0 12. or min. current of amp.3 × Max. the disturbance torque will be reset at the start of each program.0( 40. current of amp.0( 40. 23 Gravity Compensation Gravity compensation calculates the bending of the robot arm caused by the tool/work on the flange. and it improves the absolute position accuracy. 180deg for upside down type.$MOUNT_ANGLE REAL [Name] RW 0 PU --100000 ~ 100000 (deg) Mount Angle of Robot [Meaning] Set 0deg for floor mount type. (By doing that. they need to be modified again.1 System Variables Gravity Compensation $PARAM_GROUP[group]. Gravity Compensation option (A05B--****--J649) is necessary to use this function. 9. This function can not be used with Softfloat (A05B--****--J612) or Small Circle (not supported). 2 This setting screen has three sub--screens. MOTION Screen (Default screen) MOTION Group 1 No. 9.9.) $PARAM_GROUP[group]. Please set this variable to TRUE and cycle power before use. or the mount angle for wall mount or angle mount type. and the self weight of the arm. 120. the motion parameters are set back to the default values. UTILITIES B--81464EN--3/01 9. . the equipment on the arm. and execute robot setup again. . To set back to be disabled. and press F3(DETAIL) to enter the payload set screen. do controlled start. set this variable to FALSE. [ Active PAYLOAD number = 1 [ TYPE ] GROUP DETAIL ARMLOAD ] SETIND > 4 Payload information (Schedule No.2 MOTION Screen 1 Payload and armload (equipment on the arm) parameters are set in this screen.00 120. Move cursor to the line of one of the schedule numbers. . (MOTION screen / PAYLOAD SET screen / ARMLOAD SET screen) 3 This screen is sub--screen in SYSTEM. Cycle power after setting. 10 JOINT PAYLOAD[kg] 100. If the motion parameters have been modified.1 to 10) can be setup. Then it compensates the motor position depending on the calculation of the bending. PAYLOAD SET Screen 647 .00 100% Comment [ [ ] ] . 1 2 .00 .23.23.$SV_DMY_LNK[8] BOOLEAN [Name] RW PU FALSE TRUE/FALSE Gravity Compensation Enable/Disable [Meaning] TRUE Gravity Compensation Enable FALSE Gravity Compensation Disable Gravity compensation is disabled when the robot is shipped. PAYLOAD CENTER X [cm] 10. After the value is input. 648 .00 4.00 7. ARM LOAD AXIS #1 2. 8 Press F4(ARMLOAD) in the motion screen (default screen) to enter the armload set screen. PAYLOAD INERTIA Z [kgfcms^2] 0.00 10. Y. PAYLOAD INERTIA X [kgfcms^2] 0. Press F5(SETIND) and input the schedule number to use. PAYLOAD CENTER Z [cm] 10. Schedule No [ 1] : [Comment ] 2.00 HELP 9 Setup the armload on axis #1 and axis #3. (Only in the multi--group system) 7 Press PREV key to go back to the motion screen (default screen). UTILITIES B--81464EN--3/01 MOTION/PAYLOAD/SET JOINT 100% Group 1 1. PAYLOAD [kg] 100. Set it ?” is displayed.00 8. 6 To enter the payload set screen of the other schedule number. press F2(GROUP). cycle power. the message “Path and Cycletime will change.00 [ TYPE ] GROUP NUMBER DEFAULT HELP 5 Setup the payload. X. Set it ?” is displayed.9. payload center. PAYLOAD INERTIA Y [kgfcms^2] 0. Please input F4(YES) or F5(NO). the message “Path and Cycletime will change. and payload inertia. ARMLOAD SET Screen MOTION/ARMLOAD/SET Group 1 1. After setting up the armload. To enter the screen for other group. press F3(NUMBER).00 5.00 6. ARM LOAD AXIS #3 [ TYPE ] GROUP JOINT [kg] [kg] DEFAULT 100% 20. Y. PAYLOAD CENTER Y [cm] 0.00 3. After the value is input. Please input F4(YES) or F5(NO). and Z directions in this screen mean X. and Z axes of the default (the settings are all 0) tool frame. At this time.The torch recovery function can automatically correct a TCP shift in a short time. is large. inertia setting around the gravity center may be additionally required. SUPPLEMENT This function is an optional function. the detection sensitivity automatically increases.2. then stops the robot immediately. The torch guard function swiftly detects a collision by the torch or robot with a workpiece. Use this specification when ordering. So. the function decelerates the robot to reduce damage to the robot.3 Torch guard function Overview 1 This function is enabled when the power is turned on. -. disable detection at that portion with programmed instructions. (If the figure of a torch. load setting screen.24 Arc Smart High--speed Recovery Function 9. F Torch guard function -. The torch guard function has a greater detection sensitivity than the ordinary basic collision detection function. 3.The user need not make a detection sensitivity adjustment. Operation performance screen 1 The operation performance screen is used to set load information and robot equipment information. 9. (See Fig.) 4 During teaching.24. (See Fig.1 Overview The arc smart high--speed recovery function consists of a torch guard function and torch recovery function. and equipment setting screen. select a set load setting condition number. and the setting of the weight of a load and the gravity center position of a load alone causes a detection error.During teaching. -.The torch guard function can be enabled or disabled by a programmed instruction. and equipment weight on the robot correctly.The torch guard function immediately stops the robot with an alarm when a collision is detected. gravity center of a load. 2 The operation performance screen consists of a list screen. make an inertia setting. 649 . This function eliminates the need for a shock sensor that has been traditionally used for torch collision detection.24.) 3 If the application of a large force during execution is anticipated beforehand. 3 Select the subscreen Motion from SYSTEM to display the list screen. The specification of this function is A05B--****--J681. If the inertia (figure) of a load is large. Set the weight of a load.) This function uses load information and equipment information to detect a collision. so load information and robot equipment information need to be set. -. the detection sensitivity automatically increases to protect against damage especially due to a robot collision that tends to occur by mishandling in teaching. 2 Set load information and robot equipment information. UTILITIES B--81464EN--3/01 9.2. for example. The detection sensitivity is adjusted on each robot beforehand. (See Fig.24.2 Specification The arc smart high--speed recovery function consists of the functions described below. F Torch recovery function -. 3. the torch guard function detects a collision more quickly to reduce damage to the torch and robot remarkably. 9.) Before operating this function. The torch recovery function can automatically correct a TCP shift in a short time. 3.3.9. 00 [ ] 3 16.00 PAYLOAD CENTER Z [cm] 0.00 PAYLOAD INERTIA X [kgfcms^2] 0. 6 By pressing F3 (NUMBER). 10) can be set. then enter a desired load setting condition number.00 PAYLOAD CENTER X [cm] 0. Press F4 (YES) or F5 (NO).9.00 [ ] Active PAYLOAD number = 0 [ TYPE ] GROUP DETAIL ARMLOAD SETIND > IDENT > 4 Up to 10 load information items (condition setting No.00 [ ] 5 16. Y. the confirmation message “Path and Cycle time will change. 8 Pressing F4 (ARMLOAD) on the list screen displays the equipment setting screen.00 [ ] 8 16. Press F5 (SETIND). 7 Press the PREV key to return to the list screen. the user can switch to the load setting screen for another condition number. UTILITIES B--81464EN--3/01 List screen MOTION PERFORMANCE G1 JOINT 10 % Group1 1/10 No.00 HELP . then press F3 (DETAIL) to display the load setting screen.00 [ ] 6 16. The X. 1 through No.00 PAYLOAD CENTER Y [cm] 0. When desired values are entered.00 0. Set it?” appears.00 PAYLOAD INERTIA Y [kgfcms^2] 0. and inertia.00 [ TYPE ] GROUP NUMBER DEFAULT HELP 5 Set the weight of a load. and Z directions indicated on the load setting screen correspond to the directions of the standard tool coordinate system (when no special tool coordinate system is set). Load setting screen MOTION PAYLOAD SET 1 2 3 4 5 6 7 8 G1 JOINT 10 % 1/8 Group1 Schedule No[ 1]:[****************] PAYLOAD [kg] 16.00 [ ] 4 16.00 [ ] 9 16. the user can switch to the setting screen for another group (in the case of a multi--group system). Equipment setting screen MOTION ARMLOAD SET Group1 1 ARM LOAD AXIS #1 2 ARM LOAD AXIS #3 [ TYPE ] GROUP G1 JOINT [kg] [kg] DEFAULT 650 10 % 1/2 0.00 [ ] 2 16. Move the cursor to the line of a desired number.00 [ ] 7 16. PAYLOAD[kg] Comment 1 16. By pressing F2 (GROUP).00 PAYLOAD INERTIA Z [kgfcms^2] 0. gravity center position. Program instruction 1 COL DETECT ON/OFF These instructions can disable and enable collision detection during program execution. a large torch shift can also result. When bolts are loose.00mm 29 times 0. Example 1:J 2: 3:L 4:L 5:L 6: 7:J P[1] 100% FINE COL DETECT OFF P[2] 100mm/sec CNT100 P[3] 100mm/sec CNT100 P[4] 100mm/sec CNT100 COL DETECT ON P[5] 100% FINE In this program. 651 . collision detection is automatically enabled. Press F4 (YES) or F5 (NO). After setting the weight of equipment. NOTE A large torch shift can result. the axis may drop slightly after collision detection. the termination of robot operation with an alarm may be prevented by enclosing only a part of incorrect collision detection with a pair of COL DETECT OFF/ON instructions.To reduce excess force to the robot due to collision.When Soft Float is enabled -. UTILITIES B--81464EN--3/01 9 Set the weight of the equipment on the J1 axis and the weight of the equipment on the J3 axis. The results are indicated below(*).40 mm.9. 9.4 Notes 1 A collision detection error can occur in the cases listed below.When set load information or equipment information is incorrect -. When a program is terminated or temporarily stopped. 2 In the cases below. depending on the attitude assumed when a collision is made.24. the confirmation message “Path and Cycle time will change. Set it?” appears.speed operation (about 100 mm/sec) or about 15 to 30 kgf in medium-. When the values are entered.to high--speed operations (about 500 to 2.02mm 4 times -------------------------------------------Total: Measurements as many as 36 times were conducted using many different speeds and directions.When brake control is exercised (at brake lock time) 3 Axis dropping after detection -.When the supply voltage is too low -. collision detection is disabled: -.Rough operation using ACC Override -. first try to correct the cause.When the weight of a load or inertia exceeds the upper limit of the robot Action If a collision is detected by mistake for a cause above. the collision detection function disables position control for 200 ms after collision.01mm 3 times 0. Performance An experiment using this function was conducted where torch tip shifts caused by hitting the torch with the ARC Mate 100i were measured using a dial gauge. collision detection is disabled on lines 3 to 5. In an unavoidable case. The force applied to the torch tip is about 10 kgf in low-.000 mm/sec). Torch tip precision required for arc welding is 0. turn the power off then back on for the setting to become effective. NOTE Collision detection is usually enabled. -.Rough operation such as turnaround using Cnt -. Shift 0. For this reason.Operation such as Linear operation near a singular point where an axis turns at high speed -. To use the torch recovery function. however.4 above.24.18. Before use Before using the torch recovery function. Upon completion of the above procedure. The torch recovery function corrects a shift of the tool center point by touching the wire to the torch recovery jig. the quality of welding is much affected. 4 Calibrate the torch recovery function for the specified TCP. CAUTION Torch recovery function adjusts the top of the wire by changing tool. the output of this alarm is suppressed by taking the described action. UTILITIES B--81464EN--3/01 9. follow the setup procedure given below.9. 3 Set the data of the torch recovery function for the specified TCP (if necessary). and enters a signal for detecting a short circuit between the two points) 652 . correct the tool center point precisely with the torch recovery function. In this case. and the robot and torch can interfere with the jig even if a shift of the tool center point is corrected. The tool center point might also be shifted due to interference with the torch jig caused by contact chip or torch replacement or an operation error. Two robots in a two--unit control system can use this function simultaneously. the tool center point needs to be set again.18. set a mechanism such as a touch sensor (mechanism that applies a voltage between two points. 9. 1 Set a torch recovery jig. The program can be called from a production program (automatic correction). Therefour when the teaching path is near the boundory of motion possible range. When a shift of the torch attitude is large. In such a case. So. With this function. 2 Set the wire tip position as TCP. production stop time can be reduced. Carry out this setup for each robot that uses the torch recovery function. the arc smart recovery function option (A05B--****--J681) must be specified. if a stick detection circuit is not provided. If welding is performed for a long time.24.5 Related alarms 1 SRVO--050 SERVO Collision Detection alarm (G:iA:j) This alarm is issued when a collision is detected. or reteaching is required in a worst case. If there is a cause described in Section 9.4. the alarm of ”Not reachoble” and ”Singularity point” may occur. The robot does not stop. If the tool center point is shifted. thus stopping production for a long time. this message might be ignored. return the welding torch manually to near the place where the torch was first installed. In this case. touchup the teaching point. precise welding becomes impossible. if the compensated program is executed. Then. When a shift of the torch attitude is large. When a shift of the torch attitude is very small. the wire tip position (referred to as the tool center point) might be shifted due to the wearing of the contact chip.6 Torch recovery function A welding robot system is taught so that the wire tip travels along a welding line. and stable welding quality can be achieved.24. If there is no problem. the tool center point can be corrected with the torch recovery function at any time. This means that the torch recovery function cannot correct a shift of the attitude of the torch. If there is a cause described in Section 9. a nonexistent collision might be detected by mistake. Center point (TCP) data. The torch recovery function can correct a shift of the tool center point of the welding torch automatically in a short time. The two robots which use this function must be set in motion groups 1 to 3. or can be selected and executed by the user (manual correction). 2 SRVO--053 WARN Disturbance excess (G:iA:j) This alarm warns the operator that an estimated disturbance value is close to the level for issuing the Collision Detect alarm due to collision detection. welding is little affected. take the action described in Section 9. The torch recovery function can be used just by executing the program prepared for correction. check the following items: F The torch recovery function corrects a shift of the tool center point by using a stick detection circuit.4. Before this function can be used. however. The robot stops with an alarm. check that the date and time are set correctly with the clock function. 653 . F On the clock screen. however. Time data is used on the correction data history screen for displaying the history of correction. correct the tool center point precisely with the torch recovery function. make an adjustment so that the sides of the square plate are aligned with the world coordinate system of the robot as shown below. the program needs to be retaught in a worst case. perform the torch recovery settings described below (jig installation. Adjust the plate position so that the wire travels along the side of the plate by Y--direction jogging (in the Y direction of the world coordinate system) in the jog coordinate system as shown below. return the welding torch manually to near the place where the torch was first installed. If TCP is not set precisely with a system that has the function added later. F The torch recovery function cannot correct a shift of the attitude of the torch itself. When a shift of the torch attitude is large. The position registers set on the torch recovery setup screen. do not perform the work desultorily. Torch Plate Y--direction jogging in the jog coordinate system 4 After tightening the screws. if a sufficient voltage is not applied. which will be described later. UTILITIES B--81464EN--3/01 between the wire and torch recovery jig. 2 Connect the torch recovery jig (base block) to the base metal electrode (electrode (usually minus electrode) with the polarity opposite to the wire electrode) of the welding power supply via a wire. then tighten the screws. Otherwise. Torch recovery jig installation Install a jig for the torch recovery function according to the procedure below. Z Reference position Plate Z X X TCP setting pin World coordinate system of the robot Y Y Base plate 1 Install the torch recovery jig at the position that allows the robot to operate freely. the program needs to be retaught. welding is little affected. TCP setting. automatic correction using the torch recovery function is impossible. but set some reference so that when the torch is replaced. check the plate installation precision by performing jogging again. F A system equipped with the torch recovery function has a torch recovery macro. and calibration). 3 Loosen the screws on the jig. If the tool center point is shifted from the previous position after torch replacement. When a shift of the torch attitude is very small. The stick detection circuit uses a low voltage.9. are used for the torch recovery function. Then. CAUTION Before creating a program. then secure it firmly. The clock screen can be displayed using the procedure below: MENUS ! 0 NEXT ! 6 SYSTEM ! F1(TYPE) ! CLOCK F When attaching a torch to the robot flange. or the attitude of a new torch is much shifted from the previous attitude. So. the tool center point can come at approximately the previous position. provide a similar mechanism. 654 . no additional calibration is required. Torch recovery function data setting and calibration After TCP setting. the torch recovery function needs to be calibrated. TCP setting Set the tool center point as TCP. The first tool center point is stored by this calibration. Z Tool coordinate system Y Robot side X Tip With the six--point setting method. then select Torch Recov. At this time. The screen shown below appears. Teach the first point with the attitude above. Here.9. For details of TCP setting. The values in the screen are the standard settings. move the fourth axis and fifth axis by an angle less than 90 degrees from the second point by axial jogging. perform re--calibration or reinstall the torch manually to minimize the shift. then match the tool center point with the tip of the jig. use the following attitude by using the coordinate system origin of the torch recovery jig. If the tool center point and torch attitude after replacement much differ from those before replacement. however. After this calibration is performed. 2 Press F1. re--calibration is not required if the tool center point and torch attitude before replacement are about the same as those after replacement. Perform calibration according to the procedure below. When teaching the third point. see the description of tool coordinate system setting. three reference points are taught by changing the attitude. UTILITIES B--81464EN--3/01 5 Bring the wire into contact with the plate by jogging. When the torch is replaced. check that the wire and plate are electrically continuous. 1 Press the MENUS key. an example of TCP setting using the automatic TCP setting function (option) and a torch recovery jig is described. [TYPE]. then match the tool center point with the tip of the jig. use the procedure below. When teaching the origin of a coordinate system with the six --point setting method. Ensure that the three points are directed roughly as shown below. move the sixth axis by an angle from 90 degrees to less than 360 degrees by axial jogging from the first point. Using a continuity tester in this state. When teaching the second point. then select 6 SETUP. 010 sec . of the motion group currently subjected to jog feed. the screen shows the settings of the tool coordinate system (TCP) having the number displayed in item 1 Tool number on the screen. To display the settings of another tool coordinate system. 4 The meaning of each data item is explained below. Specify the signal type and number of a signal output for this purpose. check the selected motion group in advance. By displaying this screen. then select a desired motion group. The changing methods are as described below. When performing jog feed after this operation. 3 At this stage. select 3 #615--1--1. F Tool coordinate system: Type a desired tool coordinate system number in item 1 Tool number.9. F Motion group: Press the auxiliary key. The sample screen shown above displays the settings of tool coordinate system 1 of motion group 1. The user can choose from the following options: F WSO: Stick detection circuit output signal F RDO: Robot digital output signal F WDO: Welding digital output signal F SDO: General--purpose digital output signal 655 . Input signal: Specify the signal type and number of a digital signal (contact confirmation signal) that is turned on when the wire contacts the torch recovery jig plate. type the number of the desired tool coordinate system in this field. Tool number: Indicates the number of the tool coordinate system for which the currently displayed settings are made. The user can choose from the following options: F WSI: Stick detection circuit input signal F RDI: Robot digital input signal F WDI: Welding digital input signal F SDI: General--purpose digital input signal Output signal: A voltage is applied to recognize that the wire has contacted the torch recovery plate jig. Change the motion group (if the system controls two units) and tool coordinate system number as desired. CAUTION Changing the motion group changes the motion group subjected to job feed. UTILITIES B--81464EN--3/01 SETUP TorchRecover 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 G1 JOINT Tool number: Input signal: Output signal: X Y offset limit: Z compensation: Z offset limit: Search speed: Search start: Search start Z: Wire advance time: Wire retract time: Wire speed: Starting PR[] number: Reference position: Error recovery method: Error output signal: [ TYPE ] MASTER MOVE_TO 10 % 1/14 1 WSI[1 ] WSO[1 ] 20 mm DISABLED 5 mm 5 mm/sec 55 mm 41 mm .010 sec 0 IPM 1 UNINIT PROMPT DO[0] RECORD HELP CAUTION Be sure to display this setting screen at least once. the standard value is set for each data item. the wire can be rewound for a short time. arrow 3 operation is performed. set WSI[1]/WSO[1] for the first unit and WSI[9]/WSO[9] for the second unit.) Search start: Specify a return distance used for tool center point correction. correct the torch manually to satisfy the offset limit. Specify an approach speed used for such search operation. CAUTION For these data items. Then. perform torch recovery operation according to the procedure for recovery from alarms. Specify such a rewind time. A greater offset value means a greater torch bend or shift. For details. and the RECOVERY screen appears to enable the user to select a recovery method. Search start Z: Specify a lowering distance used for tool center point correction. Z compensation: Set whether to perform tool center point compensation in the Z direction. This item is used if the wire has been fed as described above. Wire advance time: Before the start of search operation. search operation is performed in the X and Y directions (or in three directions when Z compensation is enabled). Wire speed: Specify a wire speed used for wire feed and rewind operations above. The unit selected in the item of wire feed speed units on the welding equipment setting screen is used. tool center point compensation is disabled. set about 15 mm when using a straight torch. see the description of Recovery from alarms. if Z compensation is enabled. For the X and Y directions. the wire can be fed for a short time to allow the wire to contact the plate easily. If a correction is made in such a case. 3 Search return distance 1 Search lowering distance Z 2 X World coordinate Y Search operation (After arrow 1 operation.9. UTILITIES B--81464EN--3/01 * If two welders are used with a two--unit control system and if WSI/WSO is selected. X Y offset limit/Z offset limit: Set a maximum offset value that allows correction by the torch recovery function. 656 . If an offset value greater than a set maximum value is measured. Specify such a feed time. If an alarm is issued to report that an offset limit is exceeded. torch recovery operation is stopped. When a lower search speed is set. set a value as small as possible. Search speed: When the tool center point is corrected. By default. the robot or torch may interfere with the jig in the program. set about 5 mm. Set minimum offset values. Then. arrow 2 operation is performed. For the Z direction. or set about 10 mm when using a curved torch. a higher precision in correction results. Wire retract time: After the end of search operation. When the wire doesnt connect with the torch recovery plate -. if the following situation occurs. Then the program is paused. when the program is restarted. -. Error output signal: During torch recovery motion. RECOVERY G1 TOOL 50 % Error Recovery Menu G:1 1 Redo Torch Recovery Adjustment 2 Skip Torch Recovery Adjustment 3 Abort Program ADVWIRE RETWIRE HELP Put the cursor on any line then press Enter key. chose the method of recovery. Reference position: This item is used to record a reference position for calibration.When the wire connects with the torch recovery plate before torch recovery motion -. 657 . Specify the numbers of such position registers. When “Skip” is selected. and the TCP after correction is set in position register 2. Then the program is paused. Error recovery method: During torch recovery motion.When the wire connects with the torch recovery plate before torch recovery motion -. change the value as required. After the reset of the alarm. the specified digital output signal is turned on. When “Redo” is selected. Note that these data items are indicated only.When the wire doesnt connect with the torch recovery plate -.9.When the detected compensation value is over the allowable maximum value The following selections are provided. For example. when the following situation occurs. Then the program is paused. and changing the value of this item has no effect on torch recovery operation. Abut the detail please refer to “Recovery from Alarm”. two position registers are used to indicate the original TCP (TCP at torch recovery calibration time) and TCP after correction. the torch recovery motion is skipped without the display of the confirmation screen. the original TCP is set in position register 1. [1] is set. F SKIP Display the WARNING alarm according each alarm reason and the fault signal is also turned on. If a position register number already in use is set.When the detected compensation value is over the allowable maximum value And this signal is turned off at the following timing Case of “PROMPT”: When the confirmation screen is disappeared. Whether a reference position is recorded is indicated. the program is aborted. After the reset of the alarm. When “Abort” is selected. UTILITIES B--81464EN--3/01 Starting PR[] number: With the torch recovery function. F REDO Display the WARNING alarm according each alarm reason and the fault signal is also turned on. the program is aborted without the display of the confirmation screen. when the program is restarted. the torch recovery motion is performed without the display of the confirmation screen. the torch recovery motion is executed again. F PROMPT Display the WARNING alarm according each alarm reason and the following confirmation screen on the teach pendant and the robot controller waits for the input by the operation. -. F ABORT Display the WARNING alarm according each alarm reason and the fault signal is also turned on. when the program is restarted. the torch recovery motion is just skipped. After the reset of the alarm. At this time. “SKIP” and “ABORT”: When the program is restarted or aborted. If an alarm is issued during calibration operation. Use care. press the F4 (RECORD) key together with the shift key to record the reference position. do not touch the wire and electrode. The processing is not performed. However. 7 Before proceeding to the next operation. So. This calibration information is used for TCP correction operation. Then. UTILITIES B--81464EN--3/01 Case of “REDO”. the signal (WSO1) output to apply a voltage for search continues to be output. ensure that the torch assumes the attitude shown below with respect to the reference position of the torch recovery jig. move the tool center point (TCP) to the reference position (central pin tip) of the torch recovery jig. The indication to the right of the Reference position item changes from UNINIT to RECORDED. Never temporarily stop and forcibly terminate the robot during torch recovery operation. set the original TCP in a position register. WARNING The next step starts robot operation to perform torch recovery calibration. If the robot is temporarily stopped or forcibly terminated while the wire is being rewound. F4 (RETWIRE): Pressing the RETWIRE key rewinds the wire for a set wire retract time at a set wire speed. check again that the tool center point of the robot remains at the reference position recorded in step 5 above. Z Tool coordinate system Y Robot side X 6 Move the cursor to the Reference position item. F3 (ADVWIRE): Pressing the ADVWIRE key feeds the wire for a set wire advance time at a set wire speed. and store the calibration information internally. Search operation is first performed in the X direction of the world coordinate system. 5 By jogging the robot. the wire continues to be fed. then in the Y direction. see the description of Recovery from alarms. search operation in the Z direction is then performed. correction operation) stops the robot. 8 Set an override of 100%. the wire continues to be rewound. WARNING Pressing the forced termination key in the auxiliary menu during torch recovery operation (calibration operation. 658 . (This output is stopped when robot operation is temporarily stopped. Upon completion of calibration. 9 Press the F2 (MASTER) key together with the shift key.9. end the TP program. movement to a reference position. If this alarm occurs. CAUTION If an attempt to do any of the following is made on this setup screen while a TP program is running or being halted. or calibration in a motion group which is the same as the motion group used for the TP program.) If the robot is temporarily stopped or forcibly terminated while the wire is being fed. an alarm of CUST--014 Abort program using G:# (# is a group number) is issued: teaching a reference position. The robot starts calibration operation. When Z compensation is enabled. then carry out the operation again. the RECOVERY screen is displayed (when the use of user alarms is disabled). 20: J P[10:HOME] 100% FINE 21: R[1] = R[1] + 1 22: IF R[1] = 10 JMP LBL1 23: JMP LBL2 24: LBL1 25: TorchMate Adjust 26: R[1] = 0 27: LBL2 [END] Original program Added instructions 2 If an alarm is issued during correction. In the case of reexecution after cancellation of a user alarm. select the torch recovery program corresponding to the motion group for which a correction is made. 3 When the torch recovery program is executed. When the function is executed. Modify the program so as to call the torch recovery program or macro for the motion group to which correction operation is carried out. To execute the torch recovery function. TCP setting. use the procedure below. 659 . check that the program that has already been taught is based on the tool coordinate system. the RECOVERY screen appears. see the description of Recovery from alarms. a tool center point shift can be corrected manually or automatically (by calling the program from a user program) at any time with the torch recovery function. and the RECOVERY screen is displayed. the program or macro corresponding to the motion group is used. Motion group Program Macro Group 1 TM_ADJST TorchRecv Adjust or TorchMate Adjust Group 2 TM_ADJ2 TRecv Adjust GP2 or TMate Adjust GP2 Group 3 TM_ADJ3 TRecv Adjust GP3 or TMate Adjust GP3 To perform correction manually. then the correction operation starts. 4 Disable the teach pendant. use the procedure below. CAUTION If an alarm is issued during correction operation. then press the start button on the operator’s panel or enter the external start signal.9. jog the robot to such a position that there will be no obstacle between the robot and the torch recovery jig. To perform correction automatically (by calling the program from a user program). For the procedure for recovery from an alarm. When the use of user alarms is enabled. 2 Set the tool coordinate system of the motion group for which a correction is made as the tool coordinate system for which a correction is made. using the tool coordinate system with which calibration is performed. 1 Teach a program. For instance. Before executing the torch recovery program. the motion to the torch recovery jig starts. a user alarm is issued. 5 If an alarm is issued during correction. For the procedure for recovery from an alarm. The table below lists the programs and macros provided for the motion groups. UTILITIES B--81464EN--3/01 Execution of correction with the torch recovery function After completion of torch recovery jig installation. The correction operation is executed on the basis of the setting of the currently selected tool coordinate system. see the description of Recovery from alarms. Be sure to perform the operation according to the procedure for recovery from alarms (described later). Alternatively. as shown below. 1 On the program directory screen. a torch recovery program or torch recovery macro is used. a user alarm is issued and the program is temporarily stopped. the RECOVERY screen is displayed (when the use of user alarms is disabled). do not terminate the program forcibly from the auxiliary menu. the robot interferes with the obstacle. In the case of reexecution after cancellation of a user alarm. to carry out the correction operation by the torch recovery function for motion group 1 once in every ten times of production program execution. and torch recovery function data setting and calibration. the RECOVERY screen appears. If there is an obstacle between the current robot position and the torch recovery jig. These programs and macros are provided for use with each motion group. When the use of user alarms is enabled. add lines to the production program. Then.9. determine the alarm issued. The robot starts search operation. The program that is calling the program for torch recovery operation is not terminated. To reexecute torch recovery operation. and the RECOVERY screen is displayed. Offset is out of range (The upper offset limit was exceeded. Perform recovery. UTILITIES B--81464EN--3/01 CAUTION If an alarm is issued during correction operation. At this time. however. From an alarm message. correct the cause of the alarm. or program termination. Recovery from alarms If an alarm is issued during torch recovery correction when the error recovery method is “PROMPT”. Be sure to perform operation according to the procedure for recovery from alarms (described below). If an alarm is issued during the torch recovery of one robot while the RECOVERY screen is being displayed for the other robot. for example. the RECOVERY screen for the alarm appears after the processing on the screen displayed earlier is completed. 1 When this recovery screen is displayed. 5 Move the cursor to 1 Redo TorchRecovery Adjustment. see the description of TorchRecovery Alarm. usually) used at wire contact time. For details of the alarms. an alarm has been issued during torch recovery operation. F Standard search alarms The standard search alarms include the alarms described below. perform torch recovery operation again on the RECOVERY screen. The sample screen shown below appears when an alarm is issued during the correction operation of motion group 1. 3 Cut the wire to an appropriate length. move the cursor to 2 Skip TorchRecovery Adjustment. do not terminate the program forcibly from the auxiliary menu. but the preceding torch recovery correction operation only is canceled. move the robot to a place that prevents the robot from interfering with the jig and so forth when performing the torch recovery operation again. 2 Referencing the description of TorchRecovery Alarm. 660 . skip. RECOVERY Menu1 JOINT 10 % 1/3 Error Recovery Menu G:1 1 2 3 Redo TorchRecovery Adjustment Skip TorchRecovery Adjustment Abort Program ADVWIRE RETWIRE HELP On this recovery screen. the alarms below may be issued. the correction operations of the two robots can be simultaneously executed by the multi--task function or some other function. move the cursor to 3 Abort Program. Torch recovery alarms During torch recovery operation. To skip torch recovery operation. 4 Press the start button on the operator’s panel or enter the external start signal to reexecute the program. In a two--unit control system. use the procedure below. select torch recovery reexecution. To terminate the program. then press the ENTER key. In this case. by repairing the voltage detection circuit (stick detection circuit. Manually correct the torch so that the tool center point shift is within the maximum offset limit. then press the ENTER key. the robot can be moved slightly away from the torch recovery jig by jogging. then press the ENTER key. To correct the cause of the alarm.) The upper offset limit was exceeded as the results of tool center point correction based on torch Cause: Remedy: recovery operation. and manually correcting the torch bent too much. the RECOVERY screen described below appears. TCP is not updated. The program that is calling the program for torch recovery operation is terminated. * “Mastered X Y Z” means that the calibration has been performed in the XYZ direction. the file is overwritten. but the wire did not contact the plate. The offset value is calculated on the basis of the TCP internally saved in the torch recovery calibration. This correction history can be used to manage a tool center point shift. To save the data on a floppy disk. and tool coordinate system numbers are displayed in the T column. are internally recorded as correction history data together with dates. connect the Handy File (protocol robot) to a port. When the signal is made normal.09 -1. 3 Check that the contact confirmation signal is entered when the wire contacts the plate. In the screen shown below. 7 An ASCII format file named TMDATA. 661 . then select 3 DATA.00 0. then select Torch Recov from the menu. If a file with the same name already exists on the floppy disk.00 X Y Z 01-JAN-9x 04:10 No data No data -. 2 Press the F1 (TYPE) key.DT is created on the floppy disk. Correction history data can be displayed on the teach pendant according to the procedure below.09 -.10 -. each obtained in each correction operation. The currently selected storage medium can be checked by pressing the MENUS key and then selecting 7 FILE. 4 Format the corresponding storage medium if necessary. the contact confirmation signal (search signal) to be applied when Cause: Remedy: the plate is contacted is already ON.9. Cause: Remedy: 1 Make the wire long when it is short. perform torch recovery operation again on the RECOVERY screen. 1 Press the MENUS key. Displaying and saving correction history data Each time the torch recovery program or macro is executed to carry out a torch recovery correction operation.00 0. and can be saved in ASCII format to the default device. an offset value is reflected in TCP.10 -. This history can be viewed. 2 If the torch bends too much. 6 Upon completion of saving of the data. then press F3 (SAVE). Up to 100 offset values. the message “Data file copied successfully” is displayed. UTILITIES B--81464EN--3/01 Sensor is ON before search (Before search operation. correct the torch manually so that the wire can contact the plate in correction operation.10 Date 01-JAN-9x 01-JAN-9x 01-JAN-9x 01-JAN-9x [ TYPE ] JOINT SAVE HELP * “Mastered X Y” means that the calibration has been performed in the XY direction. Then. insert the card into the PCMCIA slot in the front operation panel. motion group numbers are displayed in the G column. Sensor failed during search (The recovery fixture was not contacted. To save the data on a Memory Card.10 -.) Search operation was performed. 3 Check that the currently selected storage medium is connected. set the port to Handy F MS--DOS on the port setup screen. the search signal is ON.60 -1.20 Mastered 10 % 1/100 Z 0. DATA TorchRecovery 1 2 3 4 98 99 100 Time 04:37 04:36 04:30 04:14 X Y 3. The screen shown below appears. Check the contact confirmation signal and its connection path. 5 The message “Copying data file to floppy disk” is displayed to indicate that the data is being saved.10 .) Before search operation is started. vr F Correction history data: offsetdt.) Side view 54. These files are saved in the storage medium when the total backup or backup of an application file is performed. with respect to the world coordinate system. If a unit can satisfy the specifications below.vr 662 . Each side of the plate must match each axis of the world coordinate system. the standard settings can be used without modification.1mm 41.4mm 1 to 2 mm 41. UTILITIES B--81464EN--3/01 Torch recovery unit The figure of a typical torch recovery unit is shown below.9mm Backup data When the data is backed up on the file screen.4mm 54. World coordinate system Plate (The wire comes into contact with this plate. the unit need not have the same figure.9mm 38. A voltage a little higher than 10 volts is used for the stick detection circuit. TCP setting pin (used to set TCP) Perspective view Exploded view Z Oval hole (The plate setting angle can be adjusted.) X Y Set the torch recovery unit in a position as illustrated above. the data of the torch recovery function is saved in the storage medium under the following file names.) Top view Base block (Connect the base block with the base metal electrode via a wire. When this figure is used. So. F Setting data: main_tcp.9. use a material that is sufficiently conductive. the currently specified equipment wire is advanced. For example. 663 .Wels status screen -. The method of the controll start is written in the Arc tool manual. $AWSCFG. the control start is done again.Weld process screen -. 3 Modify the following variable in order to work the second welding equipment.Weld I/O screen -. -. 5 After defining the $AWSCFG.9. the first weld equipment can be controled. After this step. This variable determines whether the controller halts the program which uses one welding equipment in the case the alarm occurrs on the other welding equipment.Weld Schedule Data screen -. the expression “E i ” ( i is the order number of the equipment) is displayed on top of the screen. The following factors for the each equipment of its own are displayed.) If the wire feed key is pressed . UTILITIES B--81464EN--3/01 9. Automatilcaly. F Data concerning about the welding The following data concerning welding are displayed depending on the currently selected equipment number.$GLOBAL_ER = FALSE : Not to halt the program = TRUE : To halt the program. complete the procedure in order to funtion the second welding equipment referring to the operation manual and do cold start.$TOT_ARC_EQ = 2 4 Define the following variable. Procedure to set up multi equipment 1 Complete the procedure in order to funtion the first welding equipmemt according to the Arc tool manual. How to use multi equipments In the case that the multi equipments are available.OnTheFly screen F Manully controlling the wire feed ( + . turn off and on the controler. $AWSCFG. 6 After the expression about arc welding application is displayed. when “E1” is displayed on the screen.ArcTool Application Setup screen -. do cold start to work the first arc welding equipment.25 Multi Equipment Control for Arc Welding It is necessary to go through the following procedure in the case one robot controler uses two arc welding equipments. 2 Perform a controlled set up the second weld equipment. E1 JOINT 100% This expression means that the equipment number which can be currently controled by the teach pendant. -. but also at the “WELD ENBL” LED. Leave this item “TRUE” and press the F3 key “NEXT”. To change each weld equipment status. The procedure of the specification is as follows: 1 Display the program detailed screen. 2 Press F3 key “NEXT” at the program detailed screen. 3 The following “Appl process ” screen is displayed. note that the above method force the both weld equiments status to change simultaneously. press “User key 1” to display the following “TEST CYCLE Arc screen” and set up it. it is practical to make arc welding enable or disable by pushing the “SHIFT” key and “User key 1 ” at the same time. The status of each weld equipment is confrimed not only on the above screen.NEXT -- WELD ENABLE / DISALBE In the case of multi equipments. Planning and creating the program In the case of multi equipments. UTILITIES B--81464EN--3/01 To change the welding equipment. 664 . Equipment 1 Disable Enable Disable Enable Equipment 2 Disable Disable Enable Enable LED light OFF ON ON ON “ARC ESATB” LED also lights up when one of the two equipments is under welding.9. press the FCTN key and select “CHANGE EQUIP”. it is necessary to specify the equipment number on every program. Refer the following table. However. TEST CYCLE Arc JOINT 100% 1/2 1 Equipment 1 ARC enable: 2 Equipment 2 ARC enable: [ TYPE ] FALSE FALSE TOGGLE The status of the weld equipment on which the cursor positions can be changed by pressing the F5 key “TOGGLE”. WELD ENBL ARC ESTAB Note that this LED lights up when even one of the two equipmnets is enalbed. 1 2 3 4 5 6 7 8 9 0 FCTN FUNCTIONS ABORT (ALL) Disable FWD/BWD CHANGE GROUP CHANGE EQUIP RELEASE WAIT -. *. * . and that the second group robot uses the second weld equipment. It is noraml case in this situation that the first group robot uses the first weld equipment.*. * ] Appl process JOINT 100% 1/1 ARC Welding Application DATA 1 Equipment Number END PREV NEXT [1. That is. it is practical that one controller manages two robots using two weld euipment.*] Equipment[*.1.*. 1 .*.*] TRUE 665 FALSE . all arc welding instructions are done to the second weld equipment. specify the equipment number which is used on this program. Note that it is impossible for one program to call another program which has the different weld equipment number. * . Practical case PNS0001 PNS0002 Equipment 1 Equipment 2 Impractical case PNS0001 SUB1 Equipment 1 CALL SUB1 Equipment 2 Motion group and multi equipments Using multi robot control.9.*] 1 * When the program which defines the equipment number is 2 is executed. one task cannot run different equipment at the same time. the current equipment number is changed automatically. UTILITIES B--81464EN--3/01 Appl process JOINT 100% 1/1 1 ARC Weld END PREV TRUE NEXT TRUE FALSE 4 The following “ARC Welding Application DATA” is displayed.Therefore it is sometimes desired that when the group is changed . * .*. The following procedure enabls to assign the weld equipment automatically accoding to the current selected group.*. In the case to specify the first equipment : [ 1. * ] In the case to specify the second equipment : [ *.*. * . * . SYSTEM Coupling ARC Welding Group/Equipment Coupling: 1 Group1 2 Group2 JOINT 100% 1/4 FALSE Equipment[1. At this screen.*. For example.Weld equipment 1 Group2 (ROBOT 2) ---. Position the cursor on the Group and input the number of the objective group. 2 When the “Group / Equipment Coupling ” is FALSE.NEXT -- JOG MENU Press the “SHIFT” key and “COORD” key at the same time to display the jog menu. How to chgane the motion group To change the current motion group. Group1 (ROBOT 1) ---. positon the cursor to [1] or [*] and press the function key F4 for [1] or F5 for [*].Weld equipment 2 That is. FCTN menu Press “FCTN” key to display supplementary menu.9. 3 To modify the combination of the motion group and the weld equipment number. the above table means that first group is assigned to Group1 and that second group is assigned Group2. UTILITIES B--81464EN--3/01 1 Set the “Group / Equipment Coupling” TRUE to assign the specified equipment to each group. 1 2 3 4 5 6 7 8 9 0 FCTN FUNCTIONS ABORT (ALL) Disable FWD/BWD CHANGE GROUP CHANGE EQUIP RELEASE WAIT -. press the “CHANGE GROUP” at the FCTN menu or specify the group number at the jog menu. the selected equipment number is automatically changed according to the selected motion group. The selected motion group number is increased by every pressing this “CHANG GROUP” key. Appl process Tool Jog User Group 666 JOINT 100% 1 0 0 1 . when changing the group by the FCTN menu or jog menu. this coupling is released. the displayed schedule data is for equipment 1.1.1 Overview For the use of mutiple weld equipments on a robot controller. when it is the use of the double torch for the purpose of thick plate or high speed welding.0 9 0.*] [TYPE] 1 667 * . DATA Arc sync E1 Synchronization data 1 EQ for sync JOINT 100% 1/1 [*. when two robots weld a work located on a rotated positioner.26 ARC START Synchronization for Arc Multi--equipment Configutarion 9. another robot cannot weld so well.0 0. the weld quailty is reduced. If the positioner starts to rotate when one robot generate to weld.You must set the data for synchronization between multiple weld equipment.2 Setup This fuction works under the following conditon.*] [TYPE] 1 * NOTE Currently twe weld equipments are only supported.0 DETAIL 0 ADVISE SYNCDT HELP> 2 Press F4 SYNCDT then the screen similar to the following is displayed.*.*.*. after the both robot generate the arc the positioner must start to rotate. The equipment number for this screen is displayed as “E1” or “E2” on the reversed line DATA Weld shced 1 2 3 Volts 0. For example. At ARC START timing both weld equipment need to generate the arc at the same time. For example.0 0. -. This functionality is available only when multi--equipment function(A05B--2400--J617) is ordered.26. This data can be set from the arc welding schedule data screen. Because the relative angle between the torch and work changes or the absolute torch posture changes.*. Weld schedule data screen 1 Select Weld schedule data screen.0 Amps 0. DATA Arc sync E1 Synchronization data 1 EQ for sync JOINT 100% 1/1 [*. For other example.0 0. the synchronization of ARC START between these weld equipments is sometimes required. UTILITIES B--81464EN--3/01 9. you must set “1” to the second column by pressing F4 key.9. each torch is connected to a weld equipment. 3 Set “1” to the location of equipment to be synchronized. This functionality provides the synchronization of ARC START timing between multiple weld equipments automatically only if the synchronization data is set by the user. If you want to synchronize the equipment 1 with the equipment 2.*.26.0 0.0 E1 cm/min 0 0 0 JOINT 100% 1/32 Comment : [TYPE] 0. 9. F For the synchronization sequence. the synchronization data of equipment 1 for the equipment 2 is set. EQ1 EQ2 ( object equipment ) Synchronization data for EQ1: [ *. But the ARC START for equipment 2 is not success and the arc doesn’t generate. you should set the synchronization data as follows. F The arc detection time in weld equipment setup screen should be same for both weld equipment. ARC START for equiment 1 is synchronized with ARC START for equiment 2. In the above example.*. If you want to synchronize the equipment 2 with the equipment 1. the displayed schedule data is for equipment 2. if the arc detection input signal of the object weld equipment is not turned on. The screen similar to the following is displayed. By this setting.$GLOBAL_ER to TRUE at the system variable screen in controlled start level. at first change the euipment number by pressing CHANGE EQUIPMENT in FCTN menu. Synchronization data for EQ2: [ 1.26.*. if ARC START of Equipment 1 should be synchronized with ARC START of Equipment 2 and ARC START of Equipment 2 should be synchronized with ARC START of Equipment 1. 668 . *. ARC START for equipment 1 is success and the arc generates. F *] *] The synchronization for the first ARC START is only available. *.3 Specification & Limitation Specification & limitation F For example.*. UTILITIES B--81464EN--3/01 4 Change the equipment number. the alarm “Arc Start failed” occurs for both weld equipent control. At that time. 1 L P[1] 500mm/sec FINE ARC START[1] Do synchronize 2 L P[2] 100cm/min CNT100 ARC START[2] Do not synchronize 3 L P[3] 100cm/min FINE ARC END[32] The ARC START[1] on the first line is the first ARC START and the ARC START[2] on the second line is for the change of weld schedule. the alarm “Arc start failed” occurs for both weld equipment control.*] [TYPE] 1 * By the above setting. The opposite is same. You must set the synchronization data of equipment 2 for the equipment 1. that is the non arc generation. when the alarm related to arc welding for the equipment 1 occurs. F The RUNIN schedule data is used as the weld schedule until the detection of arc generation. *. 6 Set $AWSCFG. For example. 1.*. That means. To do that. And ARC START for equiment 2 is synchronized with ARC START for equiment 1. DATA Arc sync E2 Synchronization data 1 EQ for sync JOINT 100% 1/1 [*. the arc weld control for equipment 2 is also paused. *. This functionality can prevent that the bead size at ARC START point becomes to be big.9.*. *.*. F The scratch start is automatically disabled. DATA Arc sync E2 Synchronization data 1 EQ for sync JOINT 100% 1/1 [1. the synchronization for the ARC START to change the weld schedule is not available.*] [TYPE] 1 * 5 Set “1” to the location of equipment to be synchronized. So we recommend to set the lower weld condition to RUNIN schedule data. 9. you must set “1” to the first column by pressing F4 key. For example. A B AS AE EQ1 AS AE EQ2 The program is paused at the timing A then when the program is restarted. 9. the synchronization between ARC START for EQ1 and EQ2 is perfomed. F When $AWCKMSPRG is TURE. UTILITIES B--81464EN--3/01 F For the resume of arc welding sequence after pausing the program during the welding. If the distance between the current position and the paused position differ between robot1 and robot2. the synchronization is perfomed only in Master/Slave program for Robot link function. as illustrated above. In this case. both arc welding of equipment 1 and 2 starts at the same time and the arc welding of equipment 2 finished earlier than the arc welding of equipment 1.9. create a program as described below. because the arc welding for the shorter distance generates eariler than that for the longer distance. the time to return to the paused position also differs. The program is paused at the timing B then when the program is restarted. F When the robot current position is far away from the position when the program is paused. after the robot is returned to the paused position the program should be restarted. In this example. For example. To end the welding at the same time. the synchronization is not performed even when the synchronization data of ARC START is defined. This system variables is TRUE only when Dual robot arc functionality is ordered.4 Sample Application Sample application Torch To carry out synchronized welding by two torches of a single robot. 669 . If the program is Normal program. when the robot current position is far away from the position when the program is paused. the bead size at ARC START point becomes to be larger than usual. the original path resume motion works at the program restart. the synchronization is not performed because the arc welding of EQ2 has already done. this function starts synchronized welding. For example. if the object equipment resumes the arc welding. a value is set in registers. the synchronization is performed.26. UTILITIES B--81464EN--3/01 WELD1.TP (Equipment2) Motion group mask [1.*.*] : 1: ARC START[1] : 2: WAIT R[1]=1 7: R[1]=0 3: ARC END[2] 8: RUN WELD2 9: ARC START[1] 10: L P[4] 50cm/min CONT 100 : 13: L P[7] 50cm/min FINE Synchronized by the synchronization function 14: R[1]=1 15: ARC END[2] : Welding ended at the same time by setting a value in the registers : 670 .*.TP (Equipment1) WELD2.9.*.*] Motion group mask [*.*.*.*. when the current condition is defined to 200A.27.27. This analog output conversion factor is composed of linear approximation by two points. wire diameter. to match the interface for the weld supply.9.1 Summary When voltage condition and current condition are commanded with analog output signals from Robot controller to weld supply. individual difference of weld supply. When there is many difference between the commanded weld condition and the measured value from the meter on the front of weld power supply. material Concretely a weld supply has the interface from 0V to 14V. For example. difference of individual. Concretely the interface of a weld supply is from 0V to 14V. multiple analog output factor conversion data is required for one weld supply. This factor should be changed for kind of weld supply.2 Operation procedure 1 Perform a controlled start. Select the weld power supply to use in the application setup screen then do cold start. 2 Do the test weld. At this calculation the analog output conversion factor we called is used. when the current condition is 200A. length of weld power cable and so on. The test welding must be performed with the adequate interval of weld condition then the actual volage command( 0. B) Definition of multiple table for analog output conversion factor Recently the weld supply has the multiple characteristic and they can be changed. it is possible to modify the analog output conversion factor data. 1234567890123456789012345678901234567890 Weld AO Factor JOINT 100% 1/ 5 Selected weldAO factor No.14V ). the calculation for the conversion is performed. The purpose of them is “More accurate” and “More flexibility”.. for example. By this choice. the analog output conversion factor by 2 points is defined. This analog output conversion factor is changed by kind of weld supply.: 1 Comment 1 2 3 4 5 [ [ [ [ [ ] ] ] ] ] [ TYPE ] DETAIL CHANGE 671 Done Setup Done Done NotYet NotYet NotYet NotYet . In such a weld supply. wire diameter.27 Adjustment of Analog Output Conversation Factor by Multiple Points 9. A) Touch--up functionality of analog output conversion factor by up--to 6points The difference of the analog output conversion factor described above can be modified by input the result of test welding( from 2 points up--to 6points ). This functionality provides the multiple data table of analog output factor conversion described in the above item A then it is possible to change the data table number to use.. display the “Weld AO factor screen” by the following procedure. UTILITIES B--81464EN--3/01 9. The “Analog output conversion factor” is used for the conversion.14V in the above example ) and the measured value on the front of weld supply are entered to the specific screen for this function. 9. it should be converted with the range from 0V to 14V. MENU → 5 I/O → “WeldAOFactor” The screen similar to the following is displayed. The functionalities this document describes are as follows. the 200A must be converted to the actual voltage range( 0. By changing the characteristic the analog output conversion factor must be changed for it. Robot controller has the weld supply file for popular weld supply and the analog output conversion factor under the range to use common weld condition is defined to the weld supply file. By this factor it is possible to weld basically. In this screen. material. F It is possible to change the analog output conversion factor data table by pressing F3 CHANGE key then enter the number.0] [ 0. In this screen. 1234567890123456789012345678901234567890 Weld AO Factor JOINT 100% 1/ 6 AO factor table[ 1] AO[ 1][Voltage 1 2 3 4 5 6 ] VoltageCMD:V [ 0. then press F4 “Done”. the status of setup is from “Done” to “NotYet”. the analog output conversion factor data by two points( defalut ) is used.0] DEFAULT The specification of this screen is as follows. by entering the data of “Actual voltage” and “Measured data” up--to 6points. the data by two points( default ) is defined. the analog conversion factor data can be modified and defined. When it is zero. F Go to the detail screen to modify the data by pressing F2 key.00] [ 0.00] [ 0. F It is possible to enter the comment for the analog output conversion factor data. the message of “Press SHIFT key together” is displayed.00] [ TYPE ] INIT Measured:V [ 0. When the SHIFT key is not pressed together. It is impossible to change it to the data table with “NotYet” then the selected number is returned to the previous data.00] [ 0. F The current selected data table number is displayed on the upward of the teachpendant screen. 1234567890123456789012345678901234567890 Weld AO Factor Analog 1 AO[ 2 AO[ 3 AO[ JOINT 100% 1/ 3 output 1] [Voltage 2] [Current 2] [Wire inch [ TYPE ] ] ] ] DETAIL The specification of this screen is as follows. In this screen. F Only when $AWAOFACTENB is TRUE. 4 Move the cursor to the item to be changed then press F2 DETAIL. This is the linear approximation by two points. Please re--change the status of setup to “Done” after the changing.0] [ 0.00] [ 0. Put the cursor on the column of comment then press the enter key to edit the comment. F Five analog output conversion factor data table can be defined.00] [ 0. 3 Press F2 DETAIL key then the screen similar to the following screen is displayed. The following screen is displayed.9. F In this screen. This means the completion of the setup. the alarm occurs and the welding is impossible. select the analog output signal item to be modified. the list of analog output item that can be changed is displayed. If the data is changed. UTILITIES B--81464EN--3/01 The specification of this screen is as follows. F When the welding is performed with the status of “NotYet”.0] [ 0. It is impossible to change the analog input conversion factor.0] [ 0. this screen is displayed. F This screen is the list level screen to display/modify the analog output conversion factor data. F When F3 DEFAULT is pressed with SHIFT key. F After the setup of the analog output conversion factor data is completed. F The analog output conversion factor can be only changed.0] [ 0. 672 . it is impossible to change the data. When the SHIFT key is not pressed together. As the update cycle of the screen maybe long. When the value is decreased. UTILITIES B--81464EN--3/01 F When F2 INIT is pressed with SHIFT key. When it is changed.0( 0. Display the weld status screen then perform the test weld for the required trial number. Please changed it to “Done”. F When the data is changed. the message of “Can’t change it during welding” is displayed.0( 0. the message of “Press SHIFT key together” is displayed. 5 The value of left column “VoltageCMD” in the above screen is same with the value displayed in ( **** ) on the weld status screen.00)Amps 0. they are not displayed. F When all of data is not used. please do the test welding for more than 2 second. F Enter value so that the value is increased. When it is FALSE. F During welding. the status of setup is returned to “NotYet”. all of data is initialized to zero value. The values in (****) are displayed only when $AWAOFACTENB is TRUE. 1234567890123456789012345678901234567890 STATUS Weld JOINT 100% COMMAND FEEDBACK 0. for example it is only four data. The data before this data is used as the conversion factor data.0( 0.00)Volts 0.00)cm/min *****(*****) Arc enable : Arc detect : Arc on time : [ TYPE ] OFF OFF 0: RESET 673 0: 0 H:M:S HELP . the fifth data should be zero. The data before zero value is used as the conversion factor data. Record the data for the test welding then enter them to the above screen.00)Amps 0.00)Volts 0.9.0( 0. the available data is terminated.0( 0. If run--in is disabled.28..21. run--in. for reference purposes. 674 . Specified value If run--in is disabled Welding starts in accordance with welding schedule 1. When this system variable setting is changed..1 Function Overview The welding parameter grade function gradually increases or decreases welding schedule parameters (voltage. etc. the function gradually increases or decreases the analog voltage output value which the arc tool software outputs to the welder. Value specified in welding schedule 1 If run--in is enabled The value of run--in schedule changes to the value of welding schedule 1. crater prevention.2--1 [.2--1 instruction specified at the beginning of welding as well as with the #9.21..3(b). 9. 9.0sec] format) The grade function can be specified with the first #9.2 Setup The welding parameter grade function can be set up by specifying a grading time in a welding schedule in the #9.2--2 instruction.2--1 instruction (in the #9.2--1 instruction specified when changing the welding schedule.21. F Setting up in a welding schedule (specifying the processing time) F Setting up in the #9. 9.28. The welding parameter grade function can be enabled or disabled by the system variable $AWERAMP. The welding parameter grade function can be applied to each analog output parameter of the welding schedule. over a specified period of time.2--2 instruction is used as the crater prevention time. current.21. Then.9.2--1 instruction at the beginning of welding.28.21. welding starts in accordance with the welding schedule specified as a run--in schedule (on the process schedule screen). turn off and on the power to the robot control unit. welding starts in accordance with the specified welding schedule.) at a specified rate when the welding schedule is switched. . the welding schedule changes accordingly. a welding schedule parameter can be smoothly changed.3(a) Specifying grading at the beginning of welding F Robot operation at the beginning of welding The system variable $AWERAMP.3 Notes on Use This section gives instructions for using the welding parameter grade function. For instance.. NOTE This function does not work while the gas purge operation. With this function.$RAMP_HOLD specifies whether the program or robot operation stops while grading is being executed by the #9.28 Welding Parameter Grade Function 9. F Setting up grading at the beginning of welding If run--in is enabled.21. Value specified in run--in schedule Time Fig. Grading is not performed at the beginning of welding. post--processing. See Fig. The following setup methods are available.$RAMP_ENABLE (the default value is FALSE (disabled)). The time specified in the #9. 9.. or weld release operation is in progress.21. 1.2--1 instruction. the function can gradually increase a parameter while gradually decreasing another parameter. 9..21.28. More specifically.21. See Fig.21. The function can be applied to multiple parameters. UTILITIES B--81464EN--3/01 9. The function cannot be specified with the #9.3(a). See Figs.2--2 instruction is specified.3(d). and no grading is performed. specify the #9. 9.00 3. 9.21. 9.00 . at the end of welding.0 21.0 Feed speed Processing time (IPM) (sec) 250 150 Postprocessing 250 150 Time(sec) Fig. The robot starts operating after the parameter reaches the value specified in the welding schedule. The time specified in the #9.3(b) Robot operation at the beginning of welding F Setting up grading at the end of welding To gradually decrease the value of a welding schedule parameter at the end of welding.3(c) and 9. If the #9.21. Welding schedule 3 4 Feed speed (IPM) Crater prevention Voltage (Volts) 21.21.21.2--1 instruction with the welding schedule in which a smaller value is specified.21.3(c) Normal operation at the end of welding 675 3.28. UTILITIES B--81464EN--3/01 Robot operation Specified value Purge $RAMP_HOLD :FALSE (default) $RAMP_HOLD :TRUE The robot starts operating after run--in is completed. the welding ends with the normal processing.2--2 instruction is used as the crater prevention time.28.9. Run--in Time Fig. welding is carried out in accordance with the welding schedule which was used until the alarm was issued.28. the program or robot operation is carried out in the same way as when welding starts. If this occurs.0 250 150 150 3.3--1 instruction. use the #9. the welding fine--tune function is temporarily disabled.21.21. welding is resumed in accordance with the run--in schedule if run--in is enabled. 9. 250 150 0 1 2 3 Time(sec) Fig.2--1 instruction may be executed while a welding parameter is grading. UTILITIES B--81464EN--3/01 Welding schedule 3 4 5 Feed speed (IPM) Voltage (Volts) Feed speed Processing time (IPM) (sec) 21. the grading stops. grading from the run--in schedule to the specified welding schedule is performed.0 21. 9.00 3.3--1 instruction.3(d) Grading at the end of welding F Robot/program operation during grading The program or robot operation continues while the grading of a welding parameter is in progress as specified by this function (except for the operation at the beginning of welding while $RAMP_HOLD is held TRUE). After the run--in is completed. use the #9.4 Operation at Recovery from Alarm At recovery from an alarm issued during welding. Alternatively.28. F When another #9.9. 9. Changes in the welding parameter brought about by the function can be viewed on the welding fine--tune screen. another #9. a warning message appears. If this operation is attempted. allow sufficient time before the next motion instruction. If the grading time is specified in the welding schedule.5 Using the Welding Fine--Tune Function Concurrently While the grading of a welding parameter is being performed as specified by this function. To stop the operation during grading.28. To avoid this stop of grading.28.00 3. This stop presents no problem and can be used in programming. Grading should not be executed while the arc sensor tracking is in progress.00 Crater prevention Postprocessing A teach point and welding schedule are added to gradually change the parameter to the specified value at the end of welding.21.0 21. Meanwhile.21.2--1 instruction is executed before grading by this function ends Because the program or robot operation does not stop during grading by this function. 676 .6 Using the Arc Sensor Concurrently If the grading of a welding parameter by this function is attempted during arc sensor tracking. the arc sensor does not function correctly. 9. but the welding parameter cannot be increased or decreased by pressing a function key. UTILITIES B--81464EN--3/01 9.00 Crater Postpro.2--1 [3]). voltage.0 21.7--1 [2] to #9.0 21.0 Run--in 2 3 4 Feed speed Processing time (IPM) (sec) 200 2. 3 In this example.21.21.7. above is completed two seconds before #9.7--1 [3]. to 300 IPM.7--1 [2].21. In the fourth line. the wire feed speed starts increasing from #9.7--1 [5].21.21.21.21.7 Sample application 677 3 4 5 Time(sec) .21. 5 The grading of 4. The target wire feed speed.28.2--1 [2] in the second line. the welding schedule changes (#9. where the wire feed speed starts decreasing.28. 2 The wire feed speed continues to increase for three seconds during the motion from #9.00 100 3. which is specified in the run--in schedule.Welding prevention cessing detected Feed speed Gas purge Run--in 300 200 100 0 0 1 2 3 4 5 0 1 2 Fig.9.7 Sample Application In the example shown in Fig.00 250 3. the following operation is performed: 1 After run--in. which is specified in welding schedule 2.0 21. 4 The value of the wire feed speed decreases over a period of three seconds during the motion to #9. 9.7--1 [5] is reached. in accordance with #9.00 300 3.7--1 [3] is performed over a period of five seconds. 9. The wire feed speed linearly increases from 200 IPM. Welding schedule Voltage (Volts) 21. the motion to #9.21. and grading period are specified in welding schedule 2. 1--1 screen. the welder program used for the welding schedule can be specified. Some units allow the program to be switched during welding.22.9.1--1 screen. When a welder program is selected on the screen.29.3 shows an example of selecting a welder program by the program select output signals.22.3 Welder program numbers Welder program number Combination of program select output signals Signal 1 Signal 2 Signal 3 OFF OFF OFF 2 ON OFF OFF 3 OFF ON OFF 4 ON ON OFF 5 OFF OFF ON 6 ON OFF ON 7 OFF ON ON 8 ON ON ON 1 Fig. which can be switched by a digital signal input.22. These three digital output signals give the welder a direction specifying the welder program to be selected.29 Welder Program Select Function 9. On the #9. sequence setting. eight different welder programs can be selected. On the #9.1 Function Overview Some welders contain programs (mode setting. database. $AWEPCR. When welding is performed in accordance with the welding schedule. the currently selected welder program can be checked. 678 . etc. F With the program select output signals. eight different welder programs are displayed. (The function of the welder program depends on the welder.3 shows the relationship between the eight welder programs and combinations of the on/off statuses of the digital output signals.29.29.22. the program select output signals are set accordingly. F Three digital output signals are assigned as program select output signals. 9.1--2 screen. A welder program is selected in accordance with the combination of the on/off statuses of the three digital output signals.$PRG_SEL_ENA. F The welder program select function is enabled or disabled by setting the corresponding system variable. F When specifying a welding schedule. This function has the following features. three digital output signals must be assigned as program select output signals. UTILITIES B--81464EN--3/01 9. the program select output signals are set in accordance with the selected welder program.22. Table 9. a welder program name can be specified. The welder program can also be switched on the screen. 9. F On the #9.$PRG_SEL_ENA = TRUE: =FALSE: Enabled Disabled (default) 9.3 Assigning Welder Program Select Output Signals To use the welder program select function.2 Enabling or Disabling the Function The welder program select function is enabled or disabled by setting the system variable $AWEPCR.).29.) The welder program select function is used to switch an internal program of the welder from the robot control unit. Table 9. 9. 2 Select the I/O screen. UTILITIES B--81464EN--3/01 Robot control unit Welder Process I/O board Signal 1 Program Signal 2 select output Signal 3 Program select input Timing chart Program 1 Program 2 Program select output signal 1 Program select output signal 2 Program select output signal 3 Fig.29. 7 Place the cursor on the signal type field.3--1.22.22.3--2. The screen appears.3--3. then press F3 #9. 5 The screen appears. as shown below. as shown below. Place the cursor on the line of the program select output signal to be assigned. then select #9. 6 Press the F--> key. 679 . then select a signal number. 3 Press F1 #9. 8 Place the cursor on the signal number field. 9. then select a signal type.3 Example of selecting a welder program Any types of digital output signals available can be assigned as program select output signals. 4 Press F3 IN/OUT to switch the screen to the welding output signal screen.22. Procedure for assigning welder program select output signals 1 Press the MENUS key. the welder program to be used can be specified for each welding schedule. eight welder programs are displayed.22.29. then select #9. The screen appears. When the digital output signal is assigned. The program is selected. the program select output signals are set accordingly. The digital output signal is assigned.3--5. 10 Repeat steps 5 to 9 to assign the remaining two program select output signals. On this screen. 680 .5 Setting a Welder Program in a Welding Schedule With the welder program select function. 2 Press F1 #9. When the program is selected. 9. as shown below.22.4--3.4--2. 9.22. as shown below.22. F Selecting a welder program (The program select output signals are set in accordance with the selected welder program. See Fig. 3 Place the cursor on the line of a desired program. the following operations can be performed.4 Selecting a Welder Program On the #9.5--1 screen. Procedure 1 Press the MENUS key.3--4 key or F2 #9. place the cursor on the line of a desired program.22. 9.9. 4 When editing a program name.1--1 screen.5. The welder program to be used can be specified on the #9.22.29. UTILITIES B--81464EN--3/01 9 Press the #9. the screen appears. then select the setup screen.) F Editing a welder program name Procedure for selecting a welder program Condition J The three program select output signals have already been assigned.4--1. then press ENTER.22.22. then press F3 #9. 9. 9. then enter a desired welder program number. 681 . place the cursor on the welder program number field.29.5 Welding schedule screen On the welding schedule screen. the program name selected on the #9. The welder program name cannot be edited on this screen.22. UTILITIES B--81464EN--3/01 Fig.1--1 screen appears. the welder program specified in the welding schedule is selected. If the welder program number changes. In actual welding. 3. Aluminum F Recovery from alarms of ’Pulse mismatch’. F Normal inching ’WIRE+’ / ’WIRE--’ keys on a teach pendant are used for advancing/retracting wire as well as an ordinary wire feeder. 9.0. For Servo Torch axes(Group:0). wire inching is stopped immediately.062 and 063).3. 9.1. Wire feeding by a servo motor always you to stabilize actual wire feed speed during welding and to avoid influence of disturbance such as a bend of conduit tube by robot motion.2mm.30 Servo Torch Control Function 9.1.1.30.30.1.2 Wire inching Two wire inching modes are available for Servo Torch.1 Arc welding instruction Ordinary arc welding instruction is used with ordinary usage for arc welding. UTILITIES B--81464EN--3/01 9.3 Detail of Servo Torch control function 9. 9. The length to stop inching is specified in Servo Torch setup screen. F Wire type This function supports following types of welding wire Wire diameter: 0. Steel(flux cored).4mm. extended axes.9mm.30.1 Outline of Servo Torch control function The Servo Torch is a mechanism which feeds welding wire by a servo motor.0mm. wire inching is stopped automatically. When wire inching is continued and wire is inched by specified length.6mm. 682 .8mm. line tracking axes). Amps’. Servo Torch control function is a function which controls the Servo Torch. And. Example 1) 6 axes robot + Servo Torch * 1 Hardware axes Axis type 1~6 Robot axes 7 Servo Torch axis Example 2) 6 axes robot + Extended axis(or NOBOT or Positioner) * 1 + Servo Torch * 1 F Hardware axes Axis type 1~6 Robot axes 7 Extended axis 8 Servo Torch axis Weld process This function supports MIG weld process and the process control method of ’Volts. This also enables high speed wire feeding.0.30. These modes are selected in Servo Torch setup screen. F Constant inching ’WIRE+’ / ’WIRE--’ keys on a teach pendant are used for advancing/retracting wire as well as an ordinary wire feeder.9. If the keys are released before wire is inched by specified length. ’BZAL’ and ’RCAL’ ( SRVO--038.2 Attention and Limitation F Configuration of axes Servo Torch axes must be installed after regular axes (robot axes.$SPC_RESET to TRUE and cycle power. the index of hardware start axis must be an odd number. set sysvars of $IS_MCR.6mm Wire material: Steel.30. UTILITIES B--81464EN--3/01 9. If E--stop is performed during air purge. if the signal is assigned to RO[2]. Air purge function behaves as following.5sec. F When Servo Torch is stopped and specified time (post flow time. post flow is not executed and air purge is stopped immediately. a comment of ’SVTorch air purge’ is added for the signal in I/O screen. select ’Robot’. 683 ON OFF . F Servo Torch control function is enabled. If the status of the signal is ’ON’. Air purge function is available. 3 If the displayed screen is an input signal screen. 4 Move the cursor to the air purge control signal and press F4. F Starts air purge at the start of Servo Torch operation.’OFF’ to switch the status of the signal. I/O’. F Air purge function is enabled. Air purge can be executed manually in I/O screen by switching the status of the signal which is assigned as the air purge control signal. F Setup Servo Torch axes F Setup in weld equipment setup screen F Setup in Servo Torch setup screen This section describes the details of these procedures.9. For example. air purge is executed.’IN/OUT’ to switch the screen into an output signal screen. 2 Press F1.30. Following example is the case that RO[2] is assigned as the air purge control signal.4 Setup for Servo Torch Following procedures are required in order to use Servo Torch. press F3.3 Air purge function If the air purge option is attached to Servo Torch. air purge is stopped.) has been passed. Procedure Manual execution of air purge Condition F The air purge option is attached to Servo Torch.30.’ON’ or F5.3. When a RO or a DO is assigned as the air purge signal. Air purge function removes dust in wire feed mechanism of Servo Torch by blowing high--pressured air. default:0. I/O Robot Out RO[ RO[ RO[ RO[ RO[ RO[ RO[ RO[ # 1] 2] 3] 4] 5] 6] 7] 8] [TYPE] JOINT 10% 2/8 STATUS OFF OFF OFF OFF OFF OFF OFF OFF DETAIL [ ] [SVTorch air purge ] [ ] [ ] [ ] [ ] [ ] [ ] IN/OUT 9. air purge is stopped.TYPE and select corresponding screen to the type of the air purge control signal. If the status of the signal is ’OFF’. Air purge is executed not only at welding but also at inching. Procedure 1 Press MENU key and selelct ’5. Similar screen as following is displayed. Enter hardware axis index of the 1st Servo Torch axis.30.4.1 Setup Servo Torch axes You can setup Servo Torch axes in MAINTENANCE screen at controlled start status. Setup Robot Group 1 0 [Type] System Variables Robot S-430iF ServoTorch ORD_NO Library /Option Floor Mnt AUTO Ext Axs 0 0 MANUAL 3 Press F4.1 The description of the item for Servo Torch axes setup Item Description Number of axes Hardware start axis Amp number Procedure Enter number of Servo Torch axes.2)? 5 Enter the index of hardware start axis of Servo Torch axes. 2) 6 axes robot + Ext Axs * 1 + Servo Torch * 1 : set 8 Enter amp number for each Servo Torch axis. Enter amp number (axis: 1)?: 684 . The descriptions of the item to set are as following. 2) 6 axes robot + Ext Axs * 1 + Servo Torch * 1 : set 3 Setup Servo Torch axes Procedure 1 Perform a controlled start. 2 Press the MENUS key and select ’9. MAINTENANCE’. Ex.9.’MANUAL’. Ex. ------. Select ’1. 1) 6 axes robot + Servo Torch * 1 : set 2 Ex. Similar screen as following is displayed. Normal setup’. UTILITIES B--81464EN--3/01 9. Enter number of axes (1 .Setup Servo Torch axis ------Select Setup type 0: Exit 1: Normal setup 2: Direct ISDT setup Setup type? 4 Enter number of Servo Torch axes. 1) 6 axes robot + Servo Torch * 1 : set 7 Ex. Enter hardware start axis (this must be an odd number)?: 6 Enter amp number for each Servo Torch axis. Table 9. Please refer attention in Chapter 2 for setup.4.30. Similar screen as following is displayed.4. Servo Torch Servo Torch setup screen is entered by pressing ENTER key with the cursor located at ’DETAIL’ of this item.4. 9. the main screen of MAINTENANCE screen is displayed.2 mm 2 Wire material: Steel 3 Wire feed speed units: cm/min 4 WIRE+ WIRE. Setup Robot Group 1 0 System Variables Robot S-430iF ServoTorch [Type] ORD_NO Library /Option Floor Mnt AUTO Ext Axs 0 1 MANUAL * If you want to delete Servo Torch axes.2 Description of the items related with Servo Torch in Weld equipment setup screen Description Item Wire size Specifies diameter of welding wire.2 Welder: Process: MIG Feeder: **************** 1 Wire size: 1.speed: 50 cm/min 5 Feed forward/backward: DISABLED 6 Wire stick reset: ENABLED 7 Wire stick reset tries: 3 8 Servo Torch( ENABLED ): <*DETAIL*> Timing: 9 Arc start error time: 2. 685 . Press F4. Confirm that the value of ’Ext Axs’ in the line of ’ServoTorch’ is equal to the number of Servo Torch axes you set. Servo Torch setup screen is entered from this screen.’CHOICE’ and select items from displayed choices. Direct ISDT setup’ in procedure 3. 2 Press F1. Delete proc axis’.30. SETUP’. UTILITIES B--81464EN--3/01 7 After a few moments.TYPE and select ’Weld Equip’.30. Wire material Specifies material of welding wire. SETUP weld Equip JOINT 10% 8/13 DAIDEN 350UR/Fe1. NOTE Please set correct wire type.2 Setup in Weld equipment setup screen Wire type can be set in Weld equipment setup screen.00 sec [ TYPE ] 3 Move the cursor to the item of ’Wire size’ or ’Wire material’. Procedure Setup in Weld equipment setup screen Procedure 1 Press MENU key and select ’6. select ’2. Cycling power is required to enable change. The following example is the case that 1 Servo Torch axis is set. Table 9. Descriptions of the items related with Servo Torch are as following. Otherwise correct wire feed speed is not issued at welding and welding is not performed correctly.9. Then select ’3. Cycling power is required to enable change. 30. 5 The status ’ENABLED’ or ’DISABLED’ of Servo Torch control function is displayed. Unit: sec NOTE When Servo Torch control function is disabled. Servo Torch axes are set as the axes of Group 0. gas start signal is always set to WO[2] for weld equipment 1. Servo Torch control function is disabled. 9.1~RO[1]. Wire inching mode Specifies wire inching mode. Default: Weld Eq.4. If the index is set to 0.4. Please change this configuration only when the wiring of the signal which controls the solenoidal valve for air purge is different from standard specification. 2 Press F1.2~RO[9] Air purge function Enable/Disable air purge function Air purge signal Specifies configuration of air purge signal. gas start signal is set to WO[10] at that case. ServoTorch axis index Specifies axis index of process axis for Servo Torch axis for current equipment. Weld Eq. Press PREV key to return to weld equipment setup screen. If the status is changed in Servo Torch setup screen. UTILITIES B--81464EN--3/01 4 If move the cursor to ’DETAIL’ of the line of ’Servo Torch’ and press ENTER key. Weld Eq. There is no need to change this configuration for usual case. There is no need to change this configuration for usual case. For weld equipment 2. this status become effective after cycling power. this signal is used for gas start signal. 686 . Cycling power is required to enable changes. Unit: mm Gas start signal Specifies configuration of gas start signal for Servo Torch.1~RO[2]. Inch length Specifies length to inch for constant inching mode.30. The axis index to be specified is the index number of the axis in Group 0.TYPE and select ’Weld Equip’ from the menu. Cycling power is required to enable changes. Table 9. Similar screen as following is displayed. Descriptions of the items in this screen are as following.9. Servo Torch setup screen is displayed.3 Servo Torch setup screen This screen is entered from Weld equipment setup screen. Procedure Setup in Servo Torch setup screen 1 Press the MENUS key and select ’6.3 Description of items in Servo Torch setup screen Description Item ServoTorch function Enable/Disable Servo Torch control function. When Servo Torch control function is enabled. Default: Weld Eq. SETUP’.2~RO[10] Post flow time Specifies time between stopping Servo Torch and stopping air purge. 3 Move the cursor to ’DETAIL’ in the line of ’Servo Torch’ and press ENTER key. Please change this configuration only when the wiring of the signal which controls the solenoidal valve for welding gas is different from standard specification. 9. 687 1] DISABLE .50sec purge setup Air purge function: Air purge signal: Post flow time: [TYPE] ENABLE 4 Setup each items. 5 Press PREV key to return to Weld equipment setup screen. UTILITIES B--81464EN--3/01 SETUP Weld Equip JOINT 10% 1/8 Servo Torch setup 1 ServoTorch function: 2 ServoTorch axis index: 3 Wire inching mode: 4 Inch length: DISABLE 0 NORMAL 15.0 mm Welding gas 5 Gas start signal: RO[ Air 6 7 8 DISABLE RO[ 2] 0. Up to six combinations of a welding current and corresponding wire feed speed can be entered.31 Servo Torch Fine Adjustment Function of Wire Velocity Commands The servo torch control function calculates the required feed speed using given welding condition values and sends a velocity command to the servo torch. The following describes the items and function keys on the Wire feed speed conversion/six points touchup screen. To adjust the speed conversion factors using the 6--points touchup method. execute a welding program according to several types of welding conditions and enter the wire feed speed and welding current value during welding according to each welding condition.31. you can adjust the conversion factors for calculating the feed speed to make the correspondence between the welding conditions and wire feed speeds more precise. UTILITIES B--81464EN--3/01 9. this function calculates the optimum speed conversion factors using these measured values. 688 . -.9.Direct setting Directly enter a conversion factor manually. The following two adjustment methods are available: -. If an actual welding condition value greatly differs from the specified welding condition value during actual welding work. 9. use the Wire feed speed conversion/six points touchup screen.1 Six--Points Touchup Enter the welding currents flowing during welding and corresponding wire feed speed data to set the optimum conversion factors using these measured values.Six--points touchup Perform welding and enter the actual welding currents flowing during welding and wire feed speed data to set the optimum conversion factors using these measured values. In ordinary cases. After several combinations of a welding current value and corresponding wire feed speed data are entered. You can also press F5 “CAPTURE” to fetch the wire feed speed at that time (described later). Feedback current You can enter a welding current. Monitor Indicates the current wire feed speed. this item indicates that measured value data with an “*” is not reflected in calculation of the current speed conversion factors.31. an “*” is displayed for all items. For the ROBOWELD system. The defaults mean factory--settings.. This function key is unavailable during welding. pressing F5. the welding current value is also indicated. After adjusting the speed conversion factors for a type of wire. UTILITIES B--81464EN--3/01 Table 9. change the data table. the welding current value is also fetched simultaneously. the specified type of wire and entered measured values are stored in this selected data table.31. Touchup data [ i ] ( i:1. F5. You can enter a desired number to change the displayed data table. At this time. Table 9. That is. the “*” goes off and this item becomes blank. Wire material Selects the material of the wire for which the speed conversion factors are to be adjusted.1 (a) Items on the wire feed speed conversion/six points touchup screen Description Item Wire size Speed conversion factors are prepared for each type of wire. F10. For the ROBOWELD system. This item selects the size of the wire. CAPTURE Fetches the current wire feed speed into the measured value input line at the cursor. First specify the type of wire for which the speed conversion factors are to be adjusted. CALC Calculates the speed conversion factors using the currently entered measured values. the previously entered measured values and type of wire are overwritten with new measured values and type of wire.1 (b) Function keys on the Wire feed speed conversion/six points touchup screen Description Item F2. 689 . You can select the 6--point touchup or direct setting screen. to adjust the factors for another type of wire. F7. After the speed conversion factors are calculated using the measure value data.9. [METHOD] Changes the screen for adjusting the speed conversion factors. This item is only displayed and cannot directly be changed. WFS (Wire Feed Speed) You can enter a wire feed speed. During adjustment of the speed conversion factors. You can use four data tables (1 to 4). a value of 0 is always indicated as the welding current value. This function key is unavailable during welding. Read the value of the ammeter on the front panel of the welding power supply and enter the value in this field. CLEAR Resets all currently entered measured values to 0. Current wire feed speed (WFS) conversion factor Indicates the current speed conversion factors for the selected type of wire. For an ordinary welding power supply. Unused This is the leftmost item on a line for entering measured value data. For the ROBOWELD system. If the speed conversion factors are adjusted without changing the data table.4) Indicates the number of the currently selected data table. F3. You can also enter a comment for each data table. DEFAULT Resets the speed conversion factors to their defaults. “CAPTURE” fetches the welding current value. When measured value data is updated. an “*” is displayed in this item on the corresponding measured value data line. Options are displayed. “WFSCONV” key.0]Amps Feedback Current 0. 8 Execute the welding program.1]Amps [ 178. Setup”. The servo torch setting screen appears.0]Amps [ 0. F The servo torch control function is enabled.00]cm/m Monitor WireFeedSpeed 0.56]cm/m 749. The following screen appears: Setup Weld Equip WFS conv factor Wire type Wire size: Wire material: JOINT 1.2mm Steel(Flux cored) Current WFS conv factor 1: 0. 4 Position the cursor on “<*DETAIL*>” on the “Servo Torch” line and press the ENTER key. 690 .2]Amps [ 136.0000 2: 2. UTILITIES B--81464EN--3/01 Operation 31--1 Adjusting the speed conversion factors using the 6--point touchup method Condition F A welding program is ready to use.03]cm/m 637.0 cm/min 10 % 1/9 3: 0.5]Amps [ 155.11]cm/m 512. (See Section 4--3). Position the cursor on “Wire size” or Wire material” and press the F4. “CHOICE” key.00]cm/m 0.0099 ] Feedback Current [ 98. 3 Press the F1.2445 Touch up Unusd [*] [ [*] [ [ ] [ [ ] [ [ ] [ [ ] [ data [1] [ WFS 302.88]cm/m 0.0 Amps [ TYPE ] [METHOD] CALC [CHOICE] CAPTURE> DEFAULT CALC [CHOICE] CAPTURE> 6 Enter a desired number for 7 Select a type of wire.3]Amps [ 0. 2 Press the MENU” key and select “6. 5 Press the F3.9. Select a type of wire for which you want to adjust the speed conversion factors from the options. [TYPE] key and select “Weld Equip” from the displayed menu. Procedure 1 Select a welding program for measuring actual values. The current wire feed speed and welding current value are automatically input in the measured value input line at the cursor (when the cursor is not positioned on any measured value input line. (For an ordinary welding power supply) Read the welding current value indicated on the welding ammeter on the front panel of the welding power supply and enter the value in the “Feedback Current field on a measured value input line. terminate the welding program.9. NOTE Enter at least three combinations of measured values. press F3. Then. After that. Operation for an ordinary welding power supply differs from that for the ROBOWELD. “CALC”. UTILITIES B--81464EN--3/01 9 During welding according to each welding condition. The cursor automatically moves to the next line. the values are input in the top measured value input line). The “*” displayed for the Unusd” item on each measured value input line goes off and new wire speed conversion factors are set. press F5. The cursor automatically moves to the next line. 10 After entering measured values. “CAPTURE” before the welding condition changes. Then. CAPTURE. enter the measured values for each welding condition in the same way. (For the ROBOWELD) Press F5. After that. enter the measured values for each welding condition in the same way. 691 . The wire feed speed at that time is automatically input in the “Wire Feed Speed” field on the same line. enter the measured wire feed speed and welding current value in each measured value input line. use the Wire feed speed conversion/Direct setting screen. Table 9. This item selects the size of the wire.9.2 (a) Items on the wire feed speed conversion/direct setting screen Description Item F2.31. DEFAULT Resets the speed conversion factors to their defaults. This item selects the size of the wire. The defaults mean factory--settings. First specify the type of wire for which the speed conversion factors are to be adjusted. The following describes the items and function keys on the wire feed speed conversion/direct setting screen. [METHOD] Changes the screen for adjusting the speed conversion factors. Conversion factor 1. Use this method when you know the speed conversion factors to be set.31. First specify the type of wire for which the speed conversion factors are to be adjusted. You cannot enter any value during welding. 692 . You can position the cursor on one of these items and enter a value. UTILITIES B--81464EN--3/01 9.3 Indicates the current speed conversion factors for the selected type of wire.. This function key is unavailable during welding.2 (a) Items on the wire feed speed conversion/direct setting screen Item Description Wire size Speed conversion factors are prepared for each type of wire. You can select the 6--point touchup or direct setting screen.2 Direct Setting Directly enter a speed conversion factor. F7. To make this setting. Table 9. Wire material Selects the material of the wire for which the speed conversion factors are to be adjusted. Wire size Speed conversion factors are prepared for each type of wire.31. 7 Position the cursor on conversion factor 1 to 3 and enter a conversion factor. “[TYPE]” key and select “Weld Equip” from the displayed menu. Position the cursor on “Wire size” or Wire material” and press the F4.) 4 Press the F3.9598 5 Conversion factor 3: 0.0021 [TYPE] [METHOD] [CHOICE] > DEFAULT [CHOICE] > 6 Select a type of wire. Select a type of wire for which you want to adjust the speed conversion factors from the options. “[METHOD]” and select “Direct entry from the displayed menu. UTILITIES B--81464EN--3/01 Operation 31--2 Adjusting the speed conversion factors using the direct setting method Procedure 1 Press the “MENU” key and select “6. “[CHOICE]” key.2mm 2 Wire material: Steel(Flux cored) WFS Conversion factor 3 Conversion factor 1: -130. (See Section 4--3.9. When the 6--point touchup screen is displayed. Options are displayed. The servo torch setting screen appears. 5 The following screen appears: Setup Weld Equip JOINT 10 % WFS Conv Factor 1/5 Wire type 1 Wire size: 1. WFSCONV” key. 3 Position the cursor on <*DETAIL*>” in the “Servo Torch” line. 2 Press the F1.8700 4 Conversion factor 2: 2. Setup”. 693 . press F2. APPENDIX . APPENDIX B--81464EN--3/01 A. APPENDIX This appendix summarizes the items necessary for using this model. It may also be used as an index. j Contents of this appendix A.1 List of Menus A.2 Types of Screens A.3 List of Program Instructions A.4 Program Instructions 697 APPENDIX B--81464EN--3/01 A.1 List of Menus Figure A--1. Function menu (Page 1) Miscellaneous menu Miscellaneous function 1 ABORT (ALL) Program abort 2 Disable FWD/BWD Disabling FWD/BWD from teach pendant 3 CHANGE GROUP Change Motion Group*14 4 TOGGLE SUB GROUP Sub group toggle*21 5 TOGGLE WRIST JOG Wrist jog toggle 6 7 RELEASE WAIT Release Wait 8 9 0 ---- NEXT ---- Figure A--2. Function menu (Page 2) Miscellaneous menu Miscellaneous function 1 QUICK/FULL MENUS Quick/full menu switch 2 SAVE Save 3 PRINT SCREEN Screen print 4 PRINT Print 5 6 UNSIM ALL I/O Unsimulates all I/O 7 8 9 0 ---- NEXT ---- 698 APPENDIX B--81464EN--3/01 Figure A--3. Screen Menu (Page 1) Screen menu 1 UTILITIES Screen change menu Screen Hints Hint F5! Help Prog Adjust*2 Program Adjunst Schedule List F2→ Program Adjust Program shif*3 Program Shift Mirror Image*4 Mirror Image Shift Tool offset*5 Tool Offset Frame offset*6 UFrame Offset Angle entry*7 Angle Entry Shift OnTheFly*1 OnTheFly Posture conv*22 Posture conv F2→ Datum Plane Setup Path adjust*22 Path adjust 2 TEST CYCLE Test Cycle Test cycle 3 MANUAL FCNTS Macros*8 Manual operation 4 ALARM Alarm Log Alarm Occurrence$ Alarm history F5! Alarm detail 5I/O Digital Digital I/O F2! Digital configuration F4! Digital detail Group Group I/O F2! Group Configuration F4! Group detail Analog*9 Analog I/O F2! Analog configuration F4! Analog detail Robot Robot I/O F2! Robot I/O detail UOP Peripheral device I/O Schedule Detail SOP System Operator Panel I/O Inter Conect DI--to--DO connection setting Link Device I/O Link Device List F3! I/O Unit Model B List F3! I/O Points Setup Weld*1 Weld I/O F3! Analog Input/Output Range Setup screen F3! Digital Signal Type Setup screen 6 SETUP 0 ---- NEXT ---- General General item setting Frames Frame entry F2! Frame detail Macro*8 Macro entry Ref Position*8 Reference position selection F3! Reference position setting RSR/PNS RSR setting ↔ PNS setting *10 Soft float*12 Soft float condition list F3! Soft float condition detail Port Init Port selection F3! Port setting Ovrd Select External override setting User Alarm User alarm setting screen Torq Limit*24 Torque Limit Setup Coord*25 Coordinate Motion Setup Stroke limit*d Stroke Limit Setup Space fnct.*11 Rectangular Space Check Setup Motion DO*14 Motion Group DO Setup Cont Turn*13 Continuous Turn Setup Weld System*1 Weld System Weld Equip*1 Weld Equip Weave*18 Weave 699 APPENDIX B--81464EN--3/01 Figure A--4. Screen Menu (Page 2) Screen menu 7 FILE*15 Screen change menu Screen File File File Memory File Memory 8 9 USER User 0 ---- NEXT ---1 SELECT Program selection 2 EDIT Program edit 3 DATA Registers Register Position Reg*16 Position register F4! Position data information Weld Sched*1 Weld Sched F2! Weld Sched Detail Weave Sched*18 Weave Sched F2! Weave Sched Detail F3! Weld Sched Advice 4 STATUS Track Sched*19 Track Sched AVC Sched*20 AVC Sched Process Sched Process Sched F2! Process Sched Detail Axis Robot axis status Version ID Software version Prg Timer*17 Program Timer Status List F2! Program Timer Detail Sys Timer*17 System Timer Status Safety Signl Safety Signal Status Order File*a Order file Exec--hist Execution history Memory Memory status list F2! Memory status detail Condition*23 Condition Monitor Weld*1 Weld 5 POSITION 6 SYSTEM 7 8 9 Current position Clock Calendar Variables System variable Servo Param*c Servo parameter Master/Cal*b Positioning OT Release Over Travel Release Axis Limits Joint operating area setting Config System configuration Motion Motion Performance 0 ---- NEXT ---- 700 APPENDIX B--81464EN--3/01 Setting The menu items indicated by * (alphabetical character) in Figure A--3 and Figure A--4 are displayed when the corresponding setting is made, as indicated below: Table A--1. Option list * Setting a Can be displayed by setting $ODRDSP_ENB to 1. b Can be displayed by setting $MASTER_ENBL to 1. c Can be displayed by setting $SVPRM_ENB to 1. d Basic option only for Robot S--430i series Options The menu items indicated by * (numeral) in Figure A--1 to Figure A--4 are displayed when the corresponding option is added, as indicated below: Table A--2. Option list * Option Specification 1 ARC tool A05B--****--H541 2 Online position correction A05B--****--J517 3 Program shift A05B--****--J505 4 Mirror image A05B--****--J506 5 Tool offset A05B--****--J509 6 User coordinate system input A05B--****--J604 7 Angle input shift A05B--****--J614 8 Option instruction A05B--****--J503 9 Analog I/O A05B--****--H550 10 External program selection A05B--****--J515 11 Area check A05B--****--J609 12 Soft float function A05B--****--J612 13 Continuous rotation function A05B--****--J613 14 Multi--motion A05B--****--J601 15 Floppy disk drive connection A05B--****--J516 16 Position register A05B--****--J514 17 Hour meter A05B--****--J513 18 Weaving A05B--****--J504 19 Arc sensor A05B--****--J511 20 TIG arc length control A05B--****--J526 21 Additional--axis control A05B--****--J518 22 Torch posture conversion A05B--****--J623 23 Schedule monitoring function A05B--****--J628 24 Torque limit function A05B--****--J611 25 Cooperative control A05B--****--J619 701 APPENDIX B--81464EN--3/01 A.2 Types of Screens Figure A--5. [ 1 UTILITIES ] Hint screen UTILITIES Hints G2 JOINT 10 % FANUC ARC Tool 7D80/10 Copyright FANUC LTD FANUC Robotics North America, Inc. All Rights Reserved [ TYPE ] HELP Hints Program Adjust Schedule List Screen SAMPL1 LINE 0 UTILITIES Prog Adj G1 Program Lines 1 SAMPL1 22-29 2 SAMPL1 39-49 3 SAMPL3 10-14 4 TESTPRG 123-456 5 ******** 0- 0 6 ******** 0- 0 7 ******** 0- 0 8 ******** 0- 0 9 ******** 0- 0 10 ******** 0- 0 Program Adjust Schedule Detail Screen JOINT 10 % Status 3/10 ENABLED ENABLED DISABLED EDIT ******** ******** ******** ******** ******** ******** [ TYPE ] DETAIL > Prog Adjust COPY SAMPL1 LINE 0 UTILITIES Prog Adj G1 Current schedule: 5 Status: EDIT 1 Program name: SAMPL2 2 Starting line number: 0 3 Ending line number: 0 4 X adjustment: 0.000 5 Y adjustment: 0.000 6 Z adjustment: 0.000 7 W adjustment: 0.000 8 P adjustment: 0.000 9 R adjustment: 0.000 10 Motion speed: 0 11 Joint speed: 0 [ TYPE ] CLR_ADJ CLR_ALL > Program Shift (Program name) Screen JOINT COPY UNITS CLR_ADJ SCHED 10 % 1/11 mm mm mm dg dg dg mm/s % [CHOICE] > CLR_ALL[CHOICE] > Program Shift (Position) Screen FLPY-009 Communications error TM_ADJST LINE 1 ABORTED PROGRAM SHIFT G1 JOINT 10 % Shift amount/Teach 1/3 Position data X :******** Y :******** Z :******** PROGRAM SHIFT G1 JOINT 10 % Program 6/6 1 Original Program : [TM_ADJST] 2 Range: PART 3 Start line: 1 4 End line: 1 5 New Program : [test1 ] 6 Insert line: (not used) ***** 1 Rotation: OFF 2 Source position P1: 3 Destination position Q1: CLEAR ON Use shifted up,down arrows for next page [ TYPE ] > Program shif CLEAR > 702 DIRECT OFF > APPENDIX B--81464EN--3/01 Figure A--6. [ 1 UTILITIES ] Program Shift (Direct entry) Screen PROGRAM SHIFT G1 Shift amount/Direct entry 1 X (mm): 2 Y (mm): 3 Z (mm): [TYPE] CLEAR JOINT 10% 1/3 100.00 0.00 0.00 EXECUTE > TEACH > Mirror Image Shift (Program name) Screen MIRROR IMAGE SHIFT Program 1 Original Program : 2 Range: 3 Start line:(not 4 End line:(not 5 New Program : 6 Insert line:(not G1 used) used) used) Mirror Image Shift (Position) Screen JOINT [TEST1 WHOLE ***** ***** [TEST3 ***** 10% 1/6 ] > Mirror Image 10% 1/3 Z :******** 1 Rotation: OFF 2 Source position P1: 3 Destination position Q1: [TYPE] EXECUTE ON OFF > CLEAR CLEAR > > Tool Offset (Program name) Screen TOOL OFFSET Program 1 Original Program : 2 Range: 3 Start line:(not 4 End line:(not 5 New Program : 6 Insert line:(not JOINT ] Use shifted up,down arrows for next page TYPE MIRROR IMAGE SHIFT G1 Shift amount/Teach Position data X :******** Y :******** G1 used) used) used) Tool Offset (Utool number) Screen JOINT [TEST1 WHOLE ***** ***** [TEST4 ***** 10% 5/6 ] TOOL OFFSET UTOOL number 1 2 3 G1 Old UTOOL number: New UTOOL number: Convert type: JOINT 10% 1/3 0 0 TCP fixed ] Use shifted up,down arrows for next page TYPE > [TYPE] Tool offset CLEAR CLEAR > 703 EXECUTE > [CHOICE] > APPENDIX B--81464EN--3/01 Figure A--7. [ UTILITIES ] Uframe Offset (Uframe number) Screen Uframe Offset (Program name) Screen UFRAME OFFSET Program 1 Original Program : 2 Range: 3 Start line:(not 4 End line:(not 5 New Program : 6 Insert line:(not G1 used) used) used) JOINT [TEST1 WHOLE ***** ***** [TEST4 ***** 10% 5/6 ] UFRAME OFFSET UFRAME number 1 2 3 G1 JOINT Old UFRAME number: New UFRAME number: Convert Position data (Y/N): 10% 1/3 0 0 NO ] Use shifted up,down arrows for next page TYPE > Frame offset > [CHOICE] > > Angle Entry Shift (Program name) Screen ANGLE ENTRY SHIFT Program 1 Original Program : 2 Range: 3 Start line:(not 4 End line:(not 5 New Program : 6 Insert line:(not G1 used) used) used) JOINT [TEST1 WHOLE ***** ***** [TEST6 ***** Angle Entry Shift (Shift amount) Screen 10% 5/6 ] ] Use shifted up,down arrows for next page TYPE > Angle entry ANGLE ENTRY SHIFT G1 Shift amount Position data of P1 X :******** Y :******** 1 2 3 4 5 6 7 > Angle Entry Shift (Rotation axis direct entry) Screen ANGLE ENTRY SHIFT G1 JOINT 10% Shift amount 1/4 Rotation center axis direct entry 1 Frame: WORLD\FRAME\ 2 X (mm): 100.00 3 Y (mm): 0.00 4 Z (mm): 0.00 EXECUTE [CHOICE] > [CHOICE] > 704 JOINT 10% 1/7 Z :******** Rotation plane P1: P2: P3: Rotation axis enable: Rotation axis Angle(deg): Repeating times: FALSE P0: Not used 0.00 1 [TYPE] CLEAR CLEAR CLEAR EXECUTE CLEAR CLEAR [TYPE] [TYPE] EXECUTE REFER RECORD > > APPENDIX B--81464EN--3/01 Figure A--8. [ 1 UTILITIES ] OnTheFly screen Posture conv screen UTZLITIES On The Fly Command G1 JOINT 30 % FEED BACK 0.0 Volt 0.0 Volt 0.0 Amps 0.0 Amps 0.0 cm/m 0.0 1800.0 ROBOT CM/MIN Group:1 [ TYPE ] Equip:1 WEAV INCR NOT SAVING DECR SAVE POSTURE CONVERSION G1 JOINT 30 % Program: 1/14 Group :[1] 1 Original Program: [MAIN ] 2 Range: PART 3 Start line: 5 4 End line: 10 5 Create/Replace: CREATE 6 New Program: [MAIN1 ] 7 Insert line: (not used) ***** Corner smoothing function 8 Corner smoothing: ENABLE 9 Number of add. points: 1 > [ TYPE ] PLANE EXECUTE Posture Conv Datum Plane Setup screen (horizontal plane) POSTURE CONVERSION G1 Reference plane Group :[1] 1 Reference Plane Teach: [ type ] Datum Plane Setup screen (teaching plane) POSTURE CONVERSION G1 Reference plane Group :[1] 1 Reference Plane Teach: 2 P1: 3 P2: 4 P3: JGFRM VFINE 1/1 HORIZON [ TYPE ] CLEAR [CHOICE] Datum Plane Setup screen (torch posture) POSTURE CONVERSION G1 Reference plane Group :[1] 1 Reference Plane Teach: 2 Adjust posture : [ TYPE ] CLEAR REFER JGFRM VFINE 1/4 3POINTS [CHOICE] RECORD Path adjust screen POSTURE PATH ADJUS G2 Program: Group : [1] 1 Original Program: 2 Range: 3 Start line: 4 End line: Adjustment Values 5 Stick out: 6 Travel angle: 7 Work angle: JGFRM VFINE 1/2 AJUSTE\ [ TYPE ] REVERSE EXECUTE [CHOICE] RECORD Path adjust 705 GROUP JOINT 10 % 1/7 [MAIN PART 5 10 ] 0.00mm 0.00deg 0.00deg APPENDIX B--81464EN--3/01 Figure A--9. [ 2 TEST CYCLE ] Test cycle screen TEST CYCLE JOINT 30% 2/7 GROUP:1 1 Robot lock: 2 Dry run: 3 Cart. dry run speed: 4 Joint dry run speed: 5 Digital/Analog I/O: 6 Step statement type: 7 Step path node: TYPE OFF OFF 300.000mm/s 25.000% ENABLE STATEMENT OFF ON OFF Test cycle Figure A--10. [ 4 ALARM ] Alarm Screen Alarm history screen INTP-224 (SAMPLE1, 6) Jnmp label is fail Alarm : Active 30% 1/1 MEMO-027 Specified line does not exist TYPE JOINT INTP-224 (SAMPLE1, 7) Jump label is fail MEMO-027 Spedified line does not exist Alarm JOINT 30 % 1/7 1 INTP-224 (SAMPLE1, 7) Jump label is 2 SRVO-002 Teach pendant E-stop 3 R E S E T 4 SRVO-027 Robot not mastered(Group:1) 5 SYST-026 System normal power up [TYPE] HIST CLEAR HELP Alarm Log Alarm detail screen INTP-224 (SAMPLE1, 7) Jump label is fail INTP-224 (SAMPLE1, 7) Jump label is fail MEMO-027 Specified line does not exist 30-MAY-44 07:15 STOP.L 00000110 Alarm 1/7 1 INTP-224 (SAMPLE1, 7) Jump label is 2 SRVO-002 Teach pendant E-stop 3 R E S E T 4 SRVO-027 Robot not mastered(Group:1) 5 SYST-026 System normal power up [TYPE] CLEAR HELP 706 APPENDIX B--81464EN--3/01 Figure A--11. [ 5 I / O ] Digital input screen Digital output configuration screen I/O Digital In SDI[ SDI[ SDI[ SDI[ SDI[ SDI[ SDI[ SDI[ SDI[ TYPE JOINT 30% # SIM STATUS 1] U ON [ 2] U OFF [ 3] U OFF [ 4] U ON [ 5] U ON [ 6] U OFF [ 7] U OFF [ 8] U ON [ 9] U ON [ CONFIG ] ] ] ] ] ] ] ] ] IN/OUT ON I/O Digital In # RANGE RACK 1 SDO[ 1- 20] 0 2 SDO[ 21-512] 0 [TYPE] OFF MONITOR IN/OUT JOINT 10% START PT 21 ACTIV 0 UNASG SLOT 1 0 DETAIL HELP > Digital Group output screen Group output configuration screen I/O Group Out # SIM VALUE GO[ 1] S 1 [ GO[ 2] U 10 [ GO[ 3] U 23 [ GO[ 4] * * [ GO[ 5] * * [ GO[ 6] * * [ GO[ 7] * * [ GO[ 8] * * [ GO[ 9] * * [ GO[ 10] * * [ JOINT 30% ] ] ] ] ] ] ] ] ] ] I/O Group Out GO # RACK SLOT 1 0 2 2 0 2 3 0 2 4 * * 5 * * 6 * * 7 * * 8 * * 9 * * [TYPE] TYPE Group CONFIG DETAIL HELP > Analog input configuration screen I/O Analog In # SIM VALUE AI[ 1] S 85 [ AI[ 2] U 0 [ AI[ 3] * * [ AI[ 4] * * [ AI[ 5] * * [ AI[ 6] * * [ AI[ 7] * * [ AI[ 8] * * [ AI[ 9] * * [ AI[ 10] * * [ CONFIG IN/OUT JOINT 30% NUM PTS 4 4 8 * * * * * * IN/OUT SIMULATE UNSIM Analog input screen TYPE MONITOR START PT 17 21 25 * * * * * * JOINT 30% 1/25 ] ] ] ] ] ] ] ] ] ] I/O Analog In AI # 1 2 3 4 5 6 7 8 9 [TYPE] IN/OUT SIMULATE UNSIM Analog 707 RACK 0 0 * * * * * * * JOINT 30% 1/25 SLOT 1 1 * * * * * * * MONITOR CHANNEL 1 2 * * * * * * * IN/OUT DETAIL HELP > APPENDIX B--81464EN--3/01 Figure A--12. [ 5 I / O ] Robot data output screen Robot output detail screen I/O Robot Out # RDO[ RDO[ RDO[ RDO[ RDO[ RDO[ RDO[ RDO[ RDO[ 1] 2] 3] 4] 5] 6] 7] 8] 9] TYPE JOINT 30% STATUS OFF [ OFF [ OFF [ ON [ ON [ OFF [ OFF [ ON [ OFF [ DETAIL SAMPLE I/O Robot Out Port Detail ] ] ] ] ] ] ] ] ] IN/OUT ON LINE 0 JOINT Robot Dig. Output [ 10 % 1/3 1] 1 Comment: [ 2 ] Polarity: NORMAL 3 Complementary: FALSE[ OFF [ TYPE ] PRV-PT 1 - 2] NXT-PT Robot Peripheral device data input screen I/O UOP In # STATUS UI[ 1] ON UI[ 2] OFF UI[ 3] OFF UI[ 4] ON UI[ 5] ON UI[ 6] OFF UI[ 7] OFF UI[ 8] ON UI[ 9] * UI[ 10] * TYPE CONFIG System Operation Panel Output Screen JOINT [ [ [ [ [ [ [ [ [ [ 30% I/O SOP # SO[ SO[ SO[ SO[ SO[ SO[ SO[ SO[ SO[ SO[ ] ] ] ] ] ] ] ] ] ] IN/OUT ON OFF TYPE Out STATUS 0] OFF 1] OFF 2] OFF 3] OFF 4] OFF 5] OFF 6] OFF 7] ON 8] OFF 9] OFF G1 JOINT [Remote LED [Cycle start [Hold [Fault LED [Batt alarm [User LED#1 [User LED#2 [TP enabled [ [ IN/OUT ON 10% 1/15 ] ] ] ] ] ] ] ] ] ] OFF UOP SOP DI--to--DO connection setting screen (RDI-->SDO) DI--to--DO connection setting screen (SDI-->RDO) I/O INTER CONNECT NO. 1 2 3 4 5 6 7 8 9 Enb/Disabl INPUT DISABLE RI[ 1] DISABLE RI[ 2] DISABLE RI[ 3] DISABLE RI[ 4] DISABLE RI[ 5] DISABLE RI[ 6] DISABLE 1 RDI->SDO RI[ 7] DISABLE 2 SDI->RDO RI[ 8] DISABLE 3 SDI->SDO RI[ 9] TYPE DI->DO Conect IN/OUT I/O INTER CONNECT JOINT 30% -> -> -> -> -> -> -> -> -> ENABLE NO. 1 2 3 4 5 6 7 8 9 OUTPUT SDO[ 0] SDO[ 0] SDO[ 0] SDO[ 0] SDO[ 0] SDO[ 0] SDO[ 0] SDO[ 0] SDO[ 0] Enb/Disabl INPUT DISABLE SDI[ 0] DISABLE SDI[ 0] DISABLE SDI[ 0] DISABLE SDI[ 0] DISABLE SDI[ 0] DISABLE SDI[ 0] DISABLE 1 RDI->SDO SDI[ 0] DISABLE 2 SDI->RDO SDI[ 0] DISABLE 3 SDI->SDO SDI[ 0] TYPE DISABLE DI->DO Conect 708 JOINT 30% IN/OUT -> -> -> -> -> -> -> -> -> ENABLE OUTPUT RDO[ 1] RDO[ 2] RDO[ 3] RDO[ 4] RDO[ 5] RDO[ 6] RDO[ 7] RDO[ 8] RDO[ 9] DISABLE APPENDIX B--81464EN--3/01 Figure A--13. [ 5 I / O ] DI--to--DO connection setting screen (DI-->DO) I/O Link Device List Screen INTER CONNECT I/O Link Device No. 1 2 3 4 5 6 7 8 9 JOINT 10% 1/24 OUTPUT DO [ 1] DO [ 0] DO [ 0] DO [ 0] DO [ 0] DO [ 0] DO [ 0] DO [ 0] DO [ 0] Enb/Disabl INPUT DISABLE DI [ 0] -> DISABLE DI [ 0] -> DISABLE DI [ 0] -> DISABLE DI [ 0] -> DISABLE DI [ 0] -> DISABLE DI [ 0] -> DISABLE [ 0] -> 1DI RDI->SDO DISABLE [ 0] -> 2DI SDI->RDO DISABLE [ 0] -> 3DI SDI->SDO TYPE [SELECT] ENABLE Device Name 1 PrcI/O CA 2 Model A 3 Model B 4 Model C DISABLE G1 JOINT 10% 1/4 RackSlot ] 0 1 ] 1 0 ] 2 0 ] 3 0 Comment [ [ [ [ TYPE DETAIL CLR_ASG Link Device DI->DO Conect I/O Link Device (Model B) List Screen I/O Link Device G1 Model B Slot Base Exp. 1 ******* ******* [ 2 ******* ******* [ 3 ******* ******* [ 4 ******* ******* [ [TYPE] I/O Link Device (I/O Points Setup) Screen JOINT 10% 1/30 I/O Link Device Comment JOINT 90-30 PLC Port Name Digital Input: Digital Output: ] ] ] ] LIST G1 CLR_ASG [TYPE] 10% 1/2 Points 0 0 LIST CLR_ASG Figure A--14. [ 5 I / O ] Weld IN screen Weld OUT screen I/O Weld In 1 2 3 4 5 6 7 8 WELD SIGNAL [Voltage [Current 10 % 1/12 TYPE # SIM STATUS ] AI[ 1] U 0.0 ] AI[ 2] U 0.0 [ [Arc detect [Gas fault [Wire fault [Water fault [Power fault [ [ ] ] ] ] ] ] ] ] [ TUPE ] Inter Conect HELP G1 WI[ WI[ WI[ WI[ WI[ WI[ WI[ WI[ I/O Weld Out JOINT 1] 2] 3] 4] 5] 6] 7] 8] U U U U U U U U G1 WELD SIGNAL [Voltage [Current [Wire inch OFF OFF OFF OFF OFF OFF OFF OFF 1 2 3 4 5 6 7 Link Device 709 TYPE # SIM ] AO[ 1] U ] AO[ 2] U ] AO[ 2] U [Arc ] [Gas fault ] [ ] [Inch forward ] [Inch backward ] [Wire stick alarm] [Feed forward ] [Feed backward ] [ TUPE ] IN/OUT SIMULATE UNSIM > HELP JOINT WO[ WO[ WO[ WO[ WO[ WO[ WO[ WO[ 1] 2] 3] 4] 5] 6] 7] 8] U U U U U U U U 10 % 1/11 STATUS 0.0 0.0 0.0 OFF OFF OFF OFF OFF OFF OFF OFF IN/OUT SIMULATE UNSIM > APPENDIX B--81464EN--3/01 Figure A--15. [ 6 SETUP ] General item setting screen Tool frame entry screen SETUP General 1 2 3 4 JOINT Break on hold: Current language: Ignore Offset command: Ignore Tool_offset: 10% 1/4 DISABLED DEFAULT DISABLED DISABLED SETUP Frames JOINT 30% Tool Frame Setup/ Direct Entry 1/5 X 1: 2: 3: 4: 5: 0.0 0.0 0.0 0.0 0.0 Y 0.0 0.0 0.0 0.0 0.0 Z 140.5 200.0 0.0 0.0 0.0 Comment ************* ************* ************* ************* ************* 1 Tool Frame 2 Jog Frame 3 User Frame TYPE ENABLED DISABLED TYPE General CLEAR SETIND Tool frame setup screen (Six Point Method) SETUP Frames JOINT 30% Tool Frame Setup/ Three Point 3/4 Frame Number: 3 X: 0.0 Y: 0.0 Z: 0.0 W: 0.0 P: 0.0 R: 0.0 Comment: REF FRM Approach point 1: RECORDED Approach point 2: UNINIT Approach point 3: UNINIT 1 Three Point 2 Six Point 3 Direct Entry METHOD FRAME MOVE_TO RECORD Tool frame setup screen (Direct Entry Method) METHOD SETUP Frames JOINT 30% Tool Frame Setup/ Six Point 4/7 Frame Numer: 3 X: 100.0 Y: 0.0 Z: 300.0 W: 0.0 P: 0.0 R: 0.0 Comment:******************** Approach point 1: RECORDED Approach point 2: RECORDED Approach point 3: RECORDED Orient1 Origin Point: UNINIT Three Point X Direction Point: UNINIT 2 Six Point Z Direction Point: 3 Direct Entry UNINIT [TYPE] METHOD FRAME MOVE_TO RECORD User frame entry screen SETUP Frames JOINT 30 % Tool Frame Setup/ Direct Entry 3/7 Frame Number: 3 1 Comment:******************** 2 X: 0.000 3 Y: 0.000 4 Z: 200.000 5 W: 0.000 6 P: 0.000 7 R: 0.000 1 Three Point Configur N D B, 0, , 0 2 Six Point 3 Direct Entry [TYPE] OTHER Frames Tool frame setup screen (Three Point Method) [TYPE] DETAIL SETUP Frames JOINT 30 % User Frame Setup/ Three Point 1/5 X Y 1: 1243.6 0.0 2: 1243.6 525.2 3: 1243.6-525.2 4: 0.0 0.0 5: 0.0 0.0 Frames 710 Comment REF FRM ************* ************* ************* ************* 1 Tool Frame 2 Jog Frame 3 User Frame TYPE FRAME Z 43.8 43.8 43.8 0.0 0.0 DETAIL OTHER CLEAR SETIND APPENDIX B--81464EN--3/01 Figure A--16. [ 6 SETUP ] User frame setup screen (Three Point Method) User frame setup screen (Four Point Method) SETUP Frames JOINT 30% User Frame Setup/ Three Point 3/4 Frame Number: 1 X: 1243.6 Y: 0.0 Z: 43.8 W: 0.1 P: 2.3 R: 3.2 Comment:******************** Orient Origin Point: RECORDED X Direction Point: RECORDED Y Direction Point: UNINIT 1 Three Point 2 Four Point 3 Direct Entry SETUP Frames JOINT 30% User Frame Setup/ Four Point 5/5 Frame Number: 1 X: 1243.6 Y: 0.0 Z: 10.0 W: 0.1 P: 2.3 R: 3.2 Comment: REF FRM Orient Origin Point: USED X Direction Point: USED Y Direction Point: USED System Origin: USED 1 Three Point 2 Four Point 3 Direct Entry [TYPE] [TYPE] METHOD FRAME MOVE_TO RECORD Jog frame entry screen 1 Tool Frame 2 Jog Frame 3 User Frame DETAIL OTHER CLEAR REF POSN Enb/Dsbl ENABLE DISABLE DISABLE TYPE MOVE_TO RECORD [TYPE] SETIND DETAIL Comment [ REFPOS1 [ REFPOS2 [ REFPOS3 ENABLE METHOD FRAME MOVE_TO RECORD Reference position setting screen JOINT 30% @Pos TRUE FALSE FALSE SETUP Frames JOINT 30% Jog Frame Setup / Direct Entry 2/7 Frame Number: 1 1 Comment: WORK AREA 1 2 X: 1243.600 3 Y: 0.000 4 Z: 10.000 5 W: 0.123 6 P: 2.340 7 R: 3.200 8 1Configuration: Three Point 2 Direct Entry Reference position selection screen No. 1 2 3 FRAME Jog frame setup screen (Direct Entry Method) SETUP Frames JOINT 30% Jog Frame Setup / Three Point 2/5 X Y Z Comment 1: 1243.6 0.0 0.0 WORK AREA 1 2: 1003.0 525.2 60.0 WORK AREA 2 3: 1003.0 236.0 90.0 WORK AREA 3 4: 0.0 0.0 0.0 ************* 5: 0.0 0.0 0.0 ************* [TYPE] METHOD ] ] ] DISABLE Ref Position 711 REF POSN JOINT 30% Reference Position 1/12 Ref.Position Number 1 Comment [ REFPOS1 ] 2 Enable/Disable ENABLE 3 Signal definition: DO[ 0] 4 J1 129.000 +/2.000 5 J2 -31.560 +/2.000 6 J3 3.320 +/2.000 7 J4 179.240 +/2.000 8 J5 1.620 +/2.000 9 J6 33.000 +/2.000 [TYPE] RECORD APPENDIX B--81464EN--3/01 Figure A--17. [ 6 SETUP ] RSR Setup Screen PNS setting screen RSR/PNS 1 2 3 4 5 6 7 8 G1 10% 7/8 RSR or PNS [RSR] RSR1 program number [ENABLE ] [ 12] RSR2 program number [ENABLE ] [ 21] RSR3 program number [ENABLE ] [ 33] RSR4 program number [ENABLE ] [ 49] Base number [ 100] Acknowledge function [TRUE ] Acknowledge pulse width(msec) [ 400] TYPE JOINT TRUE FALSE RSR/PNS 1 2 3 JOINT 30% 1/3 RSR or PNS [ PNS] Base number [ 100] Acknowledge pulse width(msec) [ 200] TYPE RSR/PNS PNS RSR RSR/PNS Port selection screen SETUP Port Init Connector port 1 PORT TYPE Port setting screen Comment [ Handy file JOINT 30% 1/3 ] SETUP Port Init JOINT 30% PORT 1/3 1 Device [ Handy file ] 2 Speed (Baud rate) [ 9600 ] 3 Parity bit [ None ] 4 Stop bit [ 2bits] 5 Time out value (sec) [ 0 ] [TYPE] DETAIL LIST [CHOICE] Port Init External override setting screen Macro instruction setting screen OVERRIDE SELECT JOINT 30% 1 Function Enable:ENABLE 2 3 Signal1: Signal2: 4 5 6 7 Signal1 OFF OFF ON ON TYPE DI[ 1][ ON] DI[ 32][OFF] Signal2 OFF ON OFF ON Override 15% 30% 65% 100% ENABLE DISABLE Macro Command Instruction name 1 [ Open hand1 2 [ Close hand1 3 [ Relax hand1 4 [ Open hand2 5 [ Close hand2 6 [ Relax hand2 7 [ 8 [ 9 [ TYPE Macro Ovrd Select 712 CLEAR ] ] ] ] ] ] ] ] ] Program [HOPN1 [HCLS1 [HRLX1 [ [ [ [ [ [ ] ] ] ] ] ] ] ] ] JOINT 30% Assign1/20 MF [ 1] MF [ 2] MF [ 3] MF [11] MF [12] MF [13] [ ] [ ] [ ] APPENDIX B--81464EN--3/01 Figure A--18. [ 6 SETUP ] User alarm setting screen Setting/User Alarm Alarm No. [1]: [2]: [3]: [4]: [5]: [6]: [7]: [8]: [9]: JOINT 30% 1/10 User Message [ [ [ [ [ [ [ [ [ ] ] ] ] ] ] ] ] ] TYPE User Alarm Stroke Limit Setup Screen Rectangular Space Check Schedule List Screen Stroke limit setup GROUP :1 No. LOWER >-180.0 1: 0.0 deg 2: 0.0 deg 3: 0.0 deg Default 0: -180.0 deg G1 JOINT 10% 1/4 Rectangular Space G1 JOINT 10% LIST SCREEN 1/3 No.Enb/Dsbl Comment Usage 1 ENABLE [ ]Common Space 2 DISABLE[ ]Common Space 3 DISABLE[ ]Common Space AXIS :J1 UPPER < 180.0 0.0 deg 0.0 deg 0.0 deg 180.0 deg Active limit: $MRR_GRP[1].$SLMT_J1_NUM = 0 TYPE GROUP# AXIS# TYPE Stroke limit Rectangular Space DETAILED SCREEN DISABLE G1 JOINT 10% 1/6 Rectangular Space Check Space Definition Screen Rec SPACE SETUP SPACE :1 GROUP :1 USAGE : Common Space SPACE :1 Enable/Disable: ENABLE Comment: [**********] Output Signal: DO [ 0] Input Signal: DI [ 0] Priority: High inside/outside: Inside [TYPE] ENABLE Space fnct. Rectangular Space Check Schedule Detail Screen 1 2 3 4 5 6 DETAIL SPACE ENABLE 1 2 3 4 DISABLE 713 UFRAME :0 : BASIS VERTEX :X 0.0 mm :Y 0.0 mm :Z 0.0 mm [TYPE] OTHER G1 JOINT 10% 1/4 GROUP :1 UTOOL :1 [SIDE LENGTH 0.0 mm 0.0 mm 0.0 mm ] RECORD APPENDIX B--81464EN--3/01 Figure A--19. [ 6 SETUP ] Program Monitoring screen Program monitor 1 2 TYPE CH Prog. WORKDROP HANDCHCK SYSTEM System Monitoring screen G1 Status Running Paused RESTART JOINT 10% 1/2 Program SAMPLE1 SAMPLE2 PAUSE System 1 2 END CH Prog. WORKDROP HANDCHCK [TYPE] Condition 714 monitor PROGRAM G1 JOINT 10% 1/2 Status Running START END APPENDIX B--81464EN--3/01 Figure A--20. [ 6 SETUP ] Weld Equip screen SETUP Weld Equip Welder: Weld System screen G2 JOINT 10 % 1/12 DAIDEN 200UR Fe0.8 Process: MIG Feeder: *************** 1 2 3 4 5 Wire feed speed units: WIRE+ WIRE- speed: Feed forward/backward: Wire stick reset: Wire stick reset tries: cm/min 50 cm/min DISABLED ENABLED 3 Timing: 6 7 8 9 10 11 12 Arc Arc Arc Gas Gas Gas Gas [ TYPE ] start error time: detect time: loss error time: detect time: purge time: preflow time: postflow time: 2.00 .06 1.00 .05 .35 .30 .30 sec sec sec sec sec sec sec HELP SETUP Weld System G2 JOINT NAME Monitoring Functions 1 Arc loss: 2 Gas shortage: 3 Wire shortage: 4 Wire stick: 5 Power supply failure: 6 Coolant shortage: Weld Restart Function 7 Return to path: 8 Overlap distance: 9 Return to path speed: Scratch Start Function 10 Scratch start: 11 Distance: 12 Return to start speed: Weld Speed Function 13 Default speed: 14 Default unit: Other Functions 15 On-The-Fly: 16 Weld from teach pendant: 17 Runin: 18 Wire burnback retract: 10 % 1/18 WALUE ENABLED DISABLED DISABLED ENABLED ENABLED DISABLED ENABLED 0 mm 200 mm/s ENABLED 10 mm 100 mm/s 100 cm/min ENABLED ENABLED DISABLED DISABLED RSR/PNS [ TYPE ] ENABLED DISABLED RSR/PNS Weave screen SETUP Weave 1 2 3 4 5 6 7 8 9 10 Dwell delay type: Frame type: Elevation: Azimuth: Center rise: Radius: Blend weave end: Peak output port DO: Peak output pulse: Peak output shift: [ TYPE ] Macro 715 G2 JOINT 10 % 10/10 Move Tool&Path 0 deg 0 deg 0.0 mm 0.0 mm YES 0 .10 sec 0.00 sec HELP [ 7 FILE ] File screen FILE JOINT 30% 1/14 1 * * (all 2 * KL (all 3 * CF (all 4 * TX (all 5 * LS (all 6 * DT (all 7 * PC (all 8 * MN (all 9 * TP (all 10 * VR (all Press DIR to generate [TYPE] [ DIR ] LOAD DELETE COPY files) KAREL source) command files) text files) KAREL listings) KAREL data files) KAREL p-code) MN programs) TP programs) variable files) directory [BACKUP] [UTIL ]> DISPLAY > Figure A--22.*. Program name Comment 1 SAMPLE1 [SAMPLEPROGRAM1 ] 2 SAMPLE2 [SAMPLEPROGRAM2 ] 3 SAMPLE3 [SAMPLEPROGRAM3 ] 4 PROG001 [PROGRAM001 ] 5 PROG002 [PROGRAM002 ] 1 comment 2 Protection 3 Last modifie 4 Size 5 Copy Sourse JOINT 30% Select [TYPE] CREATE DELETE COPY DETAIL LOAD MONITOR SAVE ATTR > PRINT> Program information screen Program detail 30% 1/6 Creation Date: 10-MAR-1994 Modification Date: 11-MAR-1994 Copy Source: [****************] Positions: FALSE Size: 312 Byte 1 Program name: [SAMPLE3 ] 2 Sub Type: [ None] 3 Comment: [SAMPLE PROGRAM 3] 4 Group Mask: [1.APPENDIX B--81464EN--3/01 Figure A--21.*. [ 1 SELECT ] Program selection screen Program registration screen JOINT 30% 58740bytes free 3/5 No.*] 5 Write protect: [ OFF] 6 Ignore pause: [ OFF] END PREV JOINT NEXT 716 1 Words 2 Upper Case 3 Lower Case 4 Options Select ---Insert--- ---Create Teach Pendant Program--Program Name [SAMPLE3 ] Sub type [Jobs ] ---End--Select function DETAIL EDIT .*. 000 deg 20.374 mm W: Y: -342. [ 2 EDIT ] Program edit screen Program edit screen/control instruction selection screen SAMPLE1 1: J 2: J 3: L 4: L 5: J [End] Instruction 1 Registers 2 I/O 3 IF/SELECT 4 WAIT PROGRAM1 JOINT 30% 1/6 P[1] P[2] P[3] P[4] P[1] 100% FINE 70% CNT50 1000cm/min CNT301 Insert 500mm/sec FINE 2 Delete 100% FINE 3 Copy 4 Find 5 Replace 6 Renumber [INST] 5 6 7 8 JOINT 30% JMP/LBL CALL Palletizing --next page-3/4 3: L P[3] 500mm/sec CNT10 [End] EDCMD POINT [INST] TOUCHUP [EDCMD] Figure A--24.APPENDIX B--81464EN--3/01 Figure A--23.000 deg 1/10 PR [ 1:ZERO POS PR [ 2: PR [ 3: PR [ 4: PR [ 5: Enter value ] ] ] ] ] CONFIG CLEAR Position Reg 717 = = = = = R R R R R DONE [REPRE] .992 mm P: Z: 956.895 mm R: DATA Position Reg JOINT 30% CONF:N 00 40. [ 3 DATA ] Register screen DATA Registers R[ R[ R[ R[ R[ R[ R[ R[ R[ JOINT 30% 1/32 1: 2: 3: 4: 5: 6: 7: 8: 9: ]=0 ]=5 ]=12 ]=50000 ]=0 ]=0 ]=0 ]=0 ]=0 TYPE Registers Position register screen Position register screen/position data information screen DATA Position Reg PR[ 1:REF PR[ 2:REF PR[ 3:REF PR[ 4:REF PR[ 5: PR[ 6: PR[ 7: PR[ 8: PR[ 9: PR[ 10: TYPE POS POS POS POS 1 2 3 4 JOINT 30% 1/10 ]=* ]=* ]=* ]=* ]=* ]=* ]=* ]=* ]=* ]=* RECORD POSITION Position Detail PR[1] UF:F UT:1 X: 1500.000 deg 10. 5 R=1.0 0.0 .0 20.0 0.0 20.0 20.0 0.0 4.0 .0 4.6 SELECT HELP DATA Weave Sched 10 % 4/10 FREQ(Hz) AMP(mm) R_DW(sec) L_DW(sec) 1 1.5 6.0 20.0 210.2 W=1.0 0.0 DATA TAST Sched Hz mm sec sec deg HELP > V-Gain-L V_Cur(A) 30.00 sec 19.0 0.0 JOINT 10 % 1/20 W=0.100 6 1.0 0.100 .0 30.0 20.0 .0 [ TYPE ] [ TYPE Weld Sched] G2 10 1/32 cm/min COMMENT 50 Weld Schedule 50 Weld Schedule 50 Weld Schedule 50 Weld Schedule 50 Weld Schedule 50 Weld Schedule 50 Weld Schedule 50 Weld Schedule 50 Weld Schedule Amps 210.0 0.9 W=1.100 .0 20.150 90.0 Amps 50 cm/min 0.0 20.0 20.0 R=1.0 4.100 .0 20.150 .0 Volts 210.0 20.0 0.2 2.0 .0 .0 0.100 .0 0.0 20.0 G2 R=0.0 4.0 0.0 0.0 210.0 30.0 DETAIL COPY JOINT ADVISE % DATA Weld Sched 1 2 3 4 5 6 7 8 9 1 2 3 4 5 HELP > CLEAR > Weld Sched Advice screen DATA Weld Advise 1 2 3 4 5 Butt Butt Butt Butt Butt [ TYPE ] : : : : : T= T= T= T= T= DETAIL Weld Schedule: 1 Command Voltage Command Current Travel speed Delay Time Feedback Voltage Feedback Current COPY 10 % 1/5 [WELD schedulel ] 20.9 R=0.0 20.100 .0 0.100 .0 30.0 .0 0.100 5 1.0 4.0 30.0 Amps [ TYPE ]SCHEDULE ADVISE [ TYPE ] JOINT HELP > CLEAR > Weave Sched screen G2 1.0 0.0 210.0 30.100 .0 210.0 [ TYPE ] [ TYPE Track Sched] 718 G2 DETAIL COPY JOINT 10 % 1/20 V-Bias(%)-L 0.0 .0 .0 0.0 20.100 7 1.0 20.0 4.0 20.0 20.0 0.5 Volts 20.0 0.0 W=1.100 9 1.100 .0 20.0 .0 0.100 4 1.0 30.0 30.0 0.0 210.100 .0 0.100 [ TYPE ] G2 DETAIL JOINT HELP > Weld Sched Weave Sched Detail screen DATA TAST Sched Track Sched screen G2 JOINT 10 % 4/5 1 2 3 4 5 6 7 8 9 Weave Schedule: 4 1 2 3 4 5 Frequency: Amplitude: Right dwell: Left dwell: L pattern angle: [ TYPE ]SCHEDULE 1.100 8 1.2 0.0 4. [ 3 DATA ] Weld Sched screen Weld Sched Detail screen DATA Weld Sched 1 2 3 4 5 6 7 8 9 Volts 20.2 W=1.0 30.APPENDIX B--81464EN--3/01 Figure A--25.0 0.5 1.0 0.100 2 1.0 HELP > CLEAR > .0 .0 0.0 210.0 210.0 4.0 0.2 R=1.0 210.0 0.0 4.100 3 1.0 3. 0 (sensitivity) 17 L_dead band: 0.0 mm 20 L_tracking limit per cycle:1.5 29 L_AG_multiplier: 1.0 0 1.0 0 0.5 G1 > 719 G1 JOINT 10 % 3/4 ] 2.50 sec 6 Comp frame (no WV): TOOL 7 V_compensation gain: 25.136 sec -.0 0 0.0 A data (constant) 16 L_compensation gain: 20.0 % 19 L_tracking limit: 600. [ 3 DATA ] Process Sched screen Track Sched Detail screen DATA TAST Sched G2 JOINT 10 % 1/29 DATA Weld Process TAST Schedule: [ 1] 1 2 3 4 1 2 3 4 TAST Schedule: [ Schedule 1 ] V_compensation enable: TRUE L_compensation enable: TRUE V_master current type: FEEDBK (feedback constant) 5 Sampling timing (no WV): .0 mm 18 L_bias rate (right+): 0.0 210.Adaptive gain control -24 V_AG_correction count: 0 cyc (0:disable) 25 L_AG_correction count: 0 cyc (0:disable) 26 V_AG_correction band: 4.0 mm 11 V_tracking limit per cycle:1.0 0.APPENDIX B--81464EN--3/01 Figure A--26.0 .0 mm 21 L_compensation start count:5 cyc 22 Motion group number: 1 23 Adjust delay time: .5 [ TYPE ] [ TYPE Weld Sched] SCHEDULE COPY [ TYPE ] JOINT 10 % 1/4 Amps cm/min 210.0 mm 12 V_compensation start count:5 cyc 13 V_master sampling start: 4 cyc count (feedback) 14 V_master sampling count: 1 cyc (feedback) 15 V_master current constant: 0.0 20.00 Volts Amps cm/min sec HELP > .0 27 L_AG_correction band: 4.0 % 10 V_tracking limit: 600.0 (sensitivity) 8 V_dead band: 0.0 mm 9 V_bias rate (up+): 0.0 1 DETAIL HELP > Process Sched Detail screen DATA Weld Process Schedule: 1 [ 1 2 3 4 Command Voltage Command Current Travel speed Delay Time [ TYPE ]SCHEDULE HELP > CLEAR Volts 2.0 0 0.0 28 V_AG_multiplier: 1. 00(s)[ JOINT 10% 1/10 comment ] ] ] ] ] ] ] ] ] PRG TIMER DETAIL Timer[ 1] Comment Count Start program Line Stop program Line [TYPE] DETAIL Prg Timer 720 LISTING G1 JOINT :[*************] : 4.APPENDIX B--81464EN--3/01 Figure A--27.000 1 0 OFF 0. [ 4 STATUS ] Robot axis status screen (Status 1 screen) STATUS Axis J1: J2: J3: J4: JOINT 30% Flag Bits1/2 0000000000000000 0000000000000000 0000000000000000 0000000000000000 0000000000000000 0000000000000000 0000000000000000 0000000000000000 TYPE Robot axis status screen (Torque monitor screen) STATUS1 GRP[1] History (0000000000000000) (0000000000000000) (0000000000000000) (0000000000000000) (0000000000000000) (0000000000000000) (0000000000000000) (0000000000000000) STATUS2 PULSE [ UTIL ] STATUS Axis J1: J2: J3: J4: J5: JOINT 30% GRP[1] Torque Monitor Ave.10/01 TYPE SOFTWARE CONFIG MOTOR SERVO Software version screen (Motor ID screen) STATUS Version ID JOINT 30% GR: AX: MOTOR ID & INFO: 1/16 1 1 1 ACA22/2000 80A H1 DSP1-L 2 1 2 ACAM30/3000HV 80A H2 DSP1-M 3 1 3 ACA22/2000 80A H3 DSP2-L 4 1 4 ACAM9/3000 40A H4 DSP2-M 5 1 5 ACAM6/3000 40A H5 DSP3-L 6 1 6 ACAM6/3000 40A H6 DSP3-M 7 2 1 ACA6/3000 80A H DSP 8 ** ** *************************** 9 ** ** *************************** 10 ** ** *************************** [TYPE] SOFTWARE CONFIG MOTOR SERVO Version ID Program Timer Detail Screen Program Timer List Screen PRG TIMER LISTING 1 2 3 4 5 6 7 8 9 Timer[ Timer[ Timer[ Timer[ Timer[ Timer[ Timer[ Timer[ Timer[ TYPE 1] 2] 3] 4] 5] 6] 7] 8] 9] G1 count 0.00 Software Edition No. V610P/01 Boot Monitor V6.00(s)[ 0. Mot.00 Joint. 9024000 Controller ID F00000 Default personality (from FD) M6iB-NORM-ZBK 7D80/81 Servo Code V11.00(s)[ 0.000/ 0.000/ 0.000/ 0. Parameter V3. / Max.00(s)[ 0. Parameter V3.000 1 0 OFF 0.005 Cart.00(s)[ 0.000 1 0 OFF 0.000 1 0 OFF 0.01(sec) :[ : :[ : TEST2] 12 TEST2] 34 10% 1/1 .00(s)[ 0. Inpos OT VRDY 0.00(s)[ 0.000 1 0 OFF [TYPE] MONITOR TRACKING DISTURB [ UTIL ] Axis Software version screen (Software version screen) STATUS Version ID 1 2 3 4 5 6 7 8 9 10 JOINT 10% FANUC ARC TOOL 7D80/01 S/W serial No.00(s)[ 0. MOT.000/ 0.00(s)[ 0.000/ 0. 3 Waiting time: 1.4 KB 59. [ 4 STATUS ] Safety Signal Status Screen System Timer Screen SYS TIMER G1 JOINT GROUP : 1 Timer type Total(h) On Power time: 12.5 Running time: 2.VR.3 Servo on time: 4.5 KB 1726.2 KB 529.4 KB 1172.9 KB 1175.2 KB 59.0[OFF] 0. Stat. .0[OFF] 0.JB.2 TYPE GROUP# ON/OFF 10% 1/4 STATUS Safety SIGNAL NAME 1 2 3 4 5 6 7 8 9 Lap(m) 0.0 KB 540.MN.8 KB 999.APPENDIX B--81464EN--3/01 Figure A--28.VR.8 KB 363.5 KB TEMP 1726. Options CLEAR Exec-hist TYPE Memory Memory status detail screen STATUS Memory JOINT 10 % Total Free Lrgst Free Pools ----------------------------TPP 550.9 KB 1207.PR PERM: Used by . 3 FWD Done 6 BWD Paused 7 FWD Paused 6 FWD Done 5 FWD Done TYPE STATUS Memory Pools TPP CMOS PERM CMOS TEMP DRAM JOINT 10 % Total Available ---------------------550.0 KB 529.2 KB IMAGE 255. Dirc.6 KB Hardware ----------------------------FROM 16. .0 MB CMOS 1.0 MB [TYPE] BASIC HELP 721 DETAIL HELP .0[OFF] RESET SOP E-Stop: TP E-Stop: Ext E-Stop: Fence Open: TP Deadman: TP Enable: Hand Broken: Overtravel: Low Air Alarm: JOINT 10% STATUS 1/11 FALSE FALSE FALSE FALSE FALSE TRUE FALSE FALSE FALSE TYPE Sys Timer Safety Signl Memory status list screen Execution history screen Execution history 1 2 3 4 5 G1 Program name PNS0001 PNS0001 PNS0001 PNS0001 PNS0001 JOINT VFINE 1/6 Line.2 KB PERM 999. Options TEMP: Used by .9 KB 76. .1 KB SYSTEM 1010. RD:.MR.8 KB 367.7 KB Description: TPP: Used by .PC.9 KB 76.1 KB 367. .0[OFF] 0.0 MB DRAM 16. 000 J2: 0.0 Amps ****** OFF OFF 0: 0: 0 H:M:S RESET HELP Weld Figure A--30.0 cm/min Arc enable: Arc detect: Arc on time [ TYPE ] JOINT 10 % FEEDBACK 19.000 [ TYPE ] WORLD Position 722 G1 0.5 Volts 200.0 Volts 210.000 J6: USER Current position screen (User coordinates) POSITION Joint J1: J4: 0.000 J3: 0.APPENDIX B--81464EN--3/01 Figure A--29.0 Amps 0. [ 4 STATUS ] Weld screen STATUS Weld G2 COMMAND 20.000 J2: 0.000 J5: JNT JOINT 10 % TOOL: 1 0.000 0. [ 5 POSITION ] Current position screen (Joint coordinates) POSITION Joint J1: J4: [ TYPE ] G1 0.000 J5: JNT JOINT 10 % TOOL: 1 0.000 0.000 J3: 0.000 .000 J6: USER WORLD 0. APPENDIX B--81464EN--3/01 Figure A--31. [ 6 SYSTEM ] System clock screen System variable screen SYSTEM Clock Clock Display G1 JOINT DATE 99/06/15 TIME 10:50:44 Please select function [ TYPE ] 10 % 1 2 3 4 5 6 7 8 9 10 JOINT 10 % 1/357 150 0 [5] of STRING[21] [5] of INTEGER [9] of REAL [5] of STRING[21] 2 TRUE [5] of APCOUPLED_T [32] of APCUREQ_T Variables Overtravel Release screen Positioning screen SYSTEM Master/Cal G1 JOINT 10 % TORQUE = [ON ] FIXTURE POSITION MASTER ZERO POSITION MASTER QUICK MASTER SINGLE AXIS MASTER SET QUICK MASTER REF CALIBRATE Press ’ENTER’ or number key to select. [ TYPE ] $ACC_MAXLMT $ACC_MINLMT $AC_CRC_ID $AC_CRC_SET $ANGTOL $APPLICATION $AP_ACTIVE $AP_CHGAPONL $AP_COUPLED $AP_CUREQ G1 [ TYPE ] ADJUST Clock 1 2 3 4 5 6 SYSTEM Variables LOAD RES_PCA MANUAL OT RELEASE AXIS 1 2 3 4 5 6 7 8 9 OT MINUS FALSE FALSE FALSE FALSE FALSE FALSE FALSE FALSE FALSE [ TYPE ] RELEASE DONE OT Release Master/Cal 723 G1 JOINT 10 % 1/9 OT PLUS FALSE FALSE FALSE FALSE FALSE FALSE FALSE FALSE FALSE . 00 190.00 270.00 -190.00 -78.00 -170.00 -270.00 162.00 -200.00 1 2 3 dg dg dg dg dg dg dg dg mm 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 32 33 34 35 36 37 38 [ TYPE ] Axis Limits 10 % 1/38 Use HOT START: FALSE I/O power fail recovery:RECOVER ALL Autoexec program [********] for Cold start: Autoexec program [********] for Hot start: HOT START done signal: DO[ 0] Restore selected program: TRUE Enable UI signals: TRUE START for CONTINUE only: FALSE CSTOPI for ABORT: FALSE Abort all programs by CSTOPI: FALSE PROD_START depend on PNSTROBE:FALSE Detect FAULT_RESET signal: FALL Use PPABN signal: <*GROUPS*> WAIT timeout: 30.00 sec Retun to top of program: TRUE Original program name(F1): [program] Original program name(F2): [main ] Original program name(F3): [sub ] Original program name(F4): [test ] Original program name(F5): [*******] Default logical command: <*DETAIL*> Maximum of ACC instruction: 150 Minimum of ACC instruction: 0 WINT for default motion: ***** Auto display of alarm menu: FALSE Force Message: ENABLE Reset CHAIN FAZLURE detection: FALSE Allow Force I/O in AUTO mode: TRUE Allow chg. oyrd.00 sec RECEIVE timeout: 30.APPENDIX B--81464EN--3/01 System configuration screen Joint operating area setting screen SYSTEM Axis Limits G1 AXIS GROUP LOWER 1 2 3 4 5 6 7 8 9 1 1 1 1 1 1 2 2 0 -165.00 0.00 140.00 285.00 450. in AUTO mode: TRUE Signal to set in AUTO mode Dout [0] Signal to set in T1 mode Dout [0] Signal to set in T2 mode Dout [0] Signal to set if E-STOP Dout [0] Hand broken: <*GROUPS*> Remote/Local setup: Remote External I/O (ON:Remote): DI[0] VOP auto assignment: Foll [ TYPE ] 724 G1 JOINT TRUE FALSE .00 0.00 -140.00 200.00 System Config JOINT 10 % UPPER 1/16 165.00 -450. LBL[ ]*3 Skip instruction Offset*3 Offset instruction Offset. PR[ ]*2*3 Direct offset condition instruction Tool_offset*3 Tool offset instruction Tool_offset. PR[ ]*2*3 Direct tool offset instruction INC*4 Incremental instruction SOFT FLOAT[ ]*5 Soft float instruction Ind. Motion (option) instruction Motion instructions J P[] L PR [ ]*2 ( feedrate ) FINE CNT ( value ) C Additional motion instruction Wjnt Wrist joint motion instruction ACC (value) Acceleration/deceleration override instruction Skip. EV (value) %*6 Independent EV instruction EV (value) %*6 Simultaneous EV instruction PTH Path instruction CTV (VALUE)*7 Continuous turn statement TIME BEFORE (VALUE) CALL (SUB PRG)*8 Time before statement Arc Start [ ] *1 Arc start instraction Arc End [ ] *1 Arc end instraction 725 .3 List of Program Instructions Figure A--32.APPENDIX B--81464EN--3/01 A. . $ 5 JMP / LBL 6 CALL / END LBL [ ] Label instruction JMP LBL [ ] Jump instruction CALL ( Program ) Program call instruction END Program end instruction 726 .... I/O instruction RO [ ] = ... 3 IF / SELECT IF R [ ] = . 4 WAIT Selection condition instruction WAIT (time) WAIT Time wait instruction R [ ] = . GO [ ] = .... Comparison I / O [ ] = .............j]*2 DI / O [ ] RI / O [ ] GI / O [ ] AI / O [ ]*9 WI/O [ ]*1 2I/O PR [ ]*2 = ........APPENDIX B--81464EN--3/01 Figure A--33. Position register instruction DO [ ] = ..... $Parameter = SELECT R [ ] = . Program instruction Register instruction Const PR [i. Program instruction menu Program instruction menu 1 Register Program instruction format R[]= R [ ] .. WO [ ]*1= . Conditional wait instruction I / O [ ] = .. AO [ ]*9= . ........APPENDIX B--81464EN--3/01 Figure A--34.. LBL[] Receive register statement LOCK PREG Position register lock instruction UNLOCK PREG Position register unlock instruction SOFTFLOAT [ ] Soft float start instruction SOFT FLOAT END Soft float end instruction FOLLOW UP MONITOR Follow--up instruction Monitor start statement MONITOR END Monitor end statement 727 ........ 12 Tool_Offset*3 I/O [ ] = ... RSR statement UALM [ ] User alarm instruction TIMER [ ] Timer instruction OVERRIDE Override instruction Remark Comment instruction Message [ ] Message instruction $ (Parameter) = Parameter instruction 10 Skip*3 SKIP CONDITION 11 Offset*1 OFFSET CONDITION PR [ ] *2= ... User frame setup instruction UFRAME_NUM = .END Offset condition instruction UFRAME [ ] = .. 15 SENSOR 16 LOCK PREG*2 17 SOFTFLOAT*5 18 MONITOR /MON... Tool frame setup instruction UTOOL_NUM = ... Program instruction menu Program instruction menu 7 Arc*1 8 Program Control 9 Miscellaneous Program instruction format Program instruction Arc Start [ ] Arc start instruction Arc End [ ] Arc ebd instruction PAUSE Halt instruction ABORT Abort instruction RSR [ ] = ... Tool offset condition instruction 13 MACRO*3 14 Multiple control Skip condition instruction Macro instruction RUN (PRG) Run program statement SEMAPHORE [ ]=. Semaphore statement WAIT SEMAPHORE [ ]=. Wait semaphore statement SEND R[] Send register statement RCV R[].. Tool frame selection instruction TOOL_OFFSET CONDITION PR [ ] *2= .. User frame selection instruction UTOOL [ ] = . Option list * Option Specification 1 Arc tool A05B--****--J500 2 Position register A05B--****--J514 3 Option command A05B--****--J503 4 Incremental input A05B--****--J510 5 Softfloat A05B--****--J612 6 Extended axis control A05B--****--J518 7 Continuous turn A05B--****--J613 8 Condition monitor function A05B--****--J628 9 Analog I/O A05B--****--H550 10 Multi task A05B--****--J600 11 Sensor interface A05B--****--J502 12 Multi motion group A05B--****--J601 13 Weaving A05B--****--J504 14 Arc sensor A05B--****--J511 15 AUC A05B--****--J526 16 Torque limit function A05B--****--J611 17 Coordinated control A05B--****--J619 728 . as indicated below: Table A--3.APPENDIX B--81464EN--3/01 Program instruction menu Program instruction format Program instruction 19 Independent GP*12 Independent GP Independent motion group statement 20 Simultaneous GP*12 Simultaneous GP Simultaneous motion group statement 21 Weave*13 Weave (Pattern) [ ] Weaving start command Weaving End Weaving end command Track 21 Track*14*15 TAST [ ]*14 Arc sensor command AVC [ ]*15 AVC command End*14*15 Tracking end command Option The items indicated by * (numeral) in Figure A--32 to A--35 are displayed when the corresponding option is added. Acceleration/deceleration override ACC a Sets the rate of acceleration/deceleration when moving.10 % Specify the rate of a feedrate to the highest feedrate of the robot. Skip Skip. C Enables the tool tip of the robot to make a circular motion. Tool_offset. Positioning path sec Specify the time required during a motion. Additional motion instructions Wrist joint motion Wjnt On a linear or arc motion. added to the position variable. synchronized with the robot. i: 1 -.4. The higher the specified number.2 Additional motion instructions Table A--5. Soft float SOFT FLOAT[i] Enables the soft float function. Motion format Position variable Feedrate unit Motion instructions J Enables robot operation for each joint with interpolation. When the condition is satisfied. Path PTH Creates a motion plan. Offset. the more gradual the robot moves. mm/sec.PR[i:comment] Makes the robot move to the position where the value specified by the offset condition instruction and the value of position register are added to the positional variable. P[ i : Comment ] Standard variable for storing position data. cancels the motion and executes the next line. PR[ i : Comment ] Register for storing position data.PR[(GPk:)i] Moves the robot to the position corresponding to the position register value. Specifies the speed with which the tool tip makes a linear or deg/sec circular motion. Incremental INC Makes the robot move to the position where the value of the position variable is added to the current position. the wrist axis moves with a joint motion.4 Program Instructions A. using the rate attainable in continuous operation. L Moves the robot tool linearly. CNTn n (0 -.!Degree of gradual motion.100): The robot moves gradually from the specified position to the position at!which the next motion starts.APPENDIX B--81464EN--3/01 A. and the joint coordinates vary. LBL[ ] Causes a branch to the specified label when the condition specified in a skip condition instruction is not satisfied. Tool_offset Moves the robot to the position corresponding to the value specified by the tool offset instruction. cm/min. added to the position variable. independently of the robot motion.4.1 Motion instructions Table A--4. A. Simultaneous EV EV(value)% i = 1 to 100 (%) Moves the extended axis. Tool offset a=0 to 500(%) 729 . FINE The robot stops at the specified position and starts the next motion. Positional offset Offset Makes the robot move to the position where the value specified by the offset condition instruction is added to the positional variable.EV(i)% i = 1 to 100 (%) Moves the extended axis. inch/min. Independent EV Ind. CALL SUB PRG NAME L P[ ] m PR[ ] mm/sec FINE Wjnt cm/min CNTn ACC n inch/min Skip..EV i % EV i % PTH CTV i TIME BEFORE t sec..5sec CNT100 INC L P[4] 100cm/min FINE Wjnt Skip.PR[ ] ) TOOL_offset (. CALL SUB PRG NAME TIME AFTER t sec..LBL[100] C P[5] P[6] 300mm/sec CNT50 . Example 730 1: 2: : 3: 4: : 5: J P[1] 100% FINE L P[2:LINE] 500mm/sec CNT100 Wjnt Offset. LBL [ ] Offset (. (Cont’d) Additional motion instructions Continuous turn CTV i i = --100 to 100(%) Start the execution of continuous turn. CALL SUB PRG NAME TIME AFTER t sec. Before execution TIME BEFORE t CALL <prog> TIME AFTER t CALL <prog> Before or after the specified end time. PR[1] L P[3] 3.PR[ ] ) INC SOFT FLOAT [ ] Ind. <prog>=Name of sub program. CALL SUB PRG NAME C P[ ] P[ ] PR[ ] PR[ ] . LBL [ ] deg/sec Offset (. call a sub program and execute one.PR[ ] ) sec TOOL_offset (.APPENDIX B--81464EN--3/01 Table A--5. t=Excecution start time.EV i % EV i % PTH CTV i TIME BEFORE t sec.. J P[ ] m PR[ ] % FINE ACC n sec CNTn Skip..PR[ ] ) INC SOFT FLOAT [ ] Ind. RDO[ i ] Robot digital signals GI[ i ]. GO[ i ] Gourp signals AI[ i ]. SDO[ i ] System digital signals RDI[ i ].4. AO[ i ] Analog signals Position data Input/output signal R[ ] = Constant + Constant + R[ ] -- R[ ] -- PR [ i.APPENDIX B--81464EN--3/01 A. .2] 3: R[4] = AI[1] PR [ ] + PR [ ] + PR [ ] Lpos -- P[] -- P[] Jpos Lpos Lpos UFRAME [ ] Jpos Jpos UTOOL [ ] Example 731 1: 2: 3: 4: PR[1] PR[3] PR[8] PR[9] = = = = PR[6] PR[4]+Lpos UFRAME[1] UTOOL[2] . j ] i: Position register number. i: 1 to memory limit Lpos Cartesian coordinates of the current position Jpos Joint coordinates of the current position UFRAME [ i ] User coordinate system UTOOL [ i ] Tool coordinate system SDI[ i ]. j: 1 to 9 ..3 Register and I/O instructions Table A--6. k: GPR group number.. 1: R[1] = RI[3] 2: R[3] = DI[4]*PR[1. Register and I/O instructions Register R[ i ] i: 1 to 32 i: Register number.. Position register PR[(GPk:) i ] Fetches a position data element. i: 1 to 10 j: Number of an element in a position register. k: 1 to 3 PR[(GPk:) i . P[ i :comment ] i: Position number. j ] * SDI / O [ ] / SDI / O [ ] / RDI / O [ ] DIV RDI / O [ ] DIV GI / O [ ] MOD AI / O [ ] SI/O [ ] SI/O [ ] UI/O [ ] UI/O [ ] TIMER [ ] TIMER [ ] TIMER_ TIMER_ OVERFLOW [ ] OVERFLOW [ ] Example PR [ ] = MOD GI / O [ ] AI / O [ ] . j ] * PR [ i.. ..0sec R[1] R[2:control] 12. j ] * PR [ i..5 . width ) Example 732 1: 2: 3: 4: 5: SDO[1] RDO[3:] RDO[4] GO[9] AO[10] = = = = = Constant ON PULSE. j ] * SDI / O [ ] / SDI / O [ ] / RDI / O [ ] MOD RDI / O [ ] MOD GI / O [ ] DIV AI / O [ ] SI/O [ ] SI/O [ ] UI/O [ ] UI/O [ ] WI/O [ ] WI/O [ ] TIMER [ ] TIMER [ ] TIMER_ TIMER_ OVERFLOW [ ] SDO [ ] SRO [ ] = DIV GI / O [ ] AI / O [ ] OVERFLOW [ ] ON GO [ ] OFF AO [ ] = R[ ] R[ ] Pulse ( .1. j ] = Constant + Constant + R[ ] -- R[ ] -- PR [ i.APPENDIX B--81464EN--3/01 PR [ i. LBL[1:HANDOPEN] 2: IF DI[2] = ON.CALL MAINPROG 733 . Selection condition SELECT R[ i ] = ( value ) ( branch ) Specifies a selection condition and an instruction or program to which the program branches to. IF R[ ] > Constant $Parameter >= R[] GO [ ] = AO [ ] <= GI [ ] < AI [ ] <> SDO [ ] = ON RDO [ ] <> OFF SDI [ ] R[ ] RDI [ ] SDO [ ] SO [ ] RDO [ ] UO [ ] SDI [ ] SI [ ] RDI [ ] UI [ ] SO [ ] WI [ ] UO [ ] WO [ ] SI [ ] .APPENDIX B--81464EN--3/01 A. JMP CALL Others Example 1: IF R[2] >= R[3].JMP LBL[1] 4: = 2. j. JMP LBL [ ] CALL ( Program name ) UI [ ] WI [ ] WO [ ] PR [ ] SELECT R [ ] = PR [ ] <> [ i. You can link (Conditions) by using operators.JMP LBL[3] 6: ELSE. Conditional branch instructions Comparison condition IF ( condition ) ( branch ) Specifies a comparison condition and an instruction or program to which the program branches to.4. k ] = ( condition ) .CALL SUBPROGRAM Example 3: SELECT R[2] = 1.JMP LBL[2] 5: = 3.4 Conditional branch instructions Table A--7. TIMEOUT LBL [ ]) UO [ ] SI [ ] UI [ ] WI [ ] WO [ ] ERR_NUM = Constant Constant sec Example 1: WAIT RDI[1] = ON 2: WAIT 10.5sec 3: WAIT R[2].TIMEOUT.4.4.APPENDIX B--81464EN--3/01 A.LBL[1] A. JMP LBL[ i ] Causes a branch to the specified label. You can link (Conditions) by using operators.6 Unconditional branch instructions Table A--9. R[ ] > Constant $Parameter >= R[] GO [ ] = AO [ ] <= GI [ ] < AI [ ] <> SDO [ ] = On RDO [ ] <> Off SDI [ ] R[ ] RDI [ ] On+ SO [ ] Off-- UO [ ] SDO [ ] SI [ ] RDO [ ] UI [ ] SDI [ ] WI [ ] RDI [ ] WO [ ] SO [ ] (. Wait instruction WAIT < condition > WAIT < time > Wait WAIT Waits until the specified condition is satisfied or until the specified time has elapsed. Program call CALL (program--name) Causes a branch to the specified program. Program end END Ends the program and returns control to the calling program. JMP LBL[ ] CALL (Program name) LBL[ ] Example 734 1: 2: 3: 4: LBL[1: HANDCLOSE] JMP LBL[2] CALL SAMPLE1 CALL PRG2: LBL[1] .5 Wait instruction Table A--8. Label Unconditional branch instructions LBL [i : COMMENT] Specifies the instruction which the program branches to. 4.7 Program control instructions Table A--10. Override OVERRIDE Sets override. Example 1: PAUSE 2: ABORT A. Other instructions RSR RSR[ i ] Enables or disables RSR signals (i = 1 to 4). Program control instructions Halt PAUSE Halts a program. Comment !(comment) Inserts a comment in a program.APPENDIX B--81464EN--3/01 A.4. RSR [ ] = ENABLE DISABLE TIMER [ ] = START STOP RESET OVERRIDE = m% $(system variable name) = Constant R[ ] PR [ ] R[ ] = $ (Parameter) PR [ ] JOINT_MAX_SPEED [ ] = Constant R[ ] LINEAR_MAX_SPEED [ ] = Constant R[ ] Example 735 3: 4: 5: 6: 7: 8: 9: 10: 11: OVERRIDE = 50% $NRM_TURN = 1 $NRM_TURN = 1 RSR[2] = ENABLE UALM [3:no work] ! STEP 2 START TIMER[1] = START MESSAGE [STEP1 EXECUTION] $NRM_TURN = 1 .8 Other instructions Table A--11. Parameter $(system variable name) Changes the value of a system variable. Message MESSAGE [message--text] Displays a user message on a user screen. User alarm UALM[ i ] Displays a user alarm on the alarm line. Timer TIMER[ i ] Sets the timer. Maximum speed JOINT_MAX_SPEED [ ] LINEAR_MAX_SPEED Sets the maximum speed for operation statements in the program. Abort ABORT Aborts a program. 4.APPENDIX B--81464EN--3/01 A.UTOOL[1] . You can link (Conditions) by using operators.9 Skip and Offset condition instruction Table A--12. SKIP CONDITION R[ ] > Constant $Parameter >= R[] GO [ ] = AO [ ] <= GI [ ] < AI [ ] <> SDO [ ] = On RDO [ ] <> Off SDI [ ] R[ ] RDI [ ] On+ SO [ ] Off-- UO [ ] SDO [ ] SI [ ] RDO [ ] UI [ ] SDI [ ] WI [ ] RDI [ ] WO [ ] SO [ ] UO [ ] SI [ ] UI [ ] WI [ ] WO [ ] ERR_NUM = Constant OFFSET CONDITION PR[ ] (. Tool offset condition TOOL_OFFSET CONDITION (offset amount) Specifies the amount of tool offset used by the motion instruction. UFRAME[ ] ) TOOL OFFSET CONDITION PR[ ] (.UFRAME[1] TOOL OFFSET CONDITION PR[2]. Skip and Offset condition instruction Skip condition SKIP CONDITION (condition) Specifies the skip execution condition for an additional motion instruction. UTOOL[ ]) Example 736 1: 2: 3: 4: SKIP CONDITION SDI[1] = ON SKIP CONDITION RDI[2] <> DI[3] OFFSET CONDITION PR[1]. Offset condition OFFSET CONDITION (offset amount) Specifies the amount of offset used by the motion instruction. *] Group Mask[*. Frame setup instruction User frame UFRAME[i] User frame i=1 to 9 User frame selection UFRAME_NUM The number of current user frame.4.10 Frame setup instruction Table A--13.*.*.*.*. Semaphore variable SEMAPHORE[i] Defines a semaphore variable (i = 1 to 32). Example 1: HAND1 OPEN 2: HAND2 CLOSE A.4.12 Multiaxis control instructions Table A--15. other tasks cannot be executed.*] . Multiaxis Control Instructions Program execution RUN Starts execution of a specified program in another motion group.APPENDIX B--81464EN--3/01 A.TIMEOUT LBL [ ]) RUN (Program Name) Example 737 PROGRAM 1 1: SEMAPHORE[1] = OFF 2: RUN PRG2 3: J P[1] 100% FINE 4: J P[2] 100% FINE 5: WAIT SEMAPHORE[1] PROGRAM 2 1: J P[3] 100% FINE 2: J P[4] 100% FINE 3: J P[5] 100% FINE 4: J P[6] 100% FINE 5: SEMAPHORE[1] = ON Group Mask[1. i=1 to 9 Tool frame selection UTOOL_NUM The number of current tool frame = UFRAME[ ] UTOOL[ ] P[ ] PR[ ] = UFRAME_NUM UTOOL_NUM Constant R[ ] Example 1: UFRAME[1] = P[12] 2: UTOOL[3]=PR[1] 3: UFRAME_NUM=3 A. Macro Macro instruction (macro--instruction) Executes a program defined on the macro instruction setting screen. SEMAPHORE [ ] = On Off WAIT SEMAPHORE [ ] (.11 Macro instruction Table A--14.*. Tool frame UTOOL[ ] Tool frame.1.4. If the semaphore is off. 4.4.4.APPENDIX B--81464EN--3/01 A. 8: J P[7] 100% FINE 9: MONITOR END WRKFALL 10: OPEN HAND A. Status monitoring end instruction MONITOR END <Condition program name> Ends monitoring under the conditions specified in the condition program.16 Motion group instructions Table A--19. Motion Group Instructions Independent motion group Independent GP Enables motion groups to operate independently of each other. Example 1: MONITOR WRKFALL 2: J P[1] 100% FINE .14 Soft float instruction Table A--17. Soft float end SOFTFLOAT END Disables the soft float function. . Position register look--ahead execution instruction Position register lock LOCK PREG Locks a position register to prevent the register contents from being changed. . Status Monitoring Instructions Status monitoring start instruction MONITOR<Condition program name> Starts monitoring under the conditions specified in the condition program.13 Position register look--ahead execution instruction Table A--16. Example 1: 2: 3: 4: 5: 6: 7: 8: 9: 10: J P[1] 100% FINE PR[1] = PR[2] PR[2] = PR[3] LOCK PREG L P[2] 100mm/sec CNT100 L P[3] 100mm/sec CNT100 L PR[1] 100mm/sec CNT100 L P[4] 100mm/sec CNT100 OFFSET PR[2] L P[5] 100mm/sec FINE UNLOCK PREG A. Simultaneous GP Example 738 1: : : 2: : : Independent GP GP1 L P[1] 100% GP2 J P[1] 100% Simultaneous GP GP1 L P[2] 100% CP2 J P[2] 100% FINE FINE FINE FINE . Soft float instruction Soft float start SOFTFLOAT[ i ] Enables the soft float function.4. Example 1: 2: 3: 4: 5: 6: J P[1] 100% FINE SOFTFLOAT[1] L P[2] 100mm/sec FINE FOLLOWUP L P[3] 100mm/sec FINE SOFTFLOAT END A. Simultaneous motion group Enables motion groups to operate simultaneously with the motion group that requires the longest travel time.15 Status monitoring instructions Table A--18. Position register unlock UNLOCK PREG Unlocks a position register. Follow--up FOLLOW UP Assumes the current robot position to be the taught position (follow--up) when the soft float function is used. Arc start instruction Arc end instruction Arc instruction Arc Start [ i ] Starts arc welding. i: Welding condition number 1 to 10 Arc Start [ V.1.5s] Weaving Commands Weave (Pattern) [ i ] Starts weaving Pattern=Sine.4.0. s2 ] Hz: Frequency mm: Amplitude s1: Right--end dwell time s2: Left--end dwell time msec Weave End Ends weaving.5mm.17 Arc instruction Table A--20. mm.10 L P[3] 50cm/min FINE ARC END[2] WEAV END .0Hz.0Volts.0ms. i: AVC schedule i=1 to 20 Track End Ends tracking. A. Figure8 i: weave schedule number i=1 to 10 Weave (Pattern) [ Hz.70. 1: 2: 3: 4: 1: Weave Sine[8] 2: Weave Sine[3.0Volts. Example Table A--22.2. Circle. Weaving start command Weaving end Tracking command Arc Arc Arc Arc Start[1] Start[10. s1.0Amps. i: arc sensor schedule i=1 to 20 Track AVC [ i ] Starts the AVC.y Example 1: TRACK TAST[1] 2: TRACK AVC[1] Example 1: : 2: 3: 4: 5: : 6: 739 J P[1] 100% FINE ARC START[1] WEAV SIN[1] TRACK TAST[2] L P[2] 50cm/min CONT. i: Crater prevention condition number 1 to 10 Arc End [ V.APPENDIX B--81464EN--3/01 A.140Amps] End[R[1]] End[10. s ] V: Welding voltage A: Welding current s: Processing time Example Table A--21. A ] V: Welding voltage A: Welding current Arc End [ i ] Ends arc welding.0ms] 3: Weave End Tracking Commands Track TAST [ i ] Starts the arc sensor.1. 3 Software Version B. j Contents of this appendix B. APPENDIX This appendix summarizes items necessary for using this model.4 Robot Axis States B.6 World Frame Origin B.5 Diagnosis Screen B.APPENDIX B--81464EN--3/01 B.9 Extended Axis Setup B.7 I/O Module Setting B.10 Independent Additional Axis Board (Nobot) Startup Procedure 740 .1 Start Mode B.8 Positioner Setup B. It may also be used as an index.2 Mastering B. however. the program runs and output signals are restored to the state existing prior to the last power--down. and all settings are reset to their standard values. be used to change a system variable which normally cannot be changed. From the menu displayed by pressing the Fctn key on the controlled start menu. Once the initial start has been completed.APPENDIX B--81464EN--3/01 B. Upon the completion of the initial start. 741 . NOTE At an initial start. all programs are deleted. A cold start can be performed while power restoration is enabled. The program is aborted. a controlled start is performed automatically. therefore. Start mode Start mode selection Usual turning on Cold start Initial start Controlled start Hot start System starts Cold start System starts B. make a backup copy of the necessary programs and system files. These modes will not be used in normal operation.1 Start up Methods Robot controller has the following four start up methods(start mode): Initial start When the unit is started in the initial start mode. The controlled start menu cannot be used to operate the robot. Before performing an initial start. a controlled start menu. The controlled start menu can. a controlled start is performed automatically. The cold start or the hot start is started in normal operation. The factory--set mastering data is also erased. which is a simple system. Once the cold start has been completed. An initial start should be made only when the main printed circuit board or software is replaced. the robot can be operated. all programs are deleted. When the unit starts. Cold start The cold start mode is used to perform normal power--up while power restoration is disabled. and all the settings are reset to their standard values. Which mode is used depends on whether the hot start is enabled or disabled. provided the necessary setting is made at power--up. the robot can be operated. Figure B--1. starts up. programs and all data including settings will be lost. Controlled start When the unit is started in the controlled start mode. The initial start and the controlled start will be used during maintenance.1 Start Mode B.1. Once the hot start has been completed. Hot start The hot start mode is used to perform normal power--up while power restoration is enabled. to read a system file. a cold start can be made.2 Initial start When the unit is started in the initial start mode. and all output signals are turned off.1. and to setup the robot. Software install screen Optional software can be added or deleted. On the file screen of the controlled start menu. Press the Fctn key on the controlled start menu. press the Fctn key. All software installation 3.done ******* BMON MENU ******* 1. The following screens can be displayed from the menu displayed by pressing the MENU key on the controlled start menu: Setting screens Settings can be made. 3 INPUT 3 Enter 1 (YES) to the confirmation message of initial start.3 Controlled start When the unit is started in the controlled start mode. starts up. Upon the completion of the initial start. 742 . From that menu. B. Version ID Screen The software edition is displayed. Controller backup/restore 5.. a controlled start menu. System variables screen System variables can be set. F5 ON ON *** eBOOT MONITOR for R-J3iB CONTROLLER *** Base system version V5. Hardware diagnosis OFF Selece : 2 Select 3. and to setup the robot. Init start. and the controlled start menu appears. From that menu. which is a simple system. be used to change a system variable which normally cannot be changed. A menu appears. When the F4 key is pressed. Alarm history screen The alarm history is displayed. Even a system variable which cannot normally be changed (R0) can be changed.1. a controlled start is performed automatically.10P/01(FRL) Initializing file device . A menu appears. however. Configuration menu 2. all files are read automatically. The boot monitor screen is displayed. File screen A program or system file can be saved and read. The controlled start menu cannot be used to operate the robot. CAUTION: INIT start is selected Are you SURE? [Y=1 / N=else] An initial start is performed. select 1 START (COLD). F4 is displayed as [RESTORE]. select RESTORE/BACKUP.APPENDIX B--81464EN--3/01 Procedure B--1 Step F1 Initial start 1 Press and hold the F1 key and F5 key and then turn on the power supply switch on the operator panel. A cold start is performed. To switch F4 to [BACKUP] as on other file screens. The controlled start menu can. Init start 4.. The system file can be read only from the controlled start menu. to read a system file. The configuration manu is displayed. select 1 START (COLD). A motion group can be added or deleted. 4. A menu appears. 3 ENTER Tool Setup CONTROLLED START MENUS 1/1 FANUC Arc Tool 1 F Number [TYPE] F00000 3 To operate the robot. This screen is used to read a file from a Handy File or the like upon a controlled start. F! System version:V5. A cold start is performed. The setting screen for the controlled start menu appears. press the Fctn key. Fctn 1 START (COLD) ENTER 743 . An additional axis can be set. Hot start Cold start Controlled start Maintenance ON OFF Select> 2 Select 3 CONTROLLED START. Procedure B--2 Step PREV Controlled start 1 Press and hold the PREV key and F→ key and then turn on the circuit protector switch on the operator panel . a cold start must be performed. MAINTENANCE A robot setting can be changed.APPENDIX B--81464EN--3/01 Port in:t screen A serial port is set. From that menu. To do this. Memory screen The memory status is displayed.1001 08/28/** ----------CONFIGURATION MANU---------ON 1. 2. 3. 3. The following screen is displayed after the system starts by cold start.10P01 Copyright **** FANUC LTD FANUC Robotics North America. 1 Turn on the power to the controller. -. -.1. the following is performed: -. -.4 Cold start The cold start mode is used when normal power--up is performed while power restoration is disabled.APPENDIX B--81464EN--3/01 B. -.Inc All right Reserved [ TYPE ] Procedure B--4 Condition Step HELP Cold start H Hot start is set to enable 1 Press and hold the PREV key and F→ key and then turn on the circuit protector switch on the operator panel. Inc All right Reserved [ TYPE ] HELP 744 . and the beginning of the program becomes the current line. robot I/O. The configuration menu is displayed. Upon a cold start.The manual feed coordinate system enters the JOINT state. 4. ON UTILITIES Hints JOINT 30 % FUNUC Arc Tool V5. The cold start procedure depends on the power restoration setting. and group I/O is turned off or set to 0.10P01 Copyright 1998 FANUC LTD FANUC Robotics North America. Hot start Cold start Controlled start Maintenance Select> UTILITIES Hints 2 ENTER ON JOINT 30 % FUNUC Arc Tool V5.The machine lock is released.1001 08/28/** ----------CONFIGURATION MANU---------ON 1.Each output signal of digital I/O.The feedrate override is reset to the initial value. PREV F! System version:VS. Procedure B--3 Condition Step Cold start H Hot start must be set to invalid. 2. analog I/O.The program is aborted. When the I/O allocation is changed -.1. robot I/O.Each output signal of digital I/O. manual feed coordinate system. -. each output signal of the digital I/O. NOTE When a hot start is performed in the following state. the program enters the pause state. the following is performed: -. 745 . 1 Turn on the power to the controller.The program runs in the same way as it did prior to the last power--down. robot I/O. and group I/O is set in the same manner as it was prior to the last power--down. and group I/O is turned off or set to 0: -. and machine lock are set in the same manner as they were prior to the last power--down.When the number of signals is changed on the I/O Link screen Procedure B--5 Condition Step Hot start H Hot start must be set to enable.When an I/O unit is mounted or removed -. analog I/O.APPENDIX B--81464EN--3/01 B.The feedrate override. Upon a hot start.5 Hot start The hot start mode is used when normal power--up is performed while power restoration is enabled. The screen which was being displayed at power off will be displayed on the screen of the teach pendant after a few seconds. -. If the program was running up until the last power--down. analog I/O. reference points must be set in advance. mastering is unnecessary in normal operation. To prevent this. mastering must be performed: F Mastering data is lost for some reason such as a drop in the voltage of the backup battery for S--RAM in the controller or memory erasing with an initial start. bumped. F The APC pulse counts are lost for some reason such as a drop in the voltage of the backup battery for APC pulse counts backup in the mechanical unit or exchange of pulse coder. More specifically. etc. the quick mastering reference points must be stored in case the factory--adjusted settings are needed in mastering in the future. F The pulse counts do not indicate the angles of the axes because the mechanical unit was hit. The zero--degree position mark attached to each axis of the robot is referenced. Single axis mastering Single axis mastering is that the mastering is performed every one axis. replace both batteries periodically. The current position of the robot is determined by the pulse counts of the absolute pulse coders (APCs) for the axes. an alarm ‘BLAL’ notifies the user. CAUTION After the robot is installed. Quick mastering The mastering position can be set at any position.APPENDIX B--81464EN--3/01 B. however. Table B--1. Mastering types Type of mastering Explanation Jig mastering Mastering is performed using a special jig. CAUTION The robot data including mastering data and the pulse coder data are maintained independently by backup batteries. mastering is performed by obtaining the pulse count read at the zero--degree position. Setting mastering data Mastering data is set in mastering counters directly. 746 . Since mastering data is factory--set. If one of the following events occurs. Mastering at the zero--degree positions Mastering is performed with each axis of the robot aligned with the zero--degree position. To do this. data is lost. If the batteries go empty. There are five types of mastering as listed below. Jig mastering is performed at the factory. When the battery voltage drops.2 Mastering Mastering associates the angle of each axis of the robot with the pulse count of the absolute pulse coder (APC) connected to the motor of each axis. be sure to perform positioning (calibration). Press F5.900. -.DONE.In quick mastering.000 $PARAM_GROUP . If you want to display the Master/Cal screen again. 747 .which is displayed in the Master/Cal screen after mastering. The current pulse count is received from the calibration. $MASTER_ENG is automatically set to 0 and then the Master/Cal screen can not be displayed. the Master/Cal screen will be displayed only when the system variable. F Current pulse count.) This value is defined in system variable $PARAM_GROUP. Master/Cal]. $ENCSCALE Mastering table 2 Angle of axis pulse count 90 deg 28.000 Quick mastering 0 deg 15.In jig mastering. Mastering and calibration are performed on the Master/Cal screen [6 SYSTEM.) This data is stored in $DMR_GRP. -. set $MASTER_ENB to 1 in the system variable screen again. F Pulse count at the zero--degree position (See mastering table 2. $MASTER_COUN --90 deg 2. $MASTER_ENB. is set to 1 or 2.000 9 deg 16. Positioning means that the controller reads the current pulse counts and recognizes the current position. the pulse count at the quick mastering reference position defined by the user is received and converted to mastering data.600.$ENCSCALE.000 Mastering at the zero--degree positions $DMR_GRP . NOTE Mastering by accident may cause the robot to move unexpectedly and it is very dangerous. Figure B--2.000 Jig mastering The current position of the robot is determined by the following data: F Pulse count per degree (See mastering table 1.$MASTER_COUN by mastering.APPENDIX B--81464EN--3/01 After mastering. Mastering Mastering table 1 Angle of axis 1 deg pulse count 144. the pulse count at the jig position is received and converted to mastering data. Therefore.600.600. The positioning screen appears. The screen menu is displayed. With this mastering. Procedure B--6 Condition Jig mastering H System variable $MASTER_ENB must be set to 1 or 2. Master/Cal [TYPE] LOAD RES_PCA DONE TYPE F1 5 Move the robot by jog feed to the mastering position.2. 748 . 4 Select “Master/Cal” on the screen change menu.NEXT ----” and then select “6 SYSTEM”. accurate mastering can be performed by using the special jig. This mastering is usually unnecessary to perform in normal operation because this is used at shipment.” The screen change menu is displayed. Release the brake on the manual brake control screen if necessary. 2 Select “0 ---. For details of jig mastering.1 Jig mastering Jig mastering is performed at the factory using a special jig. SYSTEM Variables JOINT 10% 57/136 1 57 $MASTER_ENB Step 1 Press the MENUS key.APPENDIX B--81464EN--3/01 B. refer to the maintenance manual. 9 USER 0 -.NEXT -- SYSTEM Master/Cal 1 2 3 4 5 6 MENUS 5 POSITION 6 SYSTEM 7 JOINT 30% FIXTURE POSITION MASTER ZERO POSITION MASTER QUICK MASTER SINGLE AXIS MASTER SET QUICK MASTER REF CALIBRATE Press ’ENTER’ or number key to select. 3 Press F1 “TYPE. This mastering is performed at the mastering position set beforehand. 000> <0. Calibration is performed whenever the power is turned on. then turn it on again. 5 SET QUICK MASTER REF 6 CALIBRATE ENTER Calibrate? [NO] Calibrate? [NO] [ TYPE ] SYSTEM Master/Cal YES NO F4 JOINT 30 % 1 FIXTURE POSITION MASTER 2 ZERO POSITION MASTER 3 QUICK MASTER 4 SINGLE AXIS MASTER 5 SET QUICK MASTER REF 6 CALIBRATE Robot Calibrated! Cur Jnt Ang(deg): <10. to perform positioning.000> <40.000> [ TYPE ] LOAD RES_PCA DONE 8 Press F5 “DONE”. SYSTEM Master/Cal SYSTEM Master/Cal ENTER 1 FIXTURE POSITION MASTER 2 ZERO POSITION MASTER Master at master position? [NO] Master at master position? [NO] [ TYPE ] YES NO F4 JOINT 30 % 1 FIXTURE POSITION MASTER 2 ZERO POSITION MASTER 3 QUICK MASTER 4 SINGLE AXIS MASTER 5 SET QUICK MASTER REF 6 CALIBRATE Robot Mastered! Mastering Data: <0> <11808249> <38767856> <9873638> <122000309> <2000319> [ TYPE ] LOAD RES_PCA DONE 7 Select “6 CALIBRATE” and press the F4 key (yes).000> <5. turn the power off. after mastering.APPENDIX B--81464EN--3/01 6 Select “1 FIXTURE POSITION MASTER” and press the F4 key (yes). Calibration is performed.000> <-25. DONE F5 9 Alternatively. 749 . Mastering data is set.000> <-15. a zero--degree position mark is attached. Perform mastering at the zero--degree positions only as an emergency measure.2. 4 Select “Master/Cal” on the screen change menu. 9 USER 0 -.2 Mastering at the zero--degree positions Mastering at the zero--degree positions is performed for the robot with all its axes at the zero--degree positions. Procedure B--7 Condition Step Mastering at the zero--degree positions H System variable $MASTER_ENB must be set to 1 or 2. 1 Press the MENUS key. refer to the maintenance manual. 2 Select “0 ---. The screen menu is displayed. 3 Press F1. Using these marks as a reference.TYPE. The screen change menu is displayed. Master/Cal [TYPE] LOAD RES_PCA DONE TYPE F1 5 Move the robot by jog feed to the zero--degree positions for all axes. Set brake control to off.NEXT ----” and then select “6 SYSTEM”. For details of mastering at the zero--degree positions. move the robot by jog feed to the zero--degree positions for all axes.NEXT -- SYSTEM Master/Cal 1 2 3 4 5 6 MENUS 5 POSITION 6 SYSTEM 7 JOINT 30% FIXTURE POSITION MASTER ZERO POSITION MASTER QUICK MASTER SINGLE AXIS MASTER SET QUICK MASTER REF CALIBRATE Press ’ENTER’ or number key to select.APPENDIX B--81464EN--3/01 B. 750 . Mastering at the zero--degree positions cannot be performed as accurately as other types of mastering because it relies on visual alignment. if necessary. The Master/Cal screen appears. On each axis of the robot. 5 SET QUICK MASTER REF 6 CALIBRATE ENTER Calibrate? [NO] YES SYSTEM Master/Cal JOINT 30 % 1 FIXTURE POSITION MASTER 2 ZERO POSITION MASTER 3 QUICK MASTER 4 SINGLE AXIS MASTER 5 SET QUICK MASTER REF 6 CALIBRATE Robot Calibrated! Cur Jnt Ang(deg): <0. 1 FIXTURE POSITION MASTER ENTER 2 ZERO POSITION MASTER 3 QUICK MASTER Master at zero position? [NO] YES NO F4 SYSTEM Master/Cal JOINT 30 % 1 FIXTURE POSITION MASTER 2 ZERO POSITION MASTER 3 QUICK MASTER 4 SINGLE AXIS MASTER 5 SET QUICK MASTER REF 6 CALIBRATE Robot Mastered! Mastering Data: <0> <11808249> <38767856> <9873638> <122000309> <2000319> [ TYPE ] LOAD RES_PCA DONE 7 Select “6 CALIBRATE” and press the F4 key (yes).000> <0. Mastering data is set.000> <0. 751 .000> <0. then turn it on again. turn the power off. DONE F5 9 Alternatively.000> <0.000> <0. after mastering.APPENDIX B--81464EN--3/01 6 Select “2 ZERO POSITION MASTER” and press the F4 key (yes).000> NO F4 [ TYPE ] LOAD RES_PCA DONE 8 Press F5 “DONE”. to perform calibration. Calibration is performed whenever the power is turned on. Calibration is performed. CAUTION If the robot is installed in such a way that the robot cannot be set to the 0° position.000 16. This must be done to store the factory--set mastering setting. For details of quick mastering. quick mastering can be used. quick mastering cannot be used. which is the reference point of initial simple mastering.900. F When the pulse coder is replaced or when mastering data in the robot controller is lost. the reference point of simple mastering should be stored after the installation. F If mastering data is lost due to the failure of the backup battery for the pulse coder.APPENDIX B--81464EN--3/01 B. Figure B--3. The pulse counts are calculated from the speed and angular displacement within one rotation of the APCs connected to the motors. Quick mastering uses the fact that the absolute angular displacement within one rotation is not lost. 752 . To perform simple mastering. a reference point set after mastering is necessary (reference point setting). Quick Mastering Angle of axis Absolute pulse coder value 9 deg 10 deg 260.3 Quick mastering Quick mastering allows mastering at any user--defined position. refer to the maintenance manual.000 1 rotation = 520. providing for future mastering.000 Pulse count Quick mastering uses the fact that the deviation of the angle of the axis from the reference point can accurately be compensated when it is within one rotation of the APC.000 1 deg = 144.000 304. The reference point is factory--set to the zero position.2. Mastering data is set. H Quick mastering reference position (reference position) must be set. [TYPE] LOAD RES_PCA DONE 2 Jog the robot to the quick mastering position(reference position). SYSTEM Master/Cal 1 2 3 4 5 6 JOINT 30% FIXTURE POSITION MASTER ZERO POSITION MASTER QUICK MASTER SINGLE AXIS MASTER SET QUICK MASTER REF CALIBRATE Press ’ENTER’ or number key to select. 2 ZERO POSITION MASTER 3 QUICK MASTER 4 SINGLE AXIS MASTER YES ENTER NO F4 4 Select “6 CALIBRATE” and press the F4 key (yes). Calibration is performed. 3 Select “3 QUICK MASTER” and press the F4 key (yes). DONE F5 753 . turn off the brake control. 5 Press F5 “DONE” after mastering.APPENDIX B--81464EN--3/01 Procedure B--8 Condition Quick mastering H System variable $MASTER_ENB must be set to 1 or 2. Step 1 Display the Master/Cal screen. If necessary. APPENDIX B--81464EN--3/01 Procedure B--9 Setting reference points for quick mastering (If the robot is installed in such a way that the robot cannot be set to the 0° position) CAUTION This operation cannot be executed if the mastering data is lost because of mechanical disassembly or maintenance. if necessary. Set brake control to off. 4 Select “5 SET QUICK MASTER REF” and press the F4 key (yes). 2 Select “Master/Cal” on the screen change menu. jig mastering or zero--degree positions mastering should be executed to restore the mastering data. 5 POSITION 6 SYSTEM 7 SYSTEM Master/Cal 1 2 3 4 5 6 MENUS Master/Cal JOINT 30% FIXTURE POSITION MASTER ZERO POSITION MASTER QUICK MASTER SINGLE AXIS MASTER SET QUICK MASTER REF CALIBRATE Press ’ENTER’ or number key to select. The Master/Cal screen appears. Condition Step H System variable $MASTER_ENB must be set to 1 or 2. The reference points for quick mastering are stored in memory. If that is the case. 4 SINGLE AXIS MASTER 5 SET QUICK MASTER REF 6 CALIBRATE YES ENTER NO F4 754 . 1 Select “6 SYSTEM” on the screen menu. TYPE [TYPE] LOAD RES_PCA DONE F1 3 Move the robot by jog feed to the quick mastering reference position. 000 0.000) ( 0. -.1 The mastering data has been lost. The values of $EACHMST_DON[1 to 9] are displayed at this column.000) ( 0.500 31. Refer to the maintenance manual for an accurate method of single axis mastering.2 The mastering has been completed. It is usually specified 0 degree.0 Specifies that the mastering data has been lost.000) ( 0.000 JOINT (MSTR POS ) ( 0. The value displayed at this item can not be directly changed.(Only other interactive axes is performed mastering.000) ( 0.000) ( 0. 755 .000 12.000) ( 0. Single axis mastering should be used when the mastering data of some axes is lost for some reason such as the drops of the voltage of the backup battery for pulse coder or exchanging of the pulse coder.) This axis need to be mastered.550 -50. ST Display the state of completion of the single axis mastering.000) 30 % 1/9 (SEL)[ST] (0) [2] (0) [2] (0) [2] (0) [2] (0) [2] (0) [2] (0) [2] (0) [2] (0) [2] GROUP Table B--2 EXEC Settings for single axis mastering ITEMS DESCRIPTIONS ACTUAL POS The current position expressed by joint (degree) of the robot is displayed. SINGLE AXIS MASTER J1 J2 J3 J4 J5 J6 E1 E2 E3 ACTUAL POS 25. -. Single axis mastering needs to be performed.000) ( 0.255 25.000 0. SEL For the axis to be performed mastering.000) ( 0.000 0.set this item to 1. MSTR POS Specifies the mastering position to the axis to be performed the single axis mastering.250 0.4 Single axis mastering User can select the arbitrary position for the mastering of each axis.APPENDIX B--81464EN--3/01 B. It is usually 0. -.2. 5 POSITION 6 SYSTEM 7 SYSTEM Master/Cal 1 2 3 4 5 6 MENUS JOINT 30% FIXTURE POSITION MASTER ZERO POSITION MASTER QUICK MASTER SINGLE AXIS MASTER SET QUICK MASTER REF CALIBRATE Master/Cal Press ’ENTER’ or number key to select. 6 Enter the axis data of the mastering position. R ( ( JOINT 0. Turn off the brake control if necessary.000) (0) [2] ( 0. The Master/Cal screen appears.000) (0) [2] ( 0.000 ( ( JOINT 0.000 ( ( JOINT 0.000) 90.000) 0. TYPE [TYPE] LOAD RES_PCA DONE F1 3 Select “4 SINGLE AXIS MASTER”.550 -50.250 43.000) (0) [0] ( 0.000) (0) (0) 30 % 2/9 [0] [0] SINGLE AXIS MASTER J2 J3 25.000) (0) [2] ( 0.550 -50.000) (0) [2] ( 0.000 0. In a right example.000) (1) (1) GROUP 756 30 % 3/9 [0] [0] EXEC . R ( ( JOINT 0.000) (1) (1) 30 % 2/9 [0] [0] SINGLE AXIS MASTER J2 J3 25. 1 Select “6 SYSTEM” on the screen menu. The single axis mastering screen is displayed.000) 0. 2 Select “Master/Cal” on the screen change menu.000) (0) [2] ( 0.255 25.382 0.000) (1) (1) GROUP 30 % 3/9 [0] [0] EXEC 5 Jog the robot to the mastering position. SINGLE AXIS MASTER J1 J2 J3 J4 J5 J6 E1 E2 E3 ACTUAL POS 25.000 JOINT 30 % 1/9 (MSTR POS ) (SEL)[ST] ( 0.000 0.000) (0) [0] ( 0. SEL can be specified for one axis or plural axes simultaneously.APPENDIX B--81464EN--3/01 Procedure B--10 Single axis mastering Condition Step H System variable $MASTER_ENBL must be set to 1.550 -50.000) (0) [2] ( 0.000 12. mastering of the J5 and the J6 axis needs to be executed.000) (0) [2] GROUP EXEC 4 Enter 1 to SEL setting field of the axis that you want to master.000) 0.500 31. [TYPE] LOAD RES_PCA DONE 9 Select “6 CALIBRATE” and press F4 “YES.APPENDIX B--81464EN--3/01 7 Press F5 “EXEC.000 90. GROUP EXEC F5 SINGLE AXIS MASTER J1 J2 J3 J4 J5 J6 E1 E2 E3 ACTUAL POS 25.550 -50.000 0. press the PREV key to display the Master/Cal screen.000) (0) [2] ( 0.000) (0) [2] ( 90.500 0. after calibration. 10 Press F5 “DONE”.000) (0) [2] ( 0. PREV SYSTEM Master/Cal JOINT 30% 1 FIXTURE POSITION MASTER 2 ZERO POSITION MASTER 3 QUICK MASTER 4 SINGLE AXIS MASTER 5 SET QUICK MASTER REF 6 CALIBRATE Press ’ENTER’ or number key to select.” The mastering is performed.000) (0) [2] ( 0.000 12. This operation causes SEL to be set to 0 and ST to be set to 2 or 1.000) (0) [2] ( 0.000 0.000) (0) [2] ( 0.000 0. DONE F5 757 .255 25.000) (0) [2] GROUP EXEC 8 When the single axis mastering is completed.” The calibration is performed.000) (0) [2] ( 0.000) (0) [2] ( 0.000 JOINT 30 % 1/9 (MSTR POS ) (SEL)[ST] ( 0. 2 Select “Variables” on the screen change menu. Setting mastering data can be performed when the pulse counts are not changed. 5 POSITION 6 SYSTEM 7 MENUS Variables SYSTEM Variables 1 2 3 4 5 6 JOINT 10% 1/98 $AP_MAXAX $AP_PLUGGED $AP_TOTALAX $AP_USENUM $AUTOINIT $BLT 536870912 4 16777216 [12] 0f Byte 2 19920216 [TYPE] TYPE F1 3 Change mastering data. F If C--MOS mastering data is lost for some reason such as an initial start.5 Setting mastering data Mastering data can be set directly in the system variable. Procedure B--11 Directly setting mastering data Step 1 Select “6 SYSTEM” on the screen menu. Mastering data is stored in system variable $DMR_GRP. set the recorded mastering data.2.$MASTER_COUN. F Setting mastering data cannot be performed when pulse count data is lost. 13 $DMR_GRP 14 $ENC_STAT DMR_GRP_T [2]of ENC_STAT_T [TYPE] 758 .APPENDIX B--81464EN--3/01 B. The system variable screen appears. [9] of Boolean [9] of integer FALSE SYSTEM Variables $DMR_GRP[1]. DONE F5 759 . 7 Set “$MASTER_DONE” to “TRUE.” 9 Press F5 “DONE”. after calibration.” DMR_GRP_T [2] of ENC_STAT_T SYSTEM Variables $DMR_GRP 1 [1] JOINT 10% 1/1 DMR_GRP_T ENTER SYSTEM Variables $DMR_GRP 1 $MASTER_DONE 2 $OT_MINUS 3 $OT_PLUS 4 $MASTER_COUN 5 $REF_DONE 6 $REF_POS 7 $REF_COUNT 8 $BCKLSH_SIGN [ TYPE ] JOINT 30 % 1/8 FALSE [9]of Boolean [9]of Boolean [9]of Integer FALSE [9]of Real [9]of Integer [9]of Boolean TRUE FALSE 5 Select “$MASTER_COUN” and enter mastering data.APPENDIX B--81464EN--3/01 4 Select “$DMR_GRP.$MASTER_COUN 1 [1] 2 [2] 3 [3] 4 [4] 5 [5] 6 [6] ENTER JOINT 10% 1/9 95678329 10223045 3020442 304055030 20497709 2039490 [TYPE] 6 Press the PREV key.” TRUE FALSE F4 SYSTEM Valiables $DMR_GRP[1] 1 $MASTER_DONE 2 $OT_MINUS JOINT 10% 1/8 TRUE [9]of Boolean 8 Display the Master/Cal screen and select “6 CALIBRATE. Software version screen The software version screen displays the following information: STATUS Version ID 1 2 3 4 5 6 7 8 9 10 ITEM: SOFTWARE: FANUC Arc Tool S/W Serial No. JOINT 30 % 1/21 V5.1001 [ TYPE ]SOFTWARE MOT_ID MOT_INF SER_PAR Software configuration The software configuration screen displays the software installed. -. STATUS Version ID JOINT 30 % FEATURE: ORD NO: 1/128 1 English Dictionary H521 2 Multi Language (KANA) H530 3 FANUC Arc Tool H541 4 Kernel Software CORE 5 Basic Software H510 6 KAREL Run-Time Env J539 7 Robot Servo Code H930 8 R-200i/165F H740 9 NOBOT H895 10 Analog I/O H550 [ TYPE ]SOFTWARE MOT_ID MOT_INF SER_PAR 760 . The following are the screens related to the software version: [TYPE] SOFTWARE MOT_ID MOT_INF SER_PAR -.F3 “MOT_ID”: Displays the motor ID screen. Cart.APPENDIX B--81464EN--3/01 B. Controller ID.F4 “MOT_INF”: Displays the motor information screen. Parameter Joint Mot. This information is to be reported to FANUC if a failure occurs in the controller.F2 “SOFTWARE” : Displays the software version screen.1001 7D01/09I V5. -. M6-1NLN-NORM-BRK[N] Servo Code. Mot.F5 “SER_PAR”: Displays the servo parameter information screen. -.02 ******* ******* V5. Edition No.3 Software Version Screens related to the software version display identification information of the controller. Parameter Boot MONITOR Teach Pendant Software.1001 9024000 F00000 N/A V01. 01 P01.APPENDIX B--81464EN--3/01 Motor ID screen The motor ID screen displays the ID of each axis. STATUS Version ID 1: 2: 3: 4: 5: 6: 7: 8: 9: GRP: 1 1 1 1 1 1 * * * JOINT AXIS: 1 2 3 4 5 6 * * * 30 % 1/16 MOTOR ID: ACA22/2000 80A ACA22/2000 80A ACA22/2000 80A ACA22/1500 40A ACA12/2000 80A ACM6/3000 40A Uninitialized Uninitialized Uninitialized [ TYPE ]SOFTWARE MOT_ID MOT_INF SER_PAR Servo parameter information screen The servo parameter information screen displays the ID of the servo parameter for each axis.01 P01. STATUS Version ID GRP: AXIS: 1: 1 1 2: 1 2 3: 1 3 4: 1 4 5: 1 5 6: 1 6 7: 2 1 8: * * 9: * * JOINT SERVO PARAM ID: P01.01 P01.01 P01.11 Uninitialized Uninitialized 30 % [ TYPE ]SOFTWARE MOT_ID MOT_INF SER_PAR 761 .01 P00.01 P01. F4 “MOT_INF”: Displays the motor information screen. Cart. Parameter Joint Mot.F2 “SOFTWARE” : Displays the software version screen. -.1001 7D01/091 V5.F5 “SER_PAR”: Displays the servo parameter information screen. The software version screen is displayed. Controller ID. Parameter Boot MONITOR Teach Pendant Software. 30 % 1/21 V5.NEXT ----” and then select “4 STATUS” on the next page.02 ******* ******* V5. Mot. 3 Press F1 “TYPE” to display the screen change menu. 4 Select “Version ID” . 9 USER 0 -. Edition No.1001 Version ID [ TYPE ]SOFTWARE CONFIG MOTOR SERVO TYPE F1 -.APPENDIX B--81464EN--3/01 Procedure B--12 Software version screen Step 1 Press the MENUS key to display the screen menu.1001 9024000 F00000 N/A V01. 2 Select “0 ---. 762 . -.F3 “MOT_ID”: Displays the motor ID screen. -. M6-1NLN-NORM-BRK[N] Servo Code.NEXT -- STATUS Version ID 1 2 3 4 5 6 7 8 9 10 MENUS 3 DATA 4 STATUS 5 POSITION JOINT ITEM: SOFTWARE: FANUC Arc Tool S/W Serial No. 30 % PULSE [UTIL ]> Servo Alarm Status 1 Address: FC80h (L--axis). and the system waits for ITP. OVC It indicates an overcurrent (OVC) alarm. IPMAL. LVAL. it indicates that the error counter has overflowed.) ALDF Alarm distinction bit If an amplifier alarm (OHAL. When SSTB is set to 1. the host outputs ITPCON and generates ITP. When both FBAL and ALDF are set to 1. FSAL. HCAL It indicates a high current alarm. FCC0h (M--axis) MSB B14 B13 B12 B11 B10 B9 B8 OHAL LVAL OVC HCAL HVAL DCAL FBAL ALDF B7 B6 B5 B4 B3 B2 B1 LSB MCAL MOFAL EROFL CUER SSTB PAWT SRDY SCRDY OHAL Amplifier overheat alarm LVAL It indicates a low voltage alarm. or DCLVAL) is raised while ALSF is set to 1. MCAL Amplifier MCC adhesion alarm MOFAL Move command overflow alarm When this bit is set to 1. The status information consists of servo alarm status 1 (16 bits) and servo alarm status 2 (16 bits). The status of each axis is updated in real time. CUER Current offset error This bit is set to 1 when the current offset value of the A/D converter is higher than permitted. the disconnection alarm is detected by the hardware. the alarm is detected by PSM. 763 .4 Robot Axis Status The robot axis status screens displays the status of each axis motor of the robot. SSTB Servo standby signal After POWON. HCAL. EROFL Error counter overflow alarm for line tracking When this bit is set to 1.APPENDIX B--81464EN--3/01 B. FBAL Disconnection alarm (ALDF indicates whether the disconnection is associated with the hardware or software. Status 1 screen The status 1 screen displays the alarm status of the servo system. This status information is used during maintenance. this signal is set to 1. only 1ITP is set to 1. DCAL It indicates a regenerative discharge alarm. PAWT Parameter change completion signal When the servo CPU finishes rewriting parameters. it indicates that an overflow occurred when the move command was distributed. STATUS Axis JOINT Flag Bits 1/2 J1: 0000000000000000 0000000000000000 J2: 0000000000000000 0000000000000000 J3: 0000000000000000 0000000000000000 GRP[ 1 ] History (0000000000000000) (0000000000000000) (0000000000000000) (0000000000000000) (0000000000000000) (0000000000000000) [ TYPE ]STATUS1 STATUS2 Flag 1 Servo alarm status 1 Flag 2 Servo alarm status 2 Table B--3. HVAL It indicates a high voltage alarm. FSAL Fan stop alarm DCLVAL Low DC Link voltage alarm BRAKE Brake alarm of 6--axis amplifier IPMAL IPM alarm IPM is an abbreviation for intelligent power module. the flag is set to 1. The host CPU starts alarm handling after a lapse of a predetermined period from when the flag is set to 1. this flag is set to 1 to allow soft float to be started. The IPM detects overheating and HC by itself. FSSBDC FSSB disconnection alarm When a disconnection of FSSB is detected. data compensation is performed. however. 764 . When the servo CPU detects a collision. should not be used for mastering or other purposes. GUNSET Servo gun switch completion signal Once the resetting (initialization) of the pulse coder has been completed after the servo gun is switched. This data. OVL FBAL ALDF 1 0 1 Motor overload alarm (not used for a serial pulse coder) 1 0 0 Amplifier overload alarm 0 1 1 Pulse coder disconnection alarm (not used for a serial pulse coder) Table B--4. the flag is set to 1. the signal is set to 1 only for 1ITP. (Detected by the servo software) AMUCAL FSSB communication alarm When two consecutive alarms are detected in data communication between the servo module and a slave. After reading the data. which is a power component to replace IGBT. (Detected by the slave) CHGAL Amplifier charge alarm NOAMP No amplifier connection alarm This bit is set to 1 when an amplifier is not connected while the presence of the corresponding axis is specified (B3 of AXIS register set to 0). this bit is set to 1. FCC1h (M--axis) MSB B14 B13 B12 B11 B10 B9 B8 SRCMF CLALM FSAL DCLVAL BRAKE IPMAL SFVEL GUNSET B2 B1 LSB B7 B6 B5 B4 B3 FSSBDC SCUCAL AMUCAL CHGAL NOAMP SRCMF Compensation warning flag When part of the position data is missing because of noise or some other reason. this bit is set to 1. the host CPU resets the flag to 0. Alarm Servo Alarm Status 2 Address: FC81h (L--axis). SCRDY Servo communication flag The servo CPU sets this flag to 1 once data writing to the shared RAM is completed. (Hardware detection by FSSBC) SVUCAL FSSB communication alarm When two consecutive alarms are detected in data communication between the slave and a servo module. To inform the host of this state.APPENDIX B--81464EN--3/01 SRDY Servo ready signal While this flag is held to 1. this bit is set to 1. SFVEL Soft float start permission signal When the velocity feedback falls below the velocity specified in a parameter. CLALM It indicates a collision detection alarm. a move command is accepted. it indicates a data alarm. 765 . RCAL When this bit is 1. STBERR When this bit is 1. it indicates a clock alarm. it incicates a check sum alarm. it indicates a soft phase alarm (abnormal acceleration). STATUS Axis J1: J2 J3: J4 J5: J6: JOINT Alarm Status 0000000000000000 0000000000000000 0000000000000000 0000000000000000 0000000000000000 0000000000000000 GRP[ 1 ] History (0000000000000000) (0000000000000000) (0000000000000000) (0000000000000000) (0000000000000000) (0000000000000000) [ TYPE ]STATUS1 STATUS2 Alarm Status Table B--5. it indicates the low voltage alarm of the battery. it indicates a CRC alarm.APPENDIX B--81464EN--3/01 Status 2 screen The status 2 screen indicates the pulse coder alarm status (12 bits). it indicates a over heat alarm. PHAL When this bit is 1. it indicates a phase alarm. CSAL When this bit is 1. it indicates a rotating speed counter abnormal alarm BZAL When this bit is 1. it indicates a start/stop bit alarm. CKAL When this bit is 1. OHAL When this bit is 1. it indicates an exhausted battery alarm. CRCERR When this bit is 1. DTERR When this bit is 1. 30 % PULSE [UTIL ]> Pulse coder alarm status Pulse Coder Alarm Status MSB B10 B9 B8 SPHAL STBERR CRCERR DTERR LSB B7 B6 B5 B4 B3 B2 B1 OHAL CSAL BLAL PHAL RCAL BZAL CKAL SPHAL When this bit is 1. BLAL When this bit is 1. / Max. Delay of the actual pulse to the command pulse Machine Pulse Machine position (pulses).000 1 0 OFF J4: 0. Load to the motor and thermal loss can be estimated using the root--mean--square current values.000/ 0. Average of the root--mean--square current values (A) Max.OOO/ 0.000/ 0.000 1 0 OFF J3: 0.000/ 0. and status of the motion command. machine position.000/ 0.000 1 0 OFF J2: 0.000 1 0 OFF [ TYPE ]MONITOR TRACKING DISTURB[UTIL ]> Ave.000 1 0 OFF J6: 0. Inpos OT VRDY J1: 0. and the status of the position.APPENDIX B--81464EN--3/01 Pulse screen The pulse screen displays the servo delay. overtravel. and servo amplifier. STATUS Axis Position Error J1: J2: J3: J4: J5: [TYPE] STATUS1 JOINT 30% GRP[1] Motion Command 0 0 0 0 0 Machine Pulse 0 0 0 0 0 0 0 0 0 0 STATUS2 PULSE [ UTIL ] Position Error Servo delay (pulses). Maximum of the root--mean--square current values (A) Inpos Position status (0 or 1) OT Overtravel status (0 or 1) VRDY Servo amplifier ready status (on or off) 766 . Actual absolute pulses Motion Command Relative command pulses from the host (pulses) Monitor screen The monitor screen displays the current values.000 1 0 OFF J5: 0.000/ 0. STATUS Axis JOINT 30 % GRP[ 1 ] Torque Monitor Ave. 000 / 0.000 / 0.0 (-97.0 (84.0 (97.9) J2: 0. J1: 0.0 (90.3) 0. see Table B--3.7) [TYPE] MONITOR TRACKING / / / / / / Min.2) 0.3) J3: 0.0 (21.7) DISTURB [UTIL ]> Current Estimated disturbance torque to the servo motor (A) Max.4) J4: 0. the collision detection function of the servo system regards a collision as occurring and turns the servo power off. Table B--4.0 (30.000 / 0.2) J5: 0.0 (-21. Minimum value of the above estimated disturbance torque (A) 767 . 0. and Table B--5 Disturbance torque screen The disturbance torque screen displays the disturbance torque to each motor (current torque and maximum and minimum torque for each ITP). The disturbance torque is indicated with the current values estimated from the difference between the scheduled and actual values of the pulse coder. STATUS Axis P1: P2: P1: P2: JOINT 30% GRP[1] Tracking Status Flag Bits1 Flag Bits2 0000000000000000 0000000000000000 0000000000000000 0000000000000000 Alarm status Counter Value 000000000000 0 000000000000 0 [TYPE] MONITOR TRACKING Flag Bits 1 Servo alarm status 1 Flag Bits 2 Servo alarm status 2 Alarm Status Pulse coder alarm status Counter Value Line tracking counter DISTURB For the servo and pulse coder alarm statuses. STATUS Axis JOINT 30% GRP[1] Disturbance Torque Current Max.3) 0.0 (-34.0 (34.APPENDIX B--81464EN--3/01 Tracking screen The tracking screen displays the status of the tracking servo system.0 (-30. Maximum value of the above estimated disturbance torque (A) Min.000 / 0.3) J6: 0.4) 0. If the maximum or minimum value set for the disturbance torque is exceeded.000 / 0.000 / 0.0 (-84.0 (-90.9) 0. -. 5 To change the group number. -.” 3 Press the F1 key “[TYPE]” to display the screen change menu.F2 “MONITOR” on the next page: Displays the monitor screen. -. -. 9 USER 0 --NEXT-- MENUS 3 DATA 4 STATUS 5 POSITION STATUS Axis JOINT Flag Bits 1/2 J1: 0000000000000000 0000000000000000 J2: 0000000000000000 0000000000000000 J3: 0000000000000000 0000000000000000 GRP[ 1 ] History (0000000000000000) (0000000000000000) (0000000000000000) (0000000000000000) (0000000000000000) (0000000000000000) [ TYPE ]STATUS1 STATUS2 Axis 30 % PULSE [UTIL ]> [ TYPE ]MONITOR TRACKING DISTURB[UTIL ]> TYPE F1 -.F3 “TRACKING” on the next page: Displays the tracking screen. then select “4 STATUS. -.F4 “DISTURB” on the next page: Displays the disturbance torque screen.APPENDIX B--81464EN--3/01 Procedure B--13 Robot axis status screens Step 1 Press the MENUS key to display the screen menu. 4 Select “Axis. 768 .F4 “PULSE”: Displays the pulse screen.F3 “STATUS 2”: Displays the status 2 screen.When F2 REG. -. 2 Select “0 ----NEXT----” to display the next page. press F5 [UTIL]. the regenerative discharge screen appears.” The robot axis status screens can be displayed. then enter a desired group number.F2 “STATUS 1”: Displays the status 1 screen. On that menu. select 1 GROUP.DIS is selected on the next page. A menu appears. $diag_func is 1) B.11P/11 or later. Each information has help that shows the description and the recommended action. (In supported type.5. This function indicates the overhaul time in the motion of recent 50 hours.2 About Reducer Diagnosis Servo diagnosis function includes reducer’s recommended overhaul time diagnosis. F Main (List) F Reducer diagnosis F Overheat diagnosis F Torque diagnosis F Disturbance diagnosis F OVC diagnosis F collision diagnosis F Help This function is supported in V6. Pleasae refer maintainance manual. When the exchange or overhaul of the reducer is done. 769 . you have to reset parameters. You can use the robot long time without trouble.5. The following items are shown.5 Diagnosis Screen B. (This function is shipped from April 2001) You can use this function in supported type of robots only. bit 0 of initial $scr. The overhaul time depends on the future motion of reducer.APPENDIX B--81464EN--3/01 B.1 Outline This function is a function to show users very useful information at maintenance of the robot. 770 .3 Procedure Procedure B--14 Diagnosis screen Step 1 Press the MENUS key to bring up the screen menu.31 % 12.8 main reducer 10 % 2/2 hours hours hours hours hours hours ov. 3 Press F1“[TYPE]” to display the pull--up menu.39 % 21.heat help > 2 You can change the allocation of function keys by pressing the [next] key.12 % 76. Diagnosis JOINT reducer group[ 1] J1 J2 J3 J4 J5 J6 [ TYPE ] 76863. For example.75 % 9.6 93217. 6 Press F4“diag”. 4 Select “Axis”. Diagnosis main screen is shown first.8 65337.5.3 85768.APPENDIX B--81464EN--3/01 B. 2 Select “4 STATUS” on the next page.3 57686. 5 Press [next] key until “diag” is shown above function key.6 76876. by pressing F3 key reducer diagnosis screen is shown. Diagnosis JOINT group[ 1] reducer overheat(motor) overheat(trans) current disturbance OVC collision detection discharge [ TYPE ] main reducer 10 % 1/9 55542.2 hours 11. Press function key to show the item.824 % 19 times 13 4 W ov.heat help > Procedure B--15 Change diagnosis screen Step 1 Each item is allocated to the function key. 6 93217.8 65337.8 disturb OVC 10 % 2/2 hours hours hours hours hours hours cl. press [prev] key. 3 To show the Axis screen again.3 85768.3 85768.3 57686.824 % 19 times 13 4 W ov.4 Each item Main: Each item shows the value of the worst axis.2 hours 11.6 76876.75 % 9.heat help > Reducer: The time until the recomended overhaul of reducers Diagnosis JOINT reducer group[ 1] J1 J2 J3 J4 J5 J6 [ TYPE ] 76863.8 65337. Diagnosis JOINT group[ 1] reducer overheat(motor) overheat(trans) current disturbance OVC collision detection discharge [ TYPE ] main reducer 10 % 1/9 55542.5.APPENDIX B--81464EN--3/01 Diagnosis JOINT reducer group[ 1] J1 J2 J3 J4 J5 J6 torque 76863. B.6 93217.8 main reducer 771 10 % 2/2 hours hours hours hours hours hours ov.12 % 76.det.31 % 12.heat help > .39 % 21.3 57686.6 76876. 65 / -10.21 J4 12.heat help > Disturbance: The ratio of the force observed by the servo software to the alarm threshold.74 21.55 15.32 % 21.7 % 17.74 % 21.33 23.65 J5 -16.63 % 32.heat help 10 % 2/2 > .43 J3 -17.74 21. Diagnosis JOINT disturbance group[ 1] current max(%) min(%) J1 23.65 14.32 main reducer 10 % 2/2 % % % % % % ov.55 % 19.63 14.33 / -23.37 / -16.heat help > Torque: The ratio of the current torque to the maximum.56 / -35.55 J6 19.65 % 15.37 % 45.54 [ TYPE ] main reducer 772 ov.52 J2 26.33 23.41 / -23.63 14.32 main reducer % % % % % % ov.APPENDIX B--81464EN--3/01 Over heat: The ratio of root mean square current to the rated current Diagnosis JOINT over heat trans motor group[ 1] J1 J2 J3 J4 J5 J6 [ TYPE ] 10 % 3/3 13.55 15.65 14.21 / -23. Diagnosis JOINT torque group[ 1] J1 J2 J3 J4 J5 J6 [ TYPE ] 17. execute the overhaul more frquently. Diagnosis JOINT last detection 2001 / 4/ 6.heat help > Collision detection: The count of the collision and the data of the last collision detection.55 J6 ***** times 115. [ TYPE ] main reducer 773 ov. DETAIL: You can watch the count of the collision detection ever occured.APPENDIX B--81464EN--3/01 OVC: The ratio of the temperature simulated by the software to the alarm threshold.55 15.65 J5 14 times 114.heat help > Help: Information of the last shown item Diagnosis JOINT 10 % INFORMATION: The count of the collision and the data of the last collision detection. 16: 55: 26 group[ 1] count / position J1 ***** times -17.65 14.74 21.74 J4 ***** times 121.63 14. position).63 J3 ***** times -14. Diagnosis JOINT OVC group[ 1] J1 J2 J3 J4 J5 J6 [ TYPE ] 17.33 J2 ***** times 23.heat help > . REMEDY: If many collision detection occur.32 [ TYPE ] main reducer 10 % 3/3 deg deg deg deg deg deg ov.32 main reducer 10 % 2/2 % % % % % % ov.33 23.You can also watch the information of the last detection(time. moved parallel to itself in the horizontal direction.APPENDIX B--81464EN--3/01 B. moved parallel to itself.6 World Frame Origin This section describes the world frame origin of the each robot model (See Section 3. refer to this. (S--450U/L) Intersection of rotation axes U and γ when the robot is set to the zero positions on all linear axes (S--450S) Position at which rotation axis U. intersects with rotation axis θ when the robot is set to the zero positions on all linear axes M series (M--410i/M--500) Intersection of the J2--axis.“Setting Coordinate Systems” for the world frame).15. S series/LR Mate (Other than S--450) A crossing point between J1 axis and level plane which includes the J2 axis. and the J1--axis 774 . When the user frame or tool frame is set. FA. EB. such as the process I/O printed circuit board and I/O Unit--MODEL A. Using the FANUC I/O Link. Generally. with the I/O modules connected to the controller being used as slaves. DA.APPENDIX B--81464EN--3/01 B. I/O modules Abbreviation Process I/O printed circuit board (CA. GA.A FANUC I/O Unit--MODEL B I/O Unit -. the robot controller is used as the master. Up to 16 slave groups can be connected to one I/O Link.B FANUC I/O Link connection unit -- Programmable Controller SERIES 90--30A -- 775 . CB. via the I/O modules connected to the FANUC I/O Link: F Digital I/O SDI[i]/SDO[i] F Group I/O GI[i]/GO[i] F Analog I/O AI[i]/AO[i] F Peripheral unit I/O UI[i]/UO[i] i = logical number I/O modules The following I/O modules can be connected to the robot controller via the I/O Link: Table B--6. one master and multiple slaves can be connected.7 I/O Module Setting FANUC I/O Link The FANUC I/O Link is a serial interface used for high--speed I/O signal (bit data) transmission between the robot controller and I/O modules. FANUC I/O Link configuration Master Slave Main CPU printed circuit board Process I/O printed circuit board Peripheral unit JD4A JD1A JD4B I/O unit model B interface unit I/O Link JD1B DI/DO unit Power supply unit JD1A 24V 0V CP4 DI/DO unit : : I/O signals The following I/Os are used for signal transmission between the robot controller and system peripheral units. -HA) FANUC I/O Unit--MODEL A I/O Unit -. Figure B--4. EA. a signal is output on pin 33. 10 % 1/256 ] ] ] ] ] ] ] ] ] ] 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 OFF On the configuration screen.56] 57.40] 41.16] 17.48] 49.APPENDIX B--81464EN--3/01 Assignment I/O logical number i is assigned to a physical number of I/O modules.64] 65. Figure B--5. A specific signal pin of a particular I/O module can be specified with the rack. Physical No. and physical number.72] JOINT RACK 0 0 0 0 0 0 0 0 0 SLOT 1 1 1 2 2 2 2 2 0 [ TYPE ] MONITOR IN/OUT 10 % 1/32 START PT 21 29 37 1 9 17 25 33 0 DETAIL Physical number HELP > Assignment Process I/O printed circuit board I/O Digital Out # SIM STATUS DO[ 1] U OFF DO[ 2] U OFF DO[ 3] U OFF DO[ 4] U OFF DO[ 5] U OFF DO[ 6] U OFF DO[ 7] U OFF DO[ 8] U OFF DO[ 9] U OFF DO[ 10] U OFF [ TYPE ] CONFIG Process I/O printed circuit board Rack 0. I/O logical numbers can be redefined.32] 33. 776 in in in in in in in in in in in in in in in in 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 out 21 34 out 22 33 34 35 out 23 35 36 out 24 36 37 38 out 25 39 out 26 out 37 out 38 40 out 27 out 39 41 out 28 42 out 40 43 out 29 44 out 30 in 37 in 38 45 out 31 in 39 46 out 32 47 in 40 48 49 50 out out out out CRM2B CRM2A .8] 9. slot 1 JOINT [ [ [ [ [ [ [ [ [ [ IN/OUT ON CRM2B Pin No. Logical number and physical number assignment Digital I/O configuration screen I/O Digital Out Logical number # 1 2 3 4 5 6 7 8 9 DO[ DO[ DO[ DO[ DO[ DO[ DO[ DO[ DO[ RANGE 1. When SDO[1] is set to ON. slot. SDO[1] to SDO[8] are assigned to out21 to out28 of connector CRM2B on the process I/O printed circuit board. Logical number I/O index used to reference an I/O in the robot controller Physical number Number assigned to each signal pin of an I/O module.24] 25. slot 2 90--30 A Rack 2. Specify the first physical number for eight sequential signals. Table B--7. When the rack number of an I/O module is a non--zero value.APPENDIX B--81464EN--3/01 Rack number Rack numbers indicate the hardware types and connection orders of I/O modules. modules of I/O Unit--A and DI/DO units of I/O Unit--B. slot 1 . START PT (channel number) Digital I/Os and peripheral I/Os are assigned in groups of eight signals. slot 1 Connection unit 90--30 A 777 Rack 0. in the order in which they are connected. I/O module parts include. I/O modules are classified into two major types: those having rack number 0. indicating the order in which it is connected. slot 1 I/O Unit--B Rack 1. Figure B--6. a slot number is used to indicate the I/O module part of that I/O module. specify the first physical number for the sequential signals specified in NUM PTS. slot 1 Connection unit Rack 0. except those I/O modules having rack number 0. and those to which rack numbers are assigned in the order in which they are connected. NOTE *2 To those I/O modules having rack number 0. numbers beginning with 1 are to be assigned in the order in which they are connected. Slot number I/O modules whose rack numbers are 0 are assigned slot numbers in the order in which they are connected. Example of rack and slot specification R--J3iB controller R--J3iB controller Process I/O printed circuit board Rack 0. slot 1 Rack 1. For group I/Os. Specifying rack and slot numbers for each I/O module Rack I/O module Slot Process I/O printed circuit board Always 0 (*2) FANUC I/O Unit--MODEL A (*1) Number indicated on the base unit FANUC I/O Unit--MODEL B (*1) Unit number (set with DIP switches) FANUC I/O Link connection unit Always 0 (*2) Programmable Controller SERIES 90--30A (*1) 1 (fixed) NOTE *1 Numbers beginning with 1 are to be assigned to I/O modules. For an analog I/O. for example. specify a channel number. up to 25 channels can be displayed. CB. Other I/O modules. up to 16 I/O modules can be connected to the robot controller. Figure B--7. Therefore. EB. Relation between master and slave in I/O signal points Master Slave #0 Out Input 1024 outputs Slave #1 Out Input : 1024 inputs Teach pendant display On both the digital input and output screens. The FANUC I/O Link supports 1024 inputs and 1024 outputs for a master. When additional specification is not necessary After connecting an I/O module to the robot controller. EA. Using these screens.APPENDIX B--81464EN--3/01 I/O Link setting When connected to the controller. some I/O modules require that the user make several additional specifications. on a channel--by--channel basis. displayed on the teach pendant of the robot controller. however. I/Os can be expanded within the above range. When additional specification is necessary Specify the system variables from the robot controller. up to 256 signals can be displayed. DA. Data assignment is performed automatically. GA. Specification Process I/O printed circuit board (CA. FA. The total number of I/Os used by the slaves connected to the FANUC I/O Link must satisfy the following: Number of inputs per I/O Link =< 1024 Number of outputs per I/O Link =< 1024 Therefore. do not require such specification. HA) Unnecessary FANUC I/O Unit--MODEL A Unnecessary FANUC I/O Unit--MODEL B Necessary FANUC I/O Link connection unit Necessary Programmable Controller SERIES 90--30A Necessary Number of available I/Os Up to 16 slave groups can be connected to each I/O Link. via a cable. Using these screens. The process I/O printed circuit board. refer to the relevant I/O module manual. regardless of its type. For details of the number of I/Os used for each I/O module that becomes a slave. These I/Os are assigned to the slaves to enable the periodic transmission of I/O data between the master and slaves. 778 . On both the analog input and output screens. a user can specify and change the assignment of up to 256 signals. always uses 128 inputs and 128 outputs. turn on the power. a user can specify and change the assignment of up to 25 channels. however. in groups of eight signals. APPENDIX B--81464EN--3/01 I/O module manuals For details of each I/O module. EA. GA. CB. EB. refer to the following manuals: Manual name I/O module name Drawing number Process I/O printed circuit board (CA. HA) FANUC Robot series R--J3iB Controller Maintenance Manual B--81465JA FANUC I/O Unit--MODEL A FANUC I/O Unit--MODEL A Connection and Maintenance Manual B--61813 FANUC I/O Unit--MODEL B FANUC I/O Unit--MODEL B Connection Manual B--62163 FANUC I/O Link connection unit FANUC I/O Link Connection Unit Specifications A--68806 Programmable Controller SERIES 90--30A Programmable Controller SERIES 90--30A User’s Manual B--76014 779 . DA. FA. (* The deleted axis number is displayed instead of “?” in above screen. Then select “3. If you want to delete POSITIONER axis. please set values according to the specification of the mechanism.Display/Modify POSITIONER axis 2. Then following screen is displayed. 780 .Add POSITIONER axis 3. Then setup procedure starts. MAINTENANCE”. Add POSITIONER axes”. start axis number of POSOTIONER is 7 because R--2000i has 6 axes. 4 You will see similar screen to the following ---. Delete POSITIONER axes”. Initial value of number of axes is 0. Controlled start”.“MANUAL”.Hardware start axis setting ---enter Hardware start axis (1.APPENDIX B--81464EN--3/01 B.↓) keys and move the cursor to “POSITIONER”. POSITIONER Axis ? Was Deleted Press ENTER to Continue.Kinematics Type Setting ---1:Known Kinematics 2:Unknown Kinematics Select Kinematics Type? default value = 1 If the measurements of offset values between POSITONER axes are accurately known. Setup Robot System Variables Group Robot Library /Option 1 R--2000i/165F 2 POSITIONER [Type] ORD_NO Ext Axs * AUTO MANUAL Press arrow(↑.Delete POSITIONER axis 4. 6 You will see similar screen to following one. select “2.Exit Select item? If you want to add POSITIONER axis. For example. if the system has R--2000i and POSITIONER. ****Group ? Total POSITIONER Axis=# 1. 5 You will see similar screen to the following ---.16)? Default value = 1 Enter axis number and press ENTER key. 2 Press MENUS key and select “9. Otherwize item 2 should be selected. * Which axis in the system is assigned to 1st axis of POSITIONER is set in this screen. 3 You will see similar screen to the following one.8 Positioner Setup Step 1 Turn ON the controller with “ PREV” key and F! key pressed. Total number of axes is displayed instead of “#” in following screen. Group number is displayed instead of “?” in following screen. Then press F4..) After this setup. select “3. item 1 should be selected. ACa100 34. * If 0 is displayed instead of “#”.ACa150 : : : : : : 0. 2:No Change)? * Amplifier number which is set in previous procedure is displayed instead of “?”.ACb0.F/3000 2. SELECT AMP TYPE 1.5 38. 60A 2.Amplifier Type Setting -Amplifier ? Type = # Enter (1:Change. Select Motor size? 8 Select the motor type./2000 6. Axis Type Setting -1: Linear Axis 2: Rotary Axis Select Axis Type? If the axis does linear motion.Amplifier number Setting -Enter Amplifier Number (1→16)? 11 Set amplifier type. If you select “1: Change” in above screen. Select the amplifier type. 12A 8. ---. 781 . If the axis does rotary motion. 4A 7. select item 1. ---. you will see following screen.L/3000 : : Select Moter Type? 9 Select Amplifier Current Limit. MOTOR TYPE 1. 80A 3.F/2500 3. select item 2.S/2000 8.ACa22 44. Next page. this indicates that amp type is not set yet. A06B--6093 Beta series (FSSB) 12 Select the axis type.ACal 39.ACa12 43. CURRENT LIMIT FOR AMPLIFIER 1. 100A : : Select Amplifier Current Limit? 10 Set amplifier number. A06B--6100 series 6 axes amplifier 2./3000 7.APPENDIX B--81464EN--3/01 7 Select the Motor size ****POSITIONER Axis 1 Initialization**** 33. 2A 6. The +/-. the direction should be set to “+X”.. you will see the following screens. offset values between the origin of the axis and that of the previous axis must be set. this procedure is skipped. the direction should be set to “+Z”. offset values between the origin of the world coordinate and that of the axis must be set. · Rotary axis + Direction of joint jog. Enter Offset Y (mm)? Enter the Offset value in Z direction. Enter Offset Z (mm)? For 1st axis. 782 .APPENDIX B--81464EN--3/01 13 Select the direction of the axis. 14 If you set the Kinematics Type to “Known Kinematics” in procedure 4. Enter the Offset value in X direction. For the 2nd or later axes. In this case.direction must be considered in this setting. If the Kinematics is “Unknown Kinematics”.Offset Setting -Enter Offset X (mm)? Enter the Offset value in Y direction. ---.Direction Setting -1: +X 3: +Y 5: +Z 2: --X 4: --Y 6: --Z Select Direction? Directions in above screen indicate the directions of axes of the world coordinate system. In this case. Example) World coordinate frame Z X · Linear axis + Direction of joint jog. ---. enter the distance of the motion which corresponds to one revolution of the the axis of the motor. select “1: Change”. Enter Max Speed (mm/sec)? Enter Max speed. ---. offset values for (N)th axis must be set as follows. MOTOR DIRERCTION Ext_axs 1 Motion Sign = TRUE Enter ( 1: TRUE.APPENDIX B--81464EN--3/01 Example) The origin of (N--1) th axis.000 (mm/sec) (Calculated with Max Motor Speed) Enter (1: Change. 17 Set motion sign. Input unit of it by the “mm” in case of linear axis and by “degree” in case of rotary axis.Maximum Speed Setting ---Suggested Speed = 150. Offset X: 300mm Offset Y: 0mm Offset Z: -. For a linear axis. X In this case. ---.Gear Ratio Setting ---Enter Gear Ratio (mm/rev)? For a rotary axis.250mm 15 Set Gear Ratio. Z Y 250mm 300mm World coordinate frame The origin of (N) th axis. ---. UPPER LIMITS Enter Upper Limit ( deg ) ? 783 . enter the number of revolution of the motor which corresponds to one revolution of the axis. 2: No Change)? If you want to change suggested value.Gear Ratio Setting ---Enter Gear Ratio (mot--rev/axs--rev)? 16 Set the maximum speed for the axis.(UNIT: mm/rev) Following screen is displayed for linear axes. Then following screen will be displayed. You will see the similar screen to following one. 2: FALSE)? 18 Set the upper limit of the POSITIONER axis (UPPER LIMITS). (UNIT: motor_rev / axis--rev) Following screen is displayed for rotary axes. input “2”.APPENDIX B--81464EN--3/01 warning) Determine upper limit of POSITIONER axis by user. you may set the upper limit. 2: No Change ) ? 22 Set the value when you change the constant of acceleration/deceleration time of the second joint. input “2”. In case of using the recommending value. On setting inertia ratio. input “2”. its value must be 1< the value<5. input “1”. Input unit of it by the “mm” in case of linear axis and by “degree” in case of rotary axis. BRAKE SETTING Enter Brake Number (0→4)? 784 . MASTER POSITION Enter Master Position ( deg ) ? 21 Set the constant of acceleration/deceleration time (ACC/ DEC TIME) . In case of using the recommending value. Default acc_time2=128(ms) Enter ( 1: Change. input “1”.<lower limit> = length of POSITIONER axis For example. In case of not changing. <upper limit> = 50mm <lower limit> = --50mm 19 Set the lower limit of the POSITIONER axis (LOWER LIMITS). 2: No Change ) ? 25 Set the inertia ratio of all load inertia caluculated in moter axis to inertia (to rotary inertia). the following condition must be consisted: <upper limit> -. 2: No Change)? 24 Set the “Minumum Access Time”. input “1”. So. ACC/DEC TIME Default acc_time1=256(ms) Enter ( 1: Change. or in case of using the recommending value. input “0”. LOWER LIMITS Enter Lower Limit ( deg ) ? 20 Set the mastering position data (MASTER POSITION). input “1”. 2: No Change ) ? 23 Set the value when you change the constant of exponential acceleration/deceleration time of first joint. In case of changing it. Set the value when you change the constant of acceleration/deceleration time of the first joint. This value is used when the real acceleration/deceleration time is smaller than specified time. Load Ratio is Load Inertia ( Kg*cm*s*2) Motor Inertia (Kg*cm*s*2) Enter Load ratio ? ( 0:None 1→5: Valid) 26 Set the brake number (0--4) using the POSITIONER axis. In case of changing it. input “2”. In case of changing it. MIN_ACCEL TIME Default min_accel time =384(ms) Enter ( 1: Change. if the length of POSITIONER axis is 100 mm. On not setting it. In case of changing it. EXP_ACCEL TIME Default exp_accel time =0(ms) Enter (1: Change. Delete Ext axis”.APPENDIX B--81464EN--3/01 27 Select the type of brake control.Display/Modify Ext axis”. SERVO TIMEOUT Servo Off is Enable Enter (1: Enable 2: Disable)? Select? (On choosing “1:Enable” ) Enter Servo Off Time ? (0. F In case of finishing the setting. select “3.Delete POSITIONER axis 4.0 Sec) 28 Come back screen of step 6.Add POSITIONER axis 3. F In case of deleting the POSITIONER axis. select “4. 785 . choose “2:Disable”.Exit Select item ? F In case of displaying/modifying the POSITIONER axis setting. select “1. On valid of brack contrl.EXIT→0.Display/Modify POSITIONER Axis = # 2. choose “1:Enable” and input the delay time of brake control.0→30. F When you set the POSITIONER axis successively. On invalid of it.EXIT”. **** Group ? Total POSITIONER Axis = # **** 1. select the item “2” and text and continues after the step 7 in this text. Display/Modify Ext axis 2.ACa100 44.“MANUAL”. **** EXTENDED AXIS SETTING PROGRMA **** SELECT GROUP 0.ACa22 43. MAINTENANCE”.Add Ext axes 3. 4 You will see similar screen to the following.9 Extended Axis Setup Step 1 Turn ON the controller with “ PREV” key and “F→” key pressed. Select ? 786 . input “1”.ACb0. **** Ext Axis 1 Initialization **** 33.5 34. 5 Set the number of extended axis. input “3”. for the second extended axis of the group.Exit Select? Select “2. Add Ext axes” in case of setting new extended axis. 3 You will see similar screen to the following one. Setup Robot System Variables Group 1 Robot R--2000i/165F Extended [Type] Library /Option Ext Axs * Axis Control ORD_NO AUTO MANUAL Press arrow(↑. Controlled start”. for the third axis of the group. Next page. Then press F4. Group1 Display the information about extended axis of the selected group E1 E2 E3 Group 1 Total Ext Axis = * * * 1. Select the kind of motor used extended axis.ACa12 39. 2 Press the MENUS key and select “9.Delete Ext axes 4. Select the group of the extended axis and input its number. Enter axis to add (1→3) ? 6 You will see the initial setup screen of extended axis.APPENDIX B--81464EN--3/01 B. EXIT 1.ACa1 38. For the first extended axis of the group.↓) keys and move the cursor to “Extended Axis Control”. You should set the number from “1” in turn. input “2”.ACa150 : : : : : : 0. Then select “3. Auxiliary Linear Axis 4. S/2000 : 8. 4A 7.F/2500 3.Z) of world coordinate Direction 1:X 2:Y 3:Z Enter Direction (1→3) ? Integrated Arml (Rotary axis): Set the offset length to Z direction between the origin of rotary center of extended axis and the origin of robot coordinate Enter Off Set Length (mm) ? Next. EXTENDED AXIS TYPE 1. 80A 3. 2A 6. Auxiliary: Robot coordinate is NOT added to the distance of extended axis.APPENDIX B--81464EN--3/01 7 Select the type of motor on screen. The world coordinates are unchanged by the changed extended axis. /2000 6. World coordinate is transferred with changed extended axis. Integrated Arm (Rotary axis) 3. MOTOR TYPE 1. Correspondence of the Z--axis of robot coordinate and the rotary axis of extended axis: 787 .Y. /3000 7. 100A : : Select ? 9 Select the type of extended axis through the four types to the following. Auxiliary Rotary Axis Select ? Warning 1) Integrated: Robot coordinate is added to the distance of extended axis. CURRENT LIMIT FOR AMPLIFIER 1. 12A 8. Integrated Rail (Linear axis) 2. So the current position changes only the distance transfered by the extended axis. Warning 2) Integrated Rail (Linear axis): Set the direction of attaced extended axis to the direction (X. set the arm length of extended axis. and remains the fixed robot coordinate. Correspondence of the X--axis of robot coordinate and the rotary axis of extended axis: Set the offset length to the Y direction between the origin of rotary center of extended axis and the origin of robot coordinate.F/3000 2. 60A 2. Correspondence of the Y--axis of robot coordinate and the rotary axis of extended axis: Set the offset length to the X direction between the origin of rotary center of extended axis and the origin of robot coordinate.L/3000 : Select ? 8 Select the max current value of motor on screen. 2: FALSE) ? 13 Set the upper limit of the extended axis (UPPER LIMITS). Enter Arm Length (mm) ? Finally. If the motion direction is negative to the negative rotation of motor. If the motion direction is positive to the positive rotation of motor. UPPER LIMITS Enter Upper Limit ( deg ) ? warning) Determine upper limit of extended axis by user.APPENDIX B--81464EN--3/01 Set the offset length to the X direction between the origin of rotary center of extended axis and the origin of robot coordinate. For linear axis: GEAR RATIO For a linear axis it is the number of Mm’s traveled for one rotation of the Motor Enter Gear Ratio ? (mm) For rotary axis: GEAR RATIO Enter Gear Ratio ? 11 Set the max joint speed. the following condition must be consisted: <upper limit> -. Input unit of it by the “mm” degree in case of linear axis and by “degree” in case of rotary axis. 2: No Change ) ? In case of changing the max speed Enter Max Speed (mm/sec) ? 12 Set the direction of extended axis to the motor axis. With using the recommending value. set the direction of attacehed extended axis. Input the direction of the rotary axis to the axis (X. LOWER LIMITS Enter Lower Limit ( deg ) ? 788 . input “1”. if the length of extended axis is 100 mm. input “2”. you may set the upper limit.Y. the gear ratio is in “mm” of travel per revolution of motor. Input unit of it by the “mm” degree in case of linear axis and by “degree” in case of rotary axis. You will see the max rotary numbers and gear ratio on screen. input “2”.000 ( deg / s ) ( Calculated with Max motor speed) Enter ( 1: Change. input “1”and the value. <upper limit> = 50mm <lower limit> = --50mm 14 Set the lower joint orient area of the extended axis (LOWER LIMITS). MAX JOINT SPEED SETTING Suggested Speed = 150. the gear ratio is in motor turns per single rotations of the rotary axis.Z) of world coordinate 10 Set the gear ratio (GEAR RATIO). With Changing. For rotary axis. For linear axis.<lower limit> = length of extended axis For example. MOTOR DIRERCTION Ext_axs 1 Motion Sign = TRUE Enter ( 1: TRUE. So. SELECT AMP NUMBER Enter amplifier number (1→16) ? 21 Set the type of amplifier (AMP TYPE). its value must be 1< the value<5. ACC/DEC TIME Default acc_time1=256(ms) Enter ( 1: Change. input “0”. Default acc_time2=128(ms) Enter ( 1: Change.APPENDIX B--81464EN--3/01 15 Set the mastering position data (MASTER POSITION). input “2”. input “1”. input “1”. In case of changing it. input “2”. 2: No Change ) ? 18 Set the “Minumum Access Time”. or in case of using the recommending value. or in case of using the recommending value. In case of changing it. input “2”. A06B--6100 series 6 axes amplifier 2. A06B--6093 Beta series (FSSB) 22 Set the brake number (0--4) using the POSITIONER axis. or in case of using the recommending value. EXP_ACCEL TIME Default exp_accel time =0(ms) Enter ( 1: Change. On not setting it. input “1”. Set the value when you change the constant of acceleration/deceleration time of the first joint. Load Ratio is Load Inertia ( Kg*cm*s*2) Motor Inertia (Kg*cm*s*2) Enter Load ratio ? ( 0:None 1→5: Valid) 20 Set the amplifier number (AMP NUMBER). In case of changing it. BRAKE SETTING Enter Brake Number (0→4)? 789 . MIN_ACCEL TIME Default min_accel time =384(ms) Enter ( 1: Change. 2: No Change ) ? 17 Set the value when you change the constant of exponential acceleration/deceleration time of first joint. In case of changing it. MASTER POSITION Enter Master Position ( deg ) ? 16 Set the constant of acceleration/deceleration time (ACC/ DEC TIME) . or in case of not changing. This value is used when the real acceleration/deceleration time is smaller than specified time. 2: No Change ) ? 19 Set the inertia ratio of all load inertia calculated in motor axis to inertia (to rotary inertia). input “1”. SELECT AMP TYPE 1. On setting inertia ratio. 2: No Change ) ? Set the value when you change the constant of acceleration/deceleration time of the second joint. input “2”. F In case of finishing the setting. select “3.Delete Ext axes 4. select “EXIT→4. choose “1:Enable” and input the delay time of brake control. select “1. choose “2:Disable”. 790 . To disable brake control.Delete Ext axis”.Display/Modify Ext axis 2. SERVO TIMEOUT Servo Off is Enable Enter (1: Enable 2: Disable) ? Select? (On choosing “1:Enable” ) Enter Servo Off Time ? (0. F When you set the extended axis successively.Display/Modify Ext axis”. For brake control.APPENDIX B--81464EN--3/01 23 Select the type of brake control.0 Sec) 24 You will see a screen similar to the following.0→30.Add Ext axes 3.EXIT Select? F In case of displaying/modifying the extended axis setting. F In case of deleting the extended axis.EXIT”. select the item “2” and text and contines after the step 5 in this text. **** Group 1 Total Ext Axis = **** 1. The “#” on the screen will be replaced by the number of axes of the NOBOT currently set. use the values mentioned in the specifications of the mechanical unit of the robot.ACb0. the first axis of the independent additional axis board (NOBOT) as the second group will be the seventh. The “?” on the screen will be replaced by a group number.. 3 The following screen appears: Setup Robot System Variables Group Robot Library /Option Ext Axs 1 R--2000iA/165F 0 2 NOBOT 0 [Type] ORD_NO AUTO MANUAL Position the cursor on 1NOBOT and press the F4 key.ACa12 43.Hardware start axis setting ---enter Hardware start axis (1.Add Nobot axis 3. because the R--2000iA as the first group is a 6--axis robot. 6 From the screen.ACa100 34.” If 3 is selected. select 3.ACa150 : : : : : : 0. select “3: Delete Nobot axis. specify that the first axis of the independent additional axis board (NOBOT) should be the n--th axis in the entire system. To return to the above screen. Robot setting. MANUAL.” To delete an axis. **** Group ? Total Nobot Axis = # 1.) For the subsequent settings.Exit Select item? To add an axis of the independent additional axis board (NOBOT).16)? Default value = 1 5 The following screen appears. (The “?” on the screen will be replaced by the number of the axis just deleted. ---. For the R--2000iA plus NOBOT.Display/Modify Nobot axis 1→6 2. select “2: Add Nobot axis. Then. **** Nobot Axis 1 Initialization **** 33.APPENDIX B--81464EN--3/01 B. 4 The following screen appears. Next page. select Screen selection. 791 .Delete Nobot axis 4. Nobot Axis? Was Deleted Press ENTER to Continue.5 38. the following screen appears. for example. 2 On the teach pendant.ACa1 39.ACa22 44. For this setting item.10 Independent Additional Axis Board (Nobot) Startup Procedure Step 1 Execute control start: Press and hold down the “PREV” and “F→” keys and turn the power switch ON. Control start. press the Enter key. Select Motor size? 7 Select a motor type from the screen. select the size of the motor used for an axis of the independent additional axis board (NOBOT). then 9. 000 ( mm / sec ) ( Calculated with Max Motor Speed) Enter ( 1: Change.” The following screen appears: SELECT AMP TYPE 1. enter 2. To use the suggested value. 2: No Change)? * The “?” on the screen will be replaced by the amplifier number set previously. ---.Amplifier Type Setting -Amplifier ? Type = # Enter (1: Change. To change the value. 80A 3. A06B--6100 series 6 axes amplifier 2. Axis Type Setting -1: Linear Axis 2: Rotary Axis Select Axis Type? Linear Axis: Linear axis Rotary Axis: Rotary axis 12 Enter the gear reduction ratio. CURRENT LIMIT FOR AMPLIFIER 1. 11 Select the axis type of the independent additional axis board (NOBOT). 2: No Change ) ? 792 . select “1: Change. 100A : : Select Amplifier Current Limit? 9 Set the amplifier number.Maximum Speed Setting ---Suggested Speed = 150. For a linear axis. 2A 6. A suggested value is calculated with the maximum motor speed and the gear ratio and displayed on the screen. To change the amplifier type. /2000 2. ---. ---. 12A 8.” this indicates that no amplifier has been set.L/3000 : 8 From the screen. /3000 3. enter the distance of travel along the axis due to one rotation of the motor (in mm).F/3000 7. select the maximum current control value of the motor (maximum permissible current value of the amplifier).Gear Ratio Setting ---Enter Gear Ratio ? 13 Set the maximum axis speed. S/2000 : Select Motor Type? 6.Amplifier number Setting -Enter Amplifier Number (1→16)? 10 Set the amplifier type. For a rotary axis. 4A 7.F/2500 8.APPENDIX B--81464EN--3/01 MOTOR TYPE 1. 60A 2. enter the number of revolutions of the motor required for one rotation about the output axis. enter 1 and enter a new value. A06B--6093 Beta series (FSSB) Select an amplifier type. ---. * If 0 is displayed in place of “#. 2: FALSE) ? 15 Enter the upper limit (UPPER LIMITS) of the axis operation range in mm for a linear axis and in deg. To use the suggested value. use the following screen: Enter Max Speed (mm/sec) ? Enter the maximum speed. MOTOR DIRERCTION Motion Sign = TRUE Enter ( 1: TRUE. 2: No Change ) ? To change the second acceleration/deceleration time constant for each axis. To set no ratio. MIN_ACCEL TIME Default Value of min_accel time =384(ms) Enter ( 1: Change. The upper limit and the lower limit. 2: No Change ) ? 20 Set the ratio of the motor phase conversion total load inertia to the inertia (rotor inertia ratio). enter 1 and then a new value. enter 0. if the axis length is 100 mm. LOWER LIMITS Enter Lower Limit ( deg ) ? 17 Enter the mastering position. enter 1 for TRUE. for a rotary axis. The acceleration and other instructions will use this value if the actual acceleration/deceleration time is below the time specified here. enter 1 and then a new value. if minus. enter 2. 14 Set the axis direction in relation to the motor.APPENDIX B--81464EN--3/01 To change the maximum speed. To change the first acceleration/deceleration time constant for each axis. the following limits may be entered: <Upper limit> = 50 mm <Lower limit> = --50 mm 16 Enter the lower limit (LOWER LIMITS) of the axis operation range in mm for a linear axis and in deg. enter 2. enter 2 for FALSE. To use the suggested value.<Lower limit> = Axis length For example. ACC/DEC TIME Default Value of acc_time1=256(ms) Enter ( 1: Change. enter 2. To change the time. The inertia ratio must be larger than 1 and less than 5. 2: No Change ) ? 19 Set the minimum acceleration/deceleration time. Default Value of acc_time2=128(ms) Enter ( 1: Change. To use the suggested value. for a rotary axis. UPPER LIMITS Enter Upper Limit ( deg ) ? Note) The user must decide on the upper limit. Load Ratio is Load Inertia ( Kg*cm*s*2*) Motor Inertia (Kg*cm*s*2*) Enter Load ratio ? ( 0:None 1→5: Valid) 793 . enter 1 and then a new value. If the direction of rotation about the axis due to the forward rotation of the motor is plus. must satisfy the following condition: <Upper limit> -. to be entered next. MASTER POSITION Enter Master Position ( deg ) ? 18 Set the acceleration/deceleration time constant. 0→30. F To set up another axis of the independent additional axis board (NOBOT). Display/Modify Nobot axis. and repeat the procedure starting at step 7. This is the end of the procedure. 794 . F To exit from the screen.Exit Select item? F To display/change the settings of the independent additional axis board (NOBOT). To disable it. Exit. **** Group ? Total Nobot Axis = # 1. select 1. EXIT. select 3.Delete Nobot axis 4.Display/Modify Nobot axis 1→6 2. Delete Nobot axis.0 Sec) 23 The system returns to the screen in step 6. F To delete an axis of the independent additional axis board (NOBOT). select “2: Disable. BRAKE SETTING Enter Brake Number (0→4) 22 Specify whether to enable or disable brake control. in the range of 0 to 4. select 2.APPENDIX B--81464EN--3/01 21 Set the brake number: Enter the number of the brake used for the axis.” SERVO TIMEOUT Servo Off is Enable Enter (1: Enable 2: Disable) ? Select? (If 1: Enable is selected) Enter Servo Off Time ? (0. To enable it.Add Nobot axis 3. select 4. select “1: Enable” and then the brake control delay time. then 0. j Contents of this appendix C. FANUC i Pendant Note) This function is available with edition A0 or later of series 7D80.2 Appearance and Operations C.3 Restrictions 795 . Note) This function is optional.1 Overview C.APPENDIX B--81464EN--3/01 C. the operation target screen can be changed in turn.” The following items are different from those of the conventional teach pendant: F Software LED display While the conventional teach pendant uses 11 LEDs to display the status. so those who are familiar with operations of conventional teach pendants can use this teach pendant easily. F Color display according to the alarm severity Each message on the alarm list screen is displayed in the color specified according to its severity. The iPendant is an optional function. Operations which are not described in this manual are common to the conventional teach pendant and iPendant. The current user interface is also available with this teach pendant.1 Overview The iPendant is an Internet--type robot teach pendant having a large color liquid--crystal display panel. This teach pendant allows you to reference multiple data items simultaneously and its visibility has been remarkably increased. refer to “FANUC Robot R--J3i B Operator’s Manual. F Screen menus displayed by pressing the MENU key and those displayed on the edit screen The screen menus which are all displayed at a time allow you to quickly move to a desired screen and quickly insert a required command.APPENDIX B--81464EN--3/01 C. F Internet browser screen You can enter a URL to access data on the network. the iPendant displays the status with icons in the status window on the screen. This manual mainly describes differences between the conventional teach pendant and iPendant. F Function of displaying one screen and status subwindow This function displays information such as the current position and safety signals with icons in the status subwindow (left screen). For the common operations. F Screen split function The iPendant can display two or three split screens as well as one screen to enable multiple data items to be checked at a time. F How to change the operation target screen when multiple screens are displayed When multiple screens are displayed simultaneously. 796 . APPENDIX B--81464EN--3/01 C.2. C--1 shows the locations of the emergency stop button. Figure C--1.1 Appearance and Switches Fig. Teach pendant switches Emergency stop button Deadman switches (*1) Teach pendant enable switch NOTE *1 Three--position switch 797 . teach pendant enable switch. C.2 Appearance and Operationsappearance and Operations This chapter describes the appearance of the iPendant and operations specific to the iPendant. and deadman switches. or status/single screen). Pressing this key together with the SHIFT key moves to the alarm screen. Figure C--2. double screens. Teach pendant key switches Screen focus change/ Screen split key Diagnose/ Help key Key Function Pressing this key singly changes the operation target screen.2 Key Switches Fig. Pressing this key singly moves to the hint screen.2. 2 shows the iPendant key switch layout. This section describes the screen focus change/screen split key and Diagnose/Help key specific to the iPendant. triple screens.APPENDIX B--81464EN--3/01 C. Pressing this key together with SHIFT key splits the screen (single Screen. 798 . In this window. Hold Indicates that the HOLD button is being held or the HOLD signal is input. and override value are displayed. It is also on when the printer or floppy disk drive is busy. Each software LED is “on” when displayed together with an icon or “off” when displayed with no icon. 799 . Lower : Off) Menu--related key switches DESCRIPTIONS Busy Indicates that the robot is working. alarm indication. I/O Application--specific LED. This is a sample LED for a handling tool. This is a sample LED for a handling tool. This LED is on during execution of a program. eight software LEDs. Step Indicates that the robot is in the step operation mode. Run Indicates that a program is being executed. Table C--1 LEDs (Upper : On.2. This is a sample LED for a handling tool.APPENDIX B--81464EN--3/01 C. Fault Indicates that an alarm occurs. Prod Application--specific LED.3 Status Window The window at the top of the iPendant screen is called the status window. TCyc Application--specific LED. Triple Splits the right screen into top and down screens and displays a total of three screens. Example of displaying double screens 800 .4 Splitting the Screen Pressing key together with the SHIFT key displays the following screen menu: Figure C--3. Status/Single Splits the screen into right and left screens. The screen is not split. The right screen is slightly larger than the left screen and the status subwindow with icons is displayed on the left screen. Change focus Changes focus of the operation target screen when multiple screens are displayed. Figure C--4. Screen split menu (one screen display) Table C--2 Description of the screen split menu ITEMS DESCRIPTIONS Single Displays only one data item on the screen.2.APPENDIX B--81464EN--3/01 C. Double Splits the screen into right and left screens. APPENDIX B--81464EN--3/01 Figure C--5. Example of displaying triple screens Figure C--6. Example of displaying the status/single screen 801 . Press the above key together with the SHIFT key. By selecting “5.5 Changing the Operation Target Screen Pressing the key changes the operation target screen in turn. Screen switch menu 802 . The title line of the screen which can be operated is displayed in blue and the frame of the screen is displayed in red. Change focus from this menu. The following screen menu appears.2.APPENDIX B--81464EN--3/01 C. you can also change the operation target screen. Figure C--7. The following screen appears: Figure C--9. Screen menu Select “BROWSER” from the screen menu. The following screen menu appears: Figure C--8.6 Internet Browser Screen To display the internet browser screen.2.APPENDIX B--81464EN--3/01 C. The following URL input screen appears: 803 . press the MENU key. Internet browser screen Select “Add a Link” and press the ENTER key. press the exit key at the lower right to exit the software keyboard. 804 . The following software keyboard appears. Enter alphabetic and other characters.APPENDIX B--81464EN--3/01 Figure C--10. After confirming your entry. URL input screen Position the cursor on “Enter a Name” or “Enter an Address” in the above screen and press the ENTER key. position the cursor on the continue button and press the ENTER key. After you have entered the name and address. the registered link information is displayed as follows: Figure C--11. Link screen 805 . After the continue button is pressed.APPENDIX B--81464EN--3/01 In the following sample screen. the name and address have been entered. Positioning the cursor on a menu item with " displays its submenus at a time.APPENDIX B--81464EN--3/01 C. Figure C--12. Position the cursor on a desired command to insert it. Figure C--13. Screen selection menu Pressing F1 “INST” on the edit screen displays the following screen menus. Use the right arrow key to select the item corresponding to a screen to be displayed. You can reference all commands at a time.7 Screen Selection Menu and Screen Menus on the Edit Screen Pressing the MENU key displays the following screen menu.2. Screen menus on the edit screen 806 . The corresponding status screen appears.APPENDIX B--81464EN--3/01 C.2.8 Status Subwindow The status subwindow displays various types of statuses graphically. Position the cursor on Position Display. Operator Panel or Safety Signals and press the ENTER key. To display the status subwindow. Status subwindow 807 . Figure C--14. select “4 Status/Single” from the following screen menu The left screen of the following two screens is the status subwindow. 808 .1 Current Position Display When “Position Display” is selected.2.2 Operator Panel Status Display When “Operator Panel” is selected. the following screen appears: C.APPENDIX B--81464EN--3/01 C.2.8.8. Each graphic indicator is on or off according to the status of the remote device. the following screen appears. 809 .3 Safety Signal Status Display When “Safety Panel” is selected.2.8.APPENDIX B--81464EN--3/01 C. the following screen appears. Each graphic indicator is on or off according to the status of the corresponding safety signal. APPENDIX B--81464EN--3/01 C.2.9 Color Display According to the Alarm Severity On the following alarm history screen, each message is displayed in the color specified according to its alarm severity. The color assigned to each alarm severity is listed below: Alarm severity Color Description NONE WARN White The program being executed is not affected. PAUSE.L PAUSE.G Yellow The program being executed stops, but can be restarted after the cause of the alarm is removed. STOP.L STOP.G Yellow SERVO SERVO2 Red ABORT.L ABORT.G Red SYSTEM Red RESET(*) Blue SYST--026 System normal power up(*2) Blue The program being executed stops and cannot be restarted. NOTE *2 Messages “RESET” and “SYST--026 System normal power up” are displayed in blue. 810 APPENDIX B--81464EN--3/01 C.3 Restrictions F Two program edit screens cannot be opened simultaneously. The edit screen is always displayed in the left window. F When two or more screens are displayed at a time, the same menu screen may not be displayed on the screens. Example: Online position modification screen F The iPendant is available only with edition A0 or later of series 7D80 of the R--J3iB. * NetFront by ACCESS Co. Ltd. is adopted for the Internet function of this product. * NetFront is registered trademark of Access Co. Ltd. in Japan. * Part of the software of this product includes modules developed by Independent JPEG Group. * This product use a technology included in LZW patent of Unisys Co. Ltd. Please keep following restrictions. (1) Do not modify or copy the software of this product. Do not sale or provide the software extracted from this product. (2) Do not use the software of this product for different purpose from browser. (3) Do not use a technology included in LZW patent of Unisys Co. Ltd. without this product. 811 ALARM CODES B--81464EN--3/01 D. ALARM CODES This part of this manual describes alarm codes, alarm severity, causes, and actions. j Contents of this appendix D.1 Description of an Alarm Code Table D.2 Alarm Codes 812 ALARM CODES B--81464EN--3/01 D.1 Description of an Alarm Code Table Message Alarm code SRVO--001 SERVO OPERATING PANEL E--stop Alarm severity Alarm code Alarm ID: Alarm type Alarm number Alarm message: Description of the alarm Alarm severity Program Robot Power to the servo system NONE Does not stop stop. WARN ------------ Does not stop stop. ------------ PAUSE.L Not turned off PAUSE.G STOP.L Decelerates and stops. Halts. Local Global Local STOP.G Global SERVO Stops immediately. Turned off ABORT.L Decelerates and stops. Not turned off Stops immediately. immediately Turned off ABORT.G Terminates forcibly. forcibly SERVO SYSTEM Range Range Global Local Global Global Global Range in which the alarm is applied when multiple programs run simultaneously (multitask function) Local The alarm is applied only to a program which has caused the alarm. Global The alarm is applied to all programs. Alarm An alarm is issued when a failure occurs while the program is taught or played back or when the emergency stop signal or another alarm signal is input from a peripheral unit. The alarm is issued to notify the operator of the failure so the operator can halt processing for safety’s sake. NOTE If an alarm whose number is not described herein occurs, contact our service center serving your locality. 813 ALARM CODES B--81464EN--3/01 Alarm codes display or indication When an alarm is issued, the alarm LED lights on the teach pendant and the alarm message is displayed in the first and second line of the screen. The operator can find out which alarm has been issued by looking at the LED and message. Figure D--1. Alarm Display Alarm code Detail code (ID--number) INTP-224 (SAMPLE1, 6) Jump label is fail MEMO-027 Specified line does not exist SAMPLE1 JOINT 30 % 6/7 Alarm severity How to operate the program or the robot until the program or the robot stops depends on the seriousness of the cause of the alarm. This “seriousness” is called alarm severity. The degree of alarm severity is indicated as follows: Table D--1. Alarm severity Alarm severity Description WARN alarm A WARN alarm warns the operator of a comparatively minor or unimportant failure. The WARN alarm does not affect the operation of the robot. When the WARN alarm occurs, no corresponding LED on the teach pendant or the machine operator’s panel lights. To prevent a possible failure, appropriate action should be taken. PAUSE alarm When a PAUSE alarm occurs, the execution of the program is halted, and the operation of the robot is stopped after the operation in progress is completed. Appropriate action must be taken for the alarm before the program is restarted. STOP alarm When a STOP alarm occurs, the execution of the program is halted, and the robot is decelerated until it is stopped. Appropriate action must be taken for the alarm before the program is restarted. SERVO alarm When a SERVO alarm occurs, the power to the servo system is turned off to halt the execution of the program and to stop the robot immediately. A SERVO alarm is issued for safety’s sake or when a failure occurs during robot operation. ABORT alarm When an ABORT alarm occurs, the execution of the program is forcibly terminated, and the robot is decelerated until it is stopped. SERVO 2 alarm When a SERVO 2 alarm occurs, the power to the servo system is turned off to forcibly terminate the program and to stop the robot immediately. A SERVO alarm is issued for safety’s sake or when a failure occurs during robot operation. SYSTEM alarm A SYSTEM alarm is issued when a major system failure occurs. When the SYSTEM alarm is issued, every robot in the system is disabled. After taking appropriate action for the alarm, turn the power off, the turn it on again. Active alarm screen The active alarm screen displays only active alarm(s). Once the alarms have been eliminated by alarm clear signal input, the active alarm screen reads “THERE ARE NO ACTIVE ALARMS.” The screen displays the alarm(s) output after the last alarm clear signal input. When the delete key (+ shift) is pressed on the alarm history screen, the corresponding alarm is cleared from the active alarm screen. The screen shows alarms having a severity level of PAUSE or higher. WARN or NONE alarms or resets are not displayed. Some PAUSE alarms or more severe alarms might not be displayed if system variables such as $ER_NOHIS are set accordingly. If multiple alarms are detected, the screen displays the alarms in the opposite order to that in which they were detected. Up to 100 lines can be displayed. If an alarm has a cause code, the cause code is displayed below the alarm display line. 814 ALARM CODES B--81464EN--3/01 Figure D--2. Procedure for Displaying the Active Alarm Screen and Alarm History Screen MENU key pressed, then 4 ALARM selected Alarm key pressed Automatically displayed when an alarm is output Active alarm screen displayed F3 [ACTIVE] pressed F3 [HIST] pressed Alarm history screen displayed Automatic alarm display function When an alarm which will cause the system to stop (PAUSE or severer alarm) is detected, the automatic alarm screen display function automatically displays the alarm screen. This function frees the operator of having to display the alarm screen and enables the direct cause of the system failure to be found quickly. NOTE Once the display requirements are satisfied, the alarm screen is automatically displayed even if an alarm is detected at start--up. The automatic alarm display is performed irrespective of the start mode. NOTE If an alarm is detected when a CRT is connected, the alarm screen is displayed on both the teach pendant and the CRT. The requirements for automatic alarm screen display are as described below: F When the flag of the automatic alarm screen display function is set On the system setting screen, select AUTO.DISPLAY OF ALARM MENU to enable or disable the automatic display function. The function is disabled by default. For this change to take effect, the power must be turned off and then on again. --> See Section 3.14. F When the Auto. display of alarm menu flag for an alarm severity level is set $ER_SEV_NOAUTO[] sets whether automatic alarm screen display is enabled or disabled for each alarm severity level. There are seven levels of alarm severity. NONE and WARN alarms will not affect program execution or robot operation and will not instigate the automatic display. Automatic display is enabled for PAUSE and severer alarms by default. The setting can be changed on the system variable screen. System variable Corresponding alarm severity level Standard setting $ER_SEV_NOAUTO [1] PAUSE TRUE $ER_SEV_NOAUTO [2] STOP TRUE $ER_SEV_NOAUTO [3] SERVO TRUE $ER_SEV_NOAUTO [4] ABORT TRUE $ER_SEV_NOAUTO [5] SYSTEM TRUE FALSE: Automatic alarm screen display is disabled. TRUE: Automatic alarm screen display is enabled. NOTE If a PAUSE alarm is detected, followed by an ABORT alarm, when the automatic display of a PAUSE alarm is disabled, automatic display is not performed during fault output. F Automatic display of a particular alarm can be disabled. The automatic alarm screen display function can be disabled for a particular alarm. Up to ten such alarms can be set on the system variable screen. If a specified alarm is detected while automatic alarm screen display is enabled, the alarm screen will not be automatically displayed. 815 ALARM CODES B--81464EN--3/01 This setting is made with the following system variables: Description System variable $ER_NOAUTO. $NOAUTO_ENB Enables or disables the function to suppress automatic alarm screen display for an alarm specified in $ER_NOAUTO.NOAUTO_CODE[] while the automatic alarm screen display is enabled. D FALSE: The function to suppress automatic alarm screen display is disabled. D TRUE: The function to suppress automatic alarm screen display is enabled. $ER_NOAUTO. $NOAUTO_NUM Sets the number of alarms set in $ER_NOAUTO.NOAUTO_CODE[]. $ER_NAOUTO. $NOAUTO_CODE [1 to 10] Error number consisting of alarm ID and alarm number Example 11 002 (Servo 002 alarm) Alarm ID Alarm number Alarm ID → See Section C.2. For the alarms listed below, which are caused by a user operation and which cause the system to stop, $ER_NOAUTO.$NOAUTO_ENB is set to TRUE by default. When the setting is changed to FALSE, the corresponding alarm screen is automatically displayed. Servo 001 Operator’s panel emergency stop Servo 002 Teach pendant emergency stop Servo 003 Deadman’s switch Servo 004 Fence open Servo 005 Teach pendant released (mount/unmount button of the teach pendant pressed) Servo 012 Power restoration When an alarm set in $ER_NOAUTO.$NOAUTO_CODE[] and another alarm are detected in that order while $ER_NOAUTO.$NOAUTO_ENB is set to TRUE, automatic display is not performed. F When fault output is in progress If the alarm screen is automatically displayed each time a PAUSE or severer alarm is detected, the alarm screen may be displayed while alarm recovery or setting check is being performed on another screen. The screens will be frequently switched, which can interfere with recovery and other operations. To prevent this from occurring, automatic display is not performed while an alarm is active. Whether there is an active alarm can be checked by the fault signal output. While the fault signal is output irrespective of the servo start--up, automatic display is not performed even if an alarm is detected. NOTE When a PAUSE, STOP, or ABORT alarm is detected, the fault signal is output with the servo system started. Each time an alarm clear signal is input, the fault signal is reset. If continuous monitoring is performed to raise an alarm (NO ARC PROCESS I/O BOARD, for instance), automatic alarm display might be performed at each reset input. NOTE When a SERVO or SYSTEM alarm is detected, the fault signal is reset after the servo system starts. Automatic return function The automatic return function displays the screen which was displayed until automatic screen display when an alarm clear signal is input. This function is used together with the automatic display function. The automatic return function operates as described below: F When the automatic alarm screen display function is enabled, the alarm screen is automatically displayed if an alarm is raised. When the alarm is eliminated by the input of an alarm clear signal, the previous screen is automatically displayed. F If the alarm screen is not displayed automatically because of an alarm but displayed by means of menu selection, the previous screen is not displayed even if an alarm clear signal is input. F If another screen is displayed before an alarm clear signal is input, the automatic return function does not operate. F The automatic return function operates when the fault signal output is turned off. F If the power is turned off or on after the alarm screen is displayed by the automatic display function, the automatic return function does not work after the start--up. This is not affected by the start mode (cold start, hot start, etc.). 816 ALARM CODES B--81464EN--3/01 Procedure D--1 Step Displaying the alarm occurrence/alarm history/alarm detail information 1 Press the MENUS key to display the screen menu. 2 Select “4 ALARM”. The alarm occurrence screen is displayed. If an alarm is detected, the active alarm screen is automatically displayed. 3 MANUAL FCTNS 4 ALARM 5 I/O INTP-224 (SAMPLE1, 6) Jump label failed Alarm:ACTIVE JOINT 30 % 1/1 MENUS MEMO-027 Specified line. does not exist [ TYPE ] Alarm cause code HIST 3 To display the alarm history screen, press F3 [HIST]. When F3 [ACTIVE] is pressed, the active alarm screen appears again. 3 4 ALARM 5 I/O INTP-224 (SAMPLE1, 7) Jump label is fail MEMO-027 Specified line does not exist Alarm JOINT 30 % 1/25 1 INTP-224 (SAMPLE1, 7) Jump label is 2 SRVO-002 Teach pendant E-stop 3 R E S E T 4 SRVO-027 Robot not mastered(Group:1) 5 SYST-026 System normal power up MENUS [ TYPE ] CLEAR HELP NOTE The latest alarm is assigned number 1. To view messages that are currently not on the screen, press the F5, HELP, then press the right arrow key. 4 To display the alarm detail screen, press the F5 “HELP” key. CLEAR HELP F5 INTP-224 (SAMPLE1, 7) Jump label is fail INTP-224 (SAMPLE1, 7) Jump label is fail MEMO-027 Specified line does not exist 30-MAY-44 07:15 STOP.L 00000110 Alarm 1/25 1 INTP-224 (SAMPLE1, 7) Jump label is 2 SRVO-002 Teach pendant E-stop [ TYPE ] CLEAR 5 To return to the alarm history screen, press the PREV key. PREV 817 HELP ALARM CODES B--81464EN--3/01 6 To delete all the alarm histories, press and hold down the SHIFT key, then press the F4 “CLEAR” key. CLEAR HELP F4 SHIFT NOTE When system variable $ER_NOHIS = 1, NONE alarms or WARN alarms are not recorded. When $ER_NOHIS=2, resets are not recorded in the alarm history. When $ER_NOHIS=3, resets, WARN alarms, and NONE alarms are not recorded. Procedure D--2 Halt caused by a major alarms and recoveries Halt caused by a major alarm Step 1 When an alarm is issued, the running program is halted, and PAUSED or END is displayed on the screen of the teach pendant. An alarm message is also displayed on the screen of the teach pendant and the ALARM lamp lights. FAULT HOLD STEP BUSY Recovery from a deadman switch alarm (SERVO--003) Step 1 Press and hold down the deadman switch, then press the RESET key. SRVO-003 Deadman switch released SAMPLE1 LINE 2 SAMPLE1 JOINT 30% Eliminating an overtravel alarm (servo 005) Step 1 Press the MENUS key to display the screen menu. SRVO-005 Robot Overtrabel SAMPLE1 LINE 2 SAMPLE1 PAUSE JOINT 30% 2 Press 0 NEXT PAGE, then select 6 SYSTEM on the next page. Press F1 [TYPE], then select OT RELEASE. The OT Release screen appears. 5 POSITION 6 SYSTEM 7 System OT Release MENU AXIS 1 2 OTMINUS --- [ TYPE ] RELEASE OT REREASE TYPE F1 818 OTPLUS OT -- ALARM CODES B--81464EN--3/01 3 Press F2 [RELEASE] to release the overtravel axis. 4 While holding down the shift key, press the alarm clear button. 5 While holding down the shift key, press the jog key to move the tool along the overtravel axis into the movable range. Recovery from a broken wrist alarm (SERVO--006) Step 1 Press and hold down the SHIFT key, then press the RESET key. SRVO-006 Hand broken SAMPLE1 LINE 2 SAMPLE1 JOINT 30% 2 While pressing the SHIFT key, press the appropriate jog key to move the robot to a position where it can be repaired. NOTE The mastering data may be correct even if a pulse count mismatch alarm is detected. If the mastering data is correct, mastering need not be performed. Merely set $DMR_GRP.$MASTER_DONE to true, then select 6 MASTER/CAL on the positioning screen. Recovery from a pulse mismatch alarm, a BZAL alarm and a RCAL alarm (SRVO--038, 062, 063) Step 1 Press the MENUS key to display the screen menu. SRVO-038 Pulse mismatch SAMPLE1 LINE 2 SAMPLE1 JOINT PAUSED 30 % 2 Press “0 ---- NEXT ----” and then select “6 SYSTEM” on the next page. Press F1 “[TYPE]” and then select “Variables”. A system variable screen is displayed. 5 POSITION 6 SYSTEM 7 MENUS Variables TYPE F1 3 Set TRUE to $MCR.$SPC_RESET. ( This system variable is automatically set to FALSE soon again.) 4 Press RESET key to release a alarm. Recovery from other alarms Step 1 Remove the cause of an alarm. For example, correct the program. 2 Press the RESET key to reset the alarm. Then, the alarm message disappears on the screen of the teach pendant. The ALARM LED goes off. 819 ALARM CODES B--81464EN--3/01 D.2 Alarm Codes ARC Alarm ( ID = 53 ) ARC--001 WARN Illegal arc equipment config An attempt was made to use or add more than a usable number of pieces of welding equipment. Cause: ARC--002 PAUSE.L Illegal arc schedule number The specified weld schedule number is illegal. Cause: Remedy: Check the specified weld schedule number. ARC--003 PAUSE.L No gas flow No shielding gas was supplied when arc was generated. Cause: Remedy: Check the gas supply unit. ARC--004 WARN Gas flow after weld The gas output signal was turned off, but the gas input signal was not turned on. Cause: Remedy: Check the gas valve and gas supply unit. ARC--005 PAUSE.L Gas fault The gas fault signal was detected when welding was under way. Cause: Remedy: Check the gas supply unit. ARC--006 PAUSE.L Wire fault The wire fault signal was detected when welding was under way. Cause: Remedy: Check the gas supply unit. ARC--007 PAUSE.L Water fault The cooling water fault signal was detected when welding was under way. Cause: Remedy: Check the cooling water supply unit. ARC--008 PAUSE.L Power supply fault The power supply fault signal was detected when welding was under way. Cause: Remedy: Check the power supply unit. ARC--010 PAUSE.L Wire stick detected A wire stick condition occurred. Cause: Remedy: Ensure the robot and welding equipment safety, then cut the weld wire. ARC--011 PAUSE.L Wire stick, not reset A wire stick condition was detected, but not reset. Cause: Remedy: It is likely that a wire stick reset has been disabled. Note that if TIG welding was under way or welding was not under way, a wire stick reset will not be performed. Ensure the robot and welding equipment safety, then cut the weld wire. ARC--012 PAUSE.L Wire stick reset (s) failed A wire stick condition was detected, but an automatic wire stick reset failed. Cause: Remedy: Ensure the robot and welding equipment safety, then cut the weld wire. ARC--013 PAUSE.L Arc start failed No arc occurrence was detected within the arc detection time after a command to start arc was issued. Cause: Remedy: 1 Check the weld wire and welding equipment. 2 Adjust the arc detection time, using the Weld System screen. 3 Alter the arc schedule. 820 ALARM CODES B--81464EN--3/01 ARC--014 WARN Teach pendant is disabled When the teach pendant had been disabled, the weld possible or manual wire feed key of the teach Cause: Remedy: pendant was pressed. Enable the teach pendant. ARC--015 WARN Press shift with this key The weld possible or manual wire feed key was pressed without pressing the shift key. Cause: Remedy: Perform this operation while holding down the shift key. ARC--016 PAUSE.L Weld by shift FWD is disabled An attempt was made to execute arc welding from the teach pendant, when the teach pendant had been Cause: Remedy: disabled for welding. 1 Execute arc welding from the operator’s panel or remote control unit. 2 Enable welding from TP on the Weld System screen. ARC--017 WARN Arc start was disabled An attempt was made to execute an arc start command when welding had been disabled. Cause: Remedy: 1 If the teach pendant is enabled, press the enable welding key on the teach pendant to enable welding. 2 If the remote switch is set to the remote position, turn on the weld I/O weld enable signal. 3 Check the Test Execution screen to see whether the machine lock or dry run is enabled. ARC--018 PAUSE.L Lost arc detect It became impossible to detect the arc detection signal when welding was under way. Cause: Remedy: 1 Check the wire supply unit. 2 Check the speed and arc--off time specified as weld schedules. ARC--019 PAUSE.L Can’t read arc detect input The arc detection signal cannot be detected. Cause: Remedy: Check that the process I/O printed--circuit board is connected. ARC--020 PAUSE.L No plan data area available There is no sufficient memory for executing arc commands. Cause: Remedy: Reduce the number of programs. ARC--021 ABORT.L Program aborted while welding The program was aborted when welding was under way. Cause: Remedy: Check that the arc end command has been taught. ARC--022 WARN Cause: Remedy: The analog output has exceeded the permissible range of the unit because an argument specified in the welding schedule is beyond the permissible range. Set the weld schedule argument to within the permissible range. ARC--023 PAUSE.L Illegal arc schedule type The value in the register specified in the arc command is not an integer. Cause: Remedy: Use a register that holds an integer. ARC--024 WARN Invalid equipment range The difference between the maximum and minimum analog setting values for the welding equipment Cause: Remedy: is too small. Increase the difference between the maximum and minimum analog setting values for the welding equipment, using the Weld Equip screen. ARC--025 WARN Invalid A/D or D/A range The value of the $AWEPRR system variable was changed illegally. Cause: Remedy: Change the correct field of the $AWEPRR system variable to a valid value. 821 ALARM CODES B--81464EN--3/01 ARC--026 WARN Cannot scale AIO while welding An attempt was made to modify the analog conversion value when welding was under way, but the Cause: Remedy: conversion value has not been altered. Switch the power off and on again. ARC--027 STOP.G The analog conversion value of welding voltage is incorrect. Cause: Remedy: Adjust the conversion value of voltage output on the welder setup screen. ARC--028 STOP.G The analog conversion value of welding current is incorrect. Cause: Remedy: Adjust the conversion value of current output on the welder setup screen. ARC--029 STOP.G The analog conversion value of wire feed speed is incorrect. Cause: Remedy: Adjust the conversion value of wire feed speed output on the welder setup screen. ARC--030 WARN Wire stick is still detected A wire stick condition was detected even after a reset. Cause: Remedy: Ensure the robot and welding equipment safety, then cut the weld wire. ARC--031 PAUSE.L No motion while welding The robot was suspended for a period longer than specified in $ARC_LOS_TIM when welding was Cause: Remedy: under way. If you need not keep the robot operating, increase the arc--off detection time, using the Weld Equip screen, or disable arc--off detection, using the Weld System screen. ARC--032 PAUSE.L Weld stopped by single step A single step mode was entered when welding was under way, leading to interruption of the welding. Cause: Remedy: To continue welding, exit the single step mode. ARC--033 PAUSE.L Override must be 100% to weld An attempt was made to perform welding, using an override of below 100%. Cause: Remedy: Perform welding, using an override of 100%. ARC--034 PAUSE.L Task does not control welding When a task was performing welding, another task attempted to perform welding. Cause: Remedy: Terminate the task that is currently performing welding, or abort it, then execute the other task. ARC--035 PAUSE.L Equipment number isn’t set The arc command does not contain an equipment number. Cause: Remedy: Specify the desired equipment number in the detail data of the program or the arc command. ARC--036 PAUSE.L Such equipment mask isn’t supported ARC--037 WARN Another equipment is inching now Another piece of welding equipment is inching now. Cause: Remedy: Release the shift key or user key to cause that welding equipment to stop inching. ARC--038 PAUSE.L Already held another equipment This program (task) is already, using another piece of welding equipment. Cause: Remedy: One task can use only one piece of welding equipment. Use another task to control the welding equipment of interest. ARC--039 PAUSE.L %s^1 AO[%d^2] is not scaled The conversion value for the AO signal is incorrect. Cause: Remedy: Re--set the conversion value, using the Weld IO screen. 822 ALARM CODES B--81464EN--3/01 ARC--040 PAUSE.L Missing I/O: %s^1 The weld I/O signal cannot be detected normally. Cause: Remedy: Check that the I/O hardware has been connected. Also check that the corresponding port number has been set correctly on the Weld I/O screen. ARC--072 PAUSE.L Illegal AMR packet This is a system internal error. Cause: Remedy: If this error occurs, it might be necessary to switch the power off and on again. ARC--084 ABORT.L Application process is changed during welding The application process was altered when welding was under way. Cause: Remedy: Correct the program. CD Alarm ( ID = 82 ) CD--001 WARN No global variables There is no system variable for coordination control. Cause: Remedy: Perform controlled start or initial start. CD--002 WARN Unable to allocate memory It is impossible to newly allocate memory. Cause: Remedy: Check the amount of unused memory. CD--003 PAUSE.G Follower recv invalid segment Remedy: Call the FANUC Service Center. CD--004 PAUSE.G Illegal leader INTR point data Remedy: Call the FANUC Service Center. CD--005 PAUSE.G Non--coordinated group detected A coordination command was used for a group which had not been set up for coordination. Cause: Remedy: Check the motion command. Set the group as coordination group, then perform cold start. CD--006 PAUSE.G Illegal follower joint motion Individual--axis motion was used by a follower group during coordinated motion. Cause: Remedy: Use linear or circular motion. CD--007 PAUSE.G Circular motype not supported No circular motion is supported for a leader group. Cause: Remedy: Use linear motion. CD--008 PAUSE.G No leader No leader group has been set up. Cause: Remedy: Check the motion command. Set up a leader group, and perform cold start. CD--009 PAUSE.G More than one leader More than one leader group has been set up. Cause: Remedy: Check the motion command. Make correction on the leader groups, and perform cold start. CD--010 PAUSE.G Invalid angle in point data The position data is invalid. Cause: Remedy: Call the FANUC Service Center. 823 ALARM CODES B--81464EN--3/01 CD--011 PAUSE.G Error in flushing CD mailbox An error has occurred in the mailbox. Cause: Remedy: Perform cold start. CD--012 PAUSE.G Illegal leader motion Issue a motion command for both leader and follower groups as motion after the coordinated motion. Cause: Remedy: Specify the motion of the follower group also. CD--013 WARN Jog group is not leader Coordinated jog cannot be performed for a non--leader group. Cause: Remedy: Select a leader group. CD--014 WARN Jog group has multi follower Coordinated jog cannot be performed for a leader group that has more than one follower group. Cause: Remedy: Perform coordinated jog for a leader group that has only one follower group. CD--015 PAUSE.G Wrist joint is not supported Motion with no wrist posture is not supported as a coordinated motion. Cause: Remedy: Delete commands with no wrist posture. CD--016 PAUSE.G INC motion is not supported Incremental motion is not supported as coordinated motion. Cause: Remedy: Delete incremental commands. CD--017 PAUSE.G INDEP moth is not supported Independent motion is not supported as coordinated motion. Cause: Remedy: Change independent motion to dependent motion. CD--018 PAUSE.G No calibration for CD Coordination control calibration has not been completed. Cause: Remedy: Perform coordination control calibration. CD--019 PAUSE.G Illegal follower setting In this motion, the number of follower groups is 0, two, or greater. Cause: Remedy: Set the number of follower group to 1. CD--020 WARN Not reach relative speed The follower group has not attained the specified speed. Cause: Remedy: Re--teach the positions of the leader and follower groups so that the specified speed can be attained. CD--021 PAUSE.G No kinematics in CD group Coordinated motion is impossible for this robot, because it has no kinematics. Cause: Remedy: Alter the robot. CD--022 PAUSE.G Prev term type is not FINE The motion that precedes coordinated motion has not been set to calibration or CNT0. Cause: Remedy: Set the motion that precedes coordinated motion to calibration, CNT0, or individual--axis motion. CD--023 PAUSE.G Illegal CD setting The specified coordination control setting is illegal. Cause: Remedy: Check the setting. CD--024 WARN Calibration was inaccurate The taught position is not correct, or the start group is not mechanically exact. Cause: Remedy: Check the leader group, and re--teach its position. 824 ALARM CODES B--81464EN--3/01 CD--025 PAUSE.G Can’t convert position It is impossible to convert the position. Cause: Remedy: Call the FANUC Service Center. CD--026 PAUSE.G Illegal transition:nonCD<-->CD A request to switch from coordinated motion to non--coordinated motion or vice versa has occurred. Cause: Remedy: Add or delete an additional--coordination command. CD--027 PAUSE.G Illegal follower transition An attempt was made to use a follower group in more than one pair. Cause: Remedy: Insert non--coordinated motion for a pair with a different follower group. MUPS Alarm ( ID = 48 ) MUPS--001 WARN use of M--PASS SP’s bef. init The variables have not be initialized because of M--PASS SP’s. Cause: Remedy: Perform controlled start. MUPS--002 PAUSE.G Isolated offset destination The compensation amount for the offset destination is divided. Cause: Remedy: At least two points are necessary. MUPS--003 PAUSE.G Invalid motype with offset A motion type for the compensation path is invalid. Cause: MUPS--004 PAUSE.G Segment too short using OFFSET The motion segment is shorter than the compensation amount. Cause: Remedy: Make the motion segment longer. MUPS--005 PAUSE.G Invalid OFFSET_MODE value The specified OFFSET_MODE value is invalid. Cause: MUPS--006 PAUSE.G BWD not allowed in M--PASS Backward motion is impossible in the M--PASS function. Cause: MUPS--007 PAUSE.G Illegal transition:nonCD<-->CD A request to switch from coordinated motion to non-- coordinated motion or vice versa has occurred. Cause: Remedy: Add or delete an additional--coordination command. RPM Alarm ( ID = 43 ) RPM--001 WARN N_buffers invalid The specified $RPM_CFG.$N_BUFFERS value is invalid Cause: Remedy: Set $RPM_CFG.$N_BUFFERS to a value between 1 and 100. RPM--002 WARN Record size invalid The specified $RPM_CFG.$DATA_SIDE Cause: Remedy: Set $RPM_CFG.$DATA_SIZE to a value between 4 and 32. 825 ALARM CODES B--81464EN--3/01 RPM--003 WARN N_segments invalid RPM--004 WARN N_record invalid RPM--005 SYSTEM Memory allocation failed RPM--006 PAUSE.G Invalid record no. RPM--007 PAUSE.G No data block left RPM--008 PAUSE.G Program id is different RPM--009 PAUSE.G Segment not in buffer There is no path data. Cause: Remedy: Specify a path data number. Check the RPM command for recording this segment. Set the correct path data number. RPM--010 PAUSE.G Invalid record_offset RPM--011 PAUSE.G All segments used RPM--012 PAUSE.G Segment already in buffer RPM--013 PAUSE.G Invalid buffer no The specified path data number is invalid. Cause: Remedy: Specify a path data number, using a value in a range set up in $RPM_CONFIG.$N_BUFFERS. RPM--014 PAUSE.G Record not stored RPM--015 WARN Use of RPM SP’s bef. init RPM--016 WARN Change in pitch mode RPM--017 WARN Change in distance RPM--018 WARN Not in playback mode RPM--019 WARN All data records used RPM--020 WARN Read record not stored There is no path data. Cause: Remedy: Confirm the position number, or fetch the data. RPM--021 WARN Not in record mode RPM--022 WARN Store in same record RPM--023 WARN No TIR for motion RPM--024 PAUSE.G No data in specified buffer RPM--025 PAUSE.G Unexpected restart dest RPM--026 PAUSE.G Pitch value too small The fetch interval is too small. Cause: Remedy: When $RPM_PG.$PITCH_MODE is 1, set $RPM_PG.$PITCH to 100 or greater. 826 ALARM CODES B--81464EN--3/01 RPM--027 PAUSE.G Illegal arc instruction Independent arc start is in use. Cause: Remedy: Specify additional--command arc start. RPM--028 PAUSE.G Segment too short The motion segment is 0 or too short. Cause: Remedy: The motion segment that is 0 is not supported. Make it longer. TAST Alarm ( ID = 47 ) TAST--000 WARN Unknown error (TAST00) This is a software internal error. Cause: Remedy: Switch the power off and on again. TAST--001 WARN TAST global vars failure No system variable has been loaded for the arc sensor. Cause: Remedy: Switch on the power, using controlled start, and initialize “Motion Software Parts.” TAST--002 PAUSE.G TAST error IO allocation An attempt to allocate I/O memory failed. Cause: Remedy: Switch the power off and on again. TAST--003 PAUSE.G TAST IO initialization failed An attempt to allocate an analog signal failed. Cause: Remedy: An attempt to initialize the process I/O printed--circuit board failed. TAST--004 PAUSE.G TAST IO failed This is a software internal error. Cause: Remedy: Switch the power off and on again. TAST--005 WARN TAST time tick missing This is a software internal error. Cause: Remedy: Increase the frequency or sampling period. TAST--006 PAUSE.G TAST memory dispose failure This is a software internal error. Cause: Remedy: Switch the power off and on again. TAST--007 PAUSE.G TAST PRM saving failure This is a software internal error. Cause: Remedy: Switch the power off and on again. TAST--008 PAUSE.G TAST incorrect schedule num The specified arc sensor schedule number is incorrect. Cause: Remedy: Correct the schedule number. TAST--009 PAUSE.G TAST weave freq is too low The weaving frequency is too low. Cause: Remedy: Increase the frequency. TAST--010 PAUSE.G TAST software error (SRIF) This is a software internal error. Cause: Remedy: Switch the power off and on again. TAST--011 PAUSE.G TAST software error (PMPT) This is a software internal error. Cause: Remedy: Switch the power off and on again. 827 ALARM CODES B--81464EN--3/01 TAST--012 PAUSE.G TAST software error (INTP) This is a software internal error. Cause: Remedy: Switch the power off and on again. TAST--013 PAUSE.G TAST software error This is a software internal error. Cause: Remedy: Switch the power off and on again. TAST--014 PAUSE.G TAST weave freq is too high The weaving frequency is too high. Cause: Remedy: Decrease the frequency. THSR Alarm ( ID = 60 ) THSR--001 PAUSE.G Illegal instruction sequence An attempt was made to execute touch sensor commands in the wrong sequence. Cause: Remedy: For example, once an offset start command was executed, a search start command was executed before an offset end command. Ensure that the touch sensor commands are executed in the correct sequence. Stop the current program, and restart it. THSR--002 PAUSE.G Illegal schedule number The entered schedule number is out of the valid range. Cause: Remedy: Set the number to a value between 1 and 32. THSR--003 PAUSE.G Illegal work frame number The entered workpiece coordinate system number is out of the valid range. Cause: Remedy: Set the number to a value between 1 and 32. THSR--004 PAUSE.G Illegal output PR number The entered position register number is out of the valid range. Cause: Remedy: Specify a valid position register number. THSR--005 PAUSE.G Illegal search PR number The specified search result position register number is out of the valid range. Cause: Remedy: Specify a valid position register number. THSR--006 PAUSE.G Search without search start A search command was executed before a search start command. Cause: Remedy: Add a search start command. THSR--007 PAUSE.G Invalid touch I/O assignment I/O assignment for the touch sensor is incorrect. Cause: Remedy: Check the assignment with Touch I/O Setup screen. THSR--008 PAUSE.G Arc enable detected The arc welding circuit has been enabled. Cause: Remedy: Disable the arc welding circuit before enabling touch sensing. THSR--009 WARN Teach pendant not enabled The teach pendant has been disabled. Cause: Remedy: Enable the teach pendant. THSR--010 PAUSE.G Illegal motion state The system is in an error condition. Cause: Remedy: Press the reset button to reset the system. 828 using the Touch Sensor Sched screen. THSR--016 WARN Illegal return speed The specified return speed is out of the valid range.G No contact with part No contact was made to the part when a search was under way. Cause: Remedy: Change the search pattern or the number of search commands. THSR--019 PAUSE. THSR--015 WARN Illegal search speed The specified search speed is out of the valid range. THSR--023 WARN No search start There in no search start command among search commands. Cause: Remedy: Correct the search speed. Cause: Remedy: First perform mastering for the part. THSR--014 WARN Illegal search distance This is a warning message.G Illegal sensor port number The specified search port is out of the valid range. using the Touch Sched screen. THSR--024 WARN No offset start There is no touch offset start command that corresponds the touch offset end command. THSR--012 PAUSE. using the Touch Sensor Sched screen. Cause: Remedy: Select another search type. Cause: Remedy: Re--specify the port type and number. Cause: Remedy: Alter the search pattern. using the Touch Sensor Sched screen. THSR--021 PAUSE. using the Touch I/O Setup screen.G Illegal search pattern The specified search pattern is not found.G Points are too close The touched points are too close to each other. A standard speed will be used. THSR--017 PAUSE.G Too many searches There are too many searches for the specified pattern. Correct the search speed.G Illegal number of search The number of search commands does not match the specified search pattern. Correct the return speed. Cause: Remedy: The specified search distance is out of the valid range.ALARM CODES B--81464EN--3/01 THSR--011 PAUSE.G Part is not mastered The search command does not have mastering data. using touch--up. Cause: Remedy: A standard speed will be used. Cause: Remedy: Add a search command before the search. Cause: Remedy: Add a touch offset start command. Cause: Remedy: Teach a new start point. THSR--020 PAUSE.G Geometic computing error No normal offset can be computed in this search. THSR--018 PAUSE. Cause: Remedy: Teach a new search start point. or delete two or more search directions. Cause: Remedy: Check the search pattern and search command.G Mixing search types Two or more one--dimensional searches can be done in one NONE--search type search. 829 . THSR--022 PAUSE. Cause: Remedy: Delete unnecessary search commands. THSR--013 PAUSE. Cause: Remedy: Use group 1 to memorize the search motion. or delete the latter touch offset start command.G Group number mismatch A search motion must be in group 1. Cause: Remedy: No individual--axis representation can be used. THSR--034 PAUSE. Set the position type to XYZWPR. THSR--026 PAUSE. another search start command was executed before a Cause: Remedy: search end command. Cause: Remedy: Install a coordination function. THSR--037 PAUSE. Cause: Remedy: Increase the number of interpolation points. Cause: Remedy: Do not press the shift + backward keys when a search is under way. Add a search end command at an appropriate position. THSR--028 PAUSE. another touch offset start command was executed before Cause: Remedy: a touch offset end command. Cause: Remedy: Check the part and wire. THSR--032 PAUSE.ALARM CODES B--81464EN--3/01 THSR--025 PAUSE. Add a touch offset end command at an appropriate position. 830 . Cause: Remedy: Delete unnecessary variables and programs.G No bwd on search motion No backward search motion can be made when a search is under way. or perform calibration. THSR--030 PAUSE. Cause: Remedy: schd_ref_grp = 1 must be specified for a simple search.G Position type mismatch The position register must be of XYZWPR type. The reference group does not match the leader group.G Illegal motion ref.G Contact before search The wire contacted the part before a search is started. or teach a new search start point. Cause: Remedy: The software will reset the entered register number and set the maximum valid number. THSR--031 WARN Illegal register number The entered register number is invalid. THSR--029 WARN No contact warning No contact was made to the part when a search was under way. Cause: Remedy: It is normal that an error occurs if a preplan is specified in a search start command. using touch--up.G Nested search start Once a search start command was executed. THSR--027 PAUSE. or delete the latter search start command. Cause: Remedy: Teach a new search start point. THSR--036 PAUSE. THSR--035 PAUSE. THSR--033 PAUSE. or calibration has not be completed. Check the number. Change the reference group.G Nested offset start Once a search start command was executed.G Coord pair is not available No coordination function has been installed. grp.G Not enough points Calculation was impossible because of an insufficient number of interpolation points.G Preplan is not allowed No preplan can be executed during the execution of a search start command.G Error Allocating data There is no sufficient memory. Cause: Remedy: Change to motion with wrist posture used. Cause: Remedy: Change the coordinate system reference group. Cause: Remedy: Increase the size of RAM. Cause: TRAK--009 PAUSE.G Track no line track functn ptr No tracking function (FP pointer) is found. TRAK Alarm ( ID = 54 ) TRAK--000 WARN Unknown error (TO00) This is a system internal error. 831 . Cause: Remedy: Increase the size of RAM. TRAK--011 PAUSE. TRAK--008 WARN Not support semi hot start No power interruption recovery is supported for the tracking function.G Track error allocating data This is a system internal error. Cause: Remedy: Enter a value that falls in the valid range. The touch coordinate system reference group does not match the leader group.G Track jnt move not allowed Individual--axis motion cannot be performed. TRAK--002 PAUSE.G Track no CIRC wrist joint Circular motion with no wrist posture used can be performed when line tracking is under way. Cause: Remedy: No measures need be taken. Cause: Remedy: Move the conveyer backward. Cause: Remedy: Re--teach the tracking destination again. TRAK--005 PAUSE.G Reference grp mismatch A value other than 1 cannot be specified for the reference group in a simple search. Cause: Remedy: Change the reference group. Cause: Remedy: Switch the power off and on again. Cause: Remedy: Change to individual--axis filter motion.G Track destination gone error The tracking destination is outside the window. Cause: Remedy: Load the tracking function. TRAK--004 PAUSE. TRAK--006 WARN Track destination gone warning The tracking destination is outside the window. TRAK--007 WARN Unsupported function code This is a system internal error. Cause: Remedy: Change to linear motion.G Track cart move not allowed Orthogonal filter--based motion cannot be made in tracking. TRAK--003 PAUSE.G Track global variable failure This is a system internal error.G Track illegal schedule number The entered tracking schedule number is out of the valid range.ALARM CODES B--81464EN--3/01 THSR--038 PAUSE. TRAK--010 PAUSE. TRAK--001 PAUSE. THSR--039 PAUSE.G Not matches to leader grp. Cause: Remedy: Change the amplitude value to a value within the valid range. WEAV--004 PAUSE. Cause: Remedy: Switch the power off and on again. Cause: Remedy: Change the dwell timer value to a value within the valid range. WEAV--003 PAUSE. Cause: Remedy: Switch the power off and on again. WEAV--009 PAUSE. Cause: Remedy: Change the schedule number to a number within the valid range. Cause: Remedy: After controlled start is finished. or change the vector of the welding path. It is impossible to calculate the weaving vector. WEAV--002 PAUSE.G Weave error allocating data There is no sufficient memory.ALARM CODES B--81464EN--3/01 ( ID = 45 ) WEAV Alarm WEAV--000 WARN Unknown error (WV00) This is software internal error.G Incorrect weaving vectors The weaving vector is incorrect. WEAV--012 WARN Multi--group stop dwell invalid No dwell stop can be used in a program with multiple groups specified. WEAV--007 PAUSE. set up a user coordinate system. WEAV--008 PAUSE. 832 .G Weave illegal schedule number The weaving schedule number is invalid. WEAV--006 PAUSE. Cause: Remedy: Delete the incorrect error. initialize the motion software part. WEAV--001 WARN Weave global variable failure This is software internal error. Cause: Remedy: To calculate the correct weaving vector. initialize the system variables.G Weave pattern does not exist This is a software internal error.G Weave illegal amplitude value The amplitude is invalid. WEAV--010 WARN Weave too many pre--exec WS More than one weaving command was pre--executed. Cause: Remedy: After controlled start is finished. Cause: Remedy: Switch the power off and on again. WEAV--011 WARN Unsupported function code This is a software internal error. WEAV--005 PAUSE.G Weave motion data missing This is software internal error. Cause: Remedy: Delete unnecessary files. Cause: Remedy: Set dwell stop to “move” on the Weave Setup screen. Cause: Remedy: No measures need be taken. WEAV--013 PAUSE.G Weave system variable failure The weaving system variables have not be loaded or initialized.G Weave illegal dwell value The dwell timer value is invalid.G Weave illegal frequency value The weaving frequency is invalid Cause: Remedy: Change the frequency to a value within the valid range. Cause: Remedy: Change the wrist posture so that the wrist will not be caught by a motion range limit. the overtravel state is set for transit. Cause: Remedy: Change the posture of the wrist so that a singularity can be avoided. Cause: Remedy: Correct it. SRVO Error Codes ( ID = 11 ) SRVO--001 SERVO Operator panel E--stop The operator panel emergency stop push button is pressed. it is open. WEAV--018 PAUSE. Cause: Remedy: Change the posture of the torch.G Wrist axes 5 closes to zero The angle of the fifth--axis is too small. Usually. check the fuse (F2) on the printed circuit board for emergency stop control. SRVO--002 SERVO Teach pendant E--stop The emergency stop button on the teach pendant was pressed.ALARM CODES B--81464EN--3/01 WEAV--014 PAUSE. Press RESET.G Run_ang exceeds tol_ang tol_ang is too small. When a safety door is connected. Remedy: Step 1 Check the fuse (F4) in the power supply unit.G Invalid utool The current tool coordinate data is invalid. when the robot is shipped. 5 For the model using the B cabinet.G Unknown wrist configuration error An unknown wrist configuration was detected. the movement of the robot is prevented from Cause: exceeding a limit beyond the maximum range of movement (software limits) for each axis. then press the reset key. 833 . When a safety door is connected. Establish a connection between FENCE1 and FENCE2. Replace the fuse if it has blown. 6 Replace the printed circuit board for emergency stop control. 4 Move the overtravel axis to within the movable range by holding down the shift key and performing jog feed. Replace the fuse if it has blown. SRVO--005 SERVO Robot overtravel A hardware limit switch on an axis was tripped. Cause: Remedy: Release the emergency stop button on the teach pendant. SRVO--003 SERVO Deadman switch released The deadman’s switch was not pressed when the teach pendant was enabled. However. close the door before starting work. 2 Release the overtravel axis by using the overtravel release screen [SYSTEM OT RELEASE]. WEAV--016 PAUSE. no connection is established Cause: Remedy: between the FENCE1 and FENCE2 signals. press the alarm release button to release the alarm.G Wrist joint limit Wrist motion was not caught by a range limit. WEAV--017 PAUSE. SRVO--004 SERVO Fence open On the terminal block on the printed circuit board of the operator’s panel. Cause: Remedy: Press the deadman’s switch to enable operation of the robot. or increase tol_ang. WEAV--015 PAUSE. Cause: Remedy: Twist the operator panel emergency stop push button clockwise to release. Cause: Remedy: Change the posture of the wrist. 3 While holding down the shift key. Cause: Remedy: 1 If the belt is found to be defective in any way. 834 .$BELT_ENABLE. SRVO--012 SERVO Power failure recovery Normal power on (hot start). Remedy: Step 1 Check the fuse (F4) in the power supply unit. Turn on the power in cold start mode. Cause: Remedy: This is just a notification. however. If no broken hand can be found. 3 Check system variable $PARAM_GROUP. EMGIN2. SRVO--009 SERVO Pneumatic pressure alarm The pneumatic pressure alarm indicates the presence of a defect. Check the cable. Check the LED (FALM) on the printed circuit board for emergency stop control to determine whether the fuse has blown.ALARM CODES B--81464EN--3/01 SRVO--006 SERVO Hand broken A safety hand has broken. clear source of fault and press RESET. If using external emergency stop. position the tool to the workplace by performing jog feed. Cause: Remedy: Check the fan motors and fan motor connection cables. If the pneumatic pressure alarm is not detected. a Replace the safety hand. Cause: Remedy: Replace the fuse. signal RDI [7] in the robot connection cable may be abnormal. SRVO--014 WARN Fan motor abnormal A fan motor in the control unit is abnormal. 3 While holding down the shift key. the most likely cause is the HBK Cause: signal of a robot connection cable being at the 0 V level. SRVO--013 SYSTEM Srvo module config changed Upon power--up with power restoration enabled (hot start). SRVO--008 SERVO Brake fuse blown The brake fuse is blown on the EMG Control pcb. repair it and then press the reset key. If not using external emergency stop. press the alarm release button to clear the alarm. SRVO--007 SERVO External emergency stops Cause: The external emergency stop push button is pressed. Remedy: On the terminal block of the printed circuit board for emergency stop control. the configuration of the DSP modules on the Cause: Remedy: axis control printed circuit board and the multi--function printed circuit board has been changed. no connection is established between EMGIN1 and EMGIN2. check the cable. Replace any faulty fan motor(s) and/or cable(s). 2 While holding down the shift key. check wiring at EMGIN1. You do not have to do anything for this warning message. SRVO--010 SERVO Belt broken The belt broken robot digital input (RDI7) is asserted. however. 2 When the belt is found to be normal. Replace the fuse if it has blown. b Check the cable. If the pneumatic pressure alarm is Cause: Remedy: not detected. Reconnect the teach pendant cable to continue operation. SRVO--011 SERVO TP released while enabled The teach pendant attachment switch on the operator’s panel was operated while the teach pendant Cause: Remedy: was enabled. the most likely cause is the PPABN signal of a robot connection cable being at the 0 V level. If the voltage is found to be 170 VAC or lower. Replace them if necessary. If a voltage of 90 VAC or less is detected. this alarm indicates that the MCC is not turned on when no error can be found. or fence. check the fuse (F1) on the printed circuit board for emergency stop control.ALARM CODES B--81464EN--3/01 SRVO--015 SERVO System over heat The temperature of the control unit is higher than the specified value. Cause: Remedy: Consult our service representative. If not. check the input power supply voltage. (HRDY is the signal sent Cause: Remedy: from the host to the servo system to specify whether to turn the servo amplifier’s MCC on or off. DEADMAN. 4 Replace the main CPU printed circuit board. So. SRVO--019 SERVO SVON input On the terminal block on the printed circuit board of the operator’s panel. Check the teach pendant cable and connections. SRVO--018 SERVO Brake abnormal The current for brake exceeded the specification. 3 If the thermostat on the backplane printed circuit board is faulty. Cause: Remedy: 1 If the ambient temperature is higher than the specified temperature (45øC). no connection is established Cause: Remedy: between signals *SVON1 and *SVON2. 2 Check the brake cable. provide ventilation to reduce the ambient temperature to the specified value. When an external switch is connected. 2 Check the 200 VAC voltage applied to the servo amplifier. SRVO--020 SERVO SRDY off (TP) The teach pendant cable is disconnected or a momentary break occurred in any one of the TP Cause: Remedy: emergency stop circuits. SRDY is the signal sent from the servo system to the host to indicate whether the servo amplifier’s MCC is on or off. 3 Replace the amplifier. an alarm is issued for the servo amplifier. check the input power supply voltage. Establish a connection between *SVON1 and *SVON2. if a servo amplifier’s MCC is not turned on despite the signal for turning the MCC on having been issued. Cause: Remedy: Consult our service representative. SRDY is off even though no other alarm cause is present. Cause: Remedy: 1 For the S--800 or S--900 robot. 3 Replace the emergency stop control printed board.) 1 Check whether the door is open. 5 Check the following cables. Also check the door switch. Replace any faulty fan motor(s) and/or cable(s). SRVO--017 SERVO No robot internal mirror No robot internal mirror. 2 Check that the fans are operating normally. The host does not issue this alarm (SRDY off) if an alarm for the servo amplifier is detected. replace the backplane unit. check the fan motors and fan motor connection cables. SRVO--021 SERVO SRDY off (Group:%d Axis:%d) When HRDY is on. TP emergency stop. 835 . 6 Replace the servo amplifier. SRVO--016 SERVO Cooling water volume drop Cooling water volume dropped. 4 Check the 100--VAC input voltage. it should be checked. Generally. $MOVER_OFFST or $PARAM_GROUP. and so forth exceeds the maximum available torque of the motor. replace the servo amplifier. Therefore. When this function is not to be used. Disable [TEMPORARY STOP/SERVO OFF] on the general item setting screen [6 GENERAL SETTING ITEMS]. check the input power supply voltage. If the error is not cleared. Cause: Remedy: Perform a cold start : 1 Turn off the robot. Therefore it may prove impossible to correctly respond to an issued command. it may prove impossible to correctly respoud to an issued command. You do not have to do anything for this warning message. Cause: Remedy: The motor speed is clamped to its maximum rated value. turn on the robot.) 2 Check each interphase voltage of the three--phase voltage (200 VAC) applied to the servo amplifier. If the voltage is found to be 170 VAC or below. Only KAREL users can use this variable. (A sub--standard voltage.ALARM CODES B--81464EN--3/01 SRVO--022 SERVO SRDY on (Group:%d Axis:%d) SRDY was already on when an attempt was made to turn on the MCC with HRDY. reduce the applied load. Perform the same action as that described for the previous item.$MOT_SPD_LIM). Cause: Remedy: $SOFT_ALARM is set to TRUE. disable the function.$TRKERRLIM). 2 Replace the main CPU printed circuit board. document the events that led to the error. SRVO--026 WARN Motor speed limit(Group:%d Axis:%d) An attempt was made to exceed the maximum rated motor speed ($PARAM_GROUP. deceleration. you should attempt to eliminate this error and not repeat the circumstances that led up to it. resulting in the output of this alarm. thus resulting in the output of this alarm. SRVO--024 SERVO Move error excess(Group:%d Axis:%d) When the robot moved. 2 On the teach pendant. (HRDY is the signal Cause: Remedy: sent from the host to the servo system to specify whether to turn the servo amplifier’s MCC on or off. However. 3 Check the cable linking the servo amplifier and main CPU printed circuit board. SRDY is the signal sent from the servo system to the host to indicate whether a servo amplifier’s MCC is on or off.) 3 If the input power supply voltage is found to be 170 VAC or higher. If so. 4 Replace the servo amplifier. SRVO--030 SERVO Brake on hold (Group:%d) When the temporary stop alarm function ($SCR. If any abnormality is found. SRVO--031 SERVO User servo alarm (Group:%d) A user servo alarm was issued. applied to a servo amplifier results in a lower--than--normal torque.) 1 Replace the emergency stop control printed board. For example. 836 . this alarm is issued Cause: Remedy: whenever a temporary stop is made. but mastering has not yet been completed. Cause: Remedy: Perform mastering from the calibration screen [6 SYSTEM CALIBRATION]. (If an excessive load is applied. 4 Replace the motor. 3 While still pressing the SHIFT and RESET keys. SRVO--023 SERVO Stop error excess(Group:%d Axis:%d) An excessive servo positional error occurred when the motor stopped.This alarm is raised when system variable $MCR_GRP[i]. This is just a notification. however. SRVO--025 SERVO Motn dt overflow (Group:%d Axis:%d) The value entered with a command is too large. SRVO--027 WARN Robot not mastered(Group:%d) An attempt was made to perform calibration. replace the cable.$BRKHOLD_ENB=1) is enabled. press and hold the SHIFT and RESET keys. the servo positional error exceeded a previously specified value Cause: Remedy: ($PARAM_GROU. the torque required for acceleration. Cause: Remedy: 1 Check whether the applied load exceeds the rating. This is just a notification. this error will occur if the feedrate of the robot differs from that specified. 3 Replace the servo amplifier. Cause: Remedy: Reduce the teaching speed.$STOPTOL) has not yet been set. The joint Cause: speed is clamped to its maximum rated value. Perform calibration by following the procedure below. SRVO--039 SERVO Motor speed excess(Group:%d Axis:%d) The maximum speed that can be used with vector acceleration/deceleration control was exceeded. but calibration has not yet been Cause: completed. Cause: Remedy: Turn on the *IMSTP signal. Cause: Remedy: This is not an alarm. Remedy: Step 2 Execute [CALIBRATION] from the calibration screen [6 SYSTEM CALIBRATION]. Cause: Remedy: Contact our service center serving your locality. 1 Turn on the power. Then turn the power back on.ALARM CODES B--81464EN--3/01 SRVO--033 WARN Robot not calibrated(Group:%d) An attempt was made to set a reference point for simple mastering. SRVO--040 WARN Mastered at mark pos(Group:%d) Zero position master is done with mark position (not with zero position). SRVO--035 WARN Joint speed limit(Group:%d Axis:%d) An attempt was made to exceed the maximum joint speed ($PARAM_GROUP.$INPOS_TIME) has elapsed. SRVO--034 WARN Ref pos not set (Group:%d) An attempt was made to perform simple mastering.023 (stop error excess). is applied. SRVO--042 SERVO MCAL alarm(Group:%d Axis:%d) The servo amplifier magnetic contactor (MCC) is welded closed. turn the power off for fifteen seconds. SRVO--036 SERVO Inpos time over (Group:%d Axis:%d) The in--position monitor time ($PARAM_GROUP. Cause: Remedy: Document the events that led to the error and contact our service center serving your locality. but a required reference point has not yet been set. but the in--position state Cause: Remedy: ($PARAM_GROUP. Cause: Remedy: Set a reference point for simple mastering from the calibration screen. SRVO--041 SERVO2 MOFAL alarm (Group:%d Axis:%d) A value specified with a command is too large. SRVO--038 SERVO2 Pulse mismatch (Group:%d Axis:%d) A pulse count detected at power--off differs from that detected at power--on. Perform the same action as that specified for Servo -. 2 Check the cable between the servo amplifier and the axis control printed circuit board. Cause: Remedy: 1 If this alarm occurs with a SRVO--049 OHAL1. SRVO--037 SERVO IMSTP input (Group:%d) The *IMSTP signal.$JNTVELLIM). This is an S--900--specific alarm. which is a peripheral device I/O signal. 4 Replace the axis control printed circuit board. 837 . If any abnormality is found. reduce the applied load. If any abnormality is found. check the motor. or robot internal cable. 838 . If a short circuit is found. If the robot’s ratings. then check the insulation between U. robot connection cable. replace the faulty hardware. then turn on the power. exceeds the maximum permissible value. 4 Check the cable between the main CPU printed circuit board (JRV1) and the printed circuit board for emergency stop control (JRV1). or robot internal cable. If the decrease in the potential energy exceeds the acceleration energy. the robot moves downword using potential energy.) 3 Check the cables (CN3 and CN4) in the amplifier. 5 Replace the servo amplifier. (If a load exceeds the rated value. When the voltage is 253 VAC or higher. and W of the motor power line and GND.): 2 This alarm may be raised when acceleration/deceleration is frequently performed or when a large amount of regenerative energy is generated in the vertical axis. a servo amplifier feeds energy to the robot. the robot should be used under less demanding conditions. Along its vertical axis. SRVO--044 SERVO HVAL alarm(Group:%d Axis:%d) The DC voltage (DC link voltage) of the main circuit power supply is abnormally high.) 1 When the LED indicator of the servo amplifier PSM displays “8” (DCOH alarm) (The DCOH alarm is issued when the thermostat detects overheating of the regenerative resistor. Normally. thus triggering this alarm. 4 Replace the servo amplifier. V. (When a robot is to be operated.” One of the red LEDs (HC1 to HC6) above the 7--segment LED is lit. This also occurs during deceleration even if the force of gravity has no effect. check the motor. 5 Replace the servo amplifier. 4 Check the cable between the servo amplifier (CN8A) and the regenerative resistor. calculated internally by the servo system. Replace it if necessary. 2 Remove the motor power line from the terminal block of the servo amplifier. The LED indicator on Cause: Remedy: the servo amplifier PSM displays “--. 3 Remove the motor power line from the terminal block of the servo amplifier. If the measured resistances differ from each other. such as the rated duty cycle and load. Replace them if necessary. this alarm may be issued. 5 Replace the motor. and W and U of the motor power line using a measuring instrument capable of detecting very low resistances. excess energy accumulates in the servo amplifier. replace the faulty hardware. If the applied voltage is found to be 170 VAC or less. are exceeded. check the input power supply voltage.ALARM CODES B--81464EN--3/01 SRVO--043 SERVO DCAL alarm(Group:%d Axis:%d) The energy produced by regenerative discharge is excessive. the servo amplifier receives energy from the motor. 3 Replace the main CPU printed circuit board. 1 Check the operating conditions of the robot. (If the motor is abruptly accelerated or decelerated while the three--phase input voltage exceeds 253 VAC. then check the resistance between U and V.” 1 Check the three--phase input voltage applied to the servo amplifier. When the amount of regenerative energy exceeds the amount of energy that can be dissipated as heat. however.) 2 Check whether the applied load is within the rated value. replace the servo amplifier. all the generated energy Cause: Remedy: cannot be dissipated as heat. modify the use of the robot such that the rated values are not exceeded. In such cases. As a result. V and W. built--up regenerative energy may cause this alarm to be issued even when the three--phase input voltage satisfies the specifications. If this alarm is still issued. 4 Replace the main CPU printed circuit board. SRVO--045 SERVO HCAL alarm(Group:%d Axis:%d) An excessively high current flowed through the main circuit of a servo amplifier. 1 Disconnect the motor power line from the terminal block of the servo amplifier. If the rated load is exceeded. 2 Check each interphase voltage of the three--phase voltage (200 VAC) applied to the servo amplifier. This energy is called regenerative energy. the servo amplifier dissipates this regenerative energy by converting it to heat. robot connection cable. The LED indicator Cause: Remedy: of the servo amplifier PSM displays “7. indicating the axis for which the HCAL alarm is detected. SRVO--046 SERVO2 OVC alarm (Group:%d Axis:%d) This alarm is issued to protect the motor when there is a danger of thermal destruction when the Cause: Remedy: root--mean--square current value. 3 Replace the regenerative resistor. check the input power supply voltage. 4 Check the cable (CN4) in the servo amplifier.) 3 Check each interphase voltage of the three--phase voltage (200 VAC) applied to the servo amplifier. specify a new value for the acceptable disturbance limit. If so. 3 Check the cable between the servo amplifier (CN8B) and the transformer. Close the circuit breaker if it is found to be off. (A collision was detected. then move the robot away from the location of the collision by using jog feed.) Cause: Remedy: 1 Check whether the robot has collided with an object. If the rated load is exceeded. the DC voltage (DC link voltage) Cause: Remedy: of the main circuit power supply or the control power supply voltage (+5 V) is excessively low. SRVO--054 DSM memory error (DSM:%d) The DSP module program memory is defective. If any of the ratings specified for the robot. b Replace the servo amplifier. are exceeded. 5 Replace the servo amplifier. Replace it if necessary. resulting in this alarm being output. Check the servo amplifier’s circuit breaker. SRVO--051 SERVO2 CUER alarm(Group:%d Axis:%d) The offset of a current feedback value is excessively large. There is a possibility that the load Cause: Remedy: held in the wrist exceed the robot specification. Replace it if necessary. If the applied voltage is found to be 170 VAC or less. SRVO--055 FSSB com error 1 (Group:%d Axis:%d) FSSB communication error from SRVO to SLAVE occured Cause: Remedy: Check FSSB hardware connection.ALARM CODES B--81464EN--3/01 SRVO--047 SERVO LVAL alarm(Group:%d Axis:%d) Despite the external magnetic contactor for a servo amplifier being on. Cause: Remedy: 1 Replace the main CPU printed circuit board. a detection error may result. 1 When the LED indicator on servo amplifier displays “6” (This alarm is issued when the control power supply voltage (+5 V) is excessively low. 4 Replace the servo amplifier. If the applied voltage is found to be 170 VAC or less. SRVO--049 SERVO OHAL1 alarm (Group:%d Axis:%d) 1 A servo amplifier’s built--in thermostat was actuated. check the input power supply voltage. SRVO--053 WARN Disturbance excess(Group:%d Axis:%d) Disturbance estimated in the software exceed the threshold value. The LED indicator on the servo amplifier PSM Cause: Remedy: displays“3.” 1 Check the operating conditions of the robot. 839 . 2 When the LED indicator on the servo amplifier displays “4” (This alarm is issued when the DC voltage (DC link voltage) of the main circuit power supply is excessively low. check the input power supply voltage. 2 Check whether the fuse (F1) in the servo amplifier has blown. SRVO--050 SERVO CLALM alarm (Group:%d Axis:%d) An excessively large disturbance torque is estimated by the servo software. (If the robot is used with an excessive load applied. such as its rated duty cycle or load. modify the use of the robot such that the ratings are not exceeded. 2 Replace the servo amplifier. Cause: Remedy: Replace the DSP module. reset the system. check the input power supply voltage. On the status screen containing the disturbance value. reduce the applied load. If the applied voltage is found to be 170 VAC or less.): a Check each interphase voltage of the three--phase voltage (200 VAC) applied to the servo amplifier. If operation is allowed to continue. 2 Check that the applied load does not exceed the maximum rating. the estimated disturbance may become excessively large.): a Check each interphase voltage of the three--phase voltage (200 VAC) applied to the servo amplifier. b Replace the servo amplifier. SRVO--056 FSSB com error 2 (Group:%d Axis:%d) FSSB communication error from SLAVE to SRVO occured Cause: Remedy: Check FSSB hardware connection. or SRVO--070 STBERR. SRVO--069 CRCERR. SRVO--065 WARN BLAL alarm(Group:%d Axis:%d) The battery voltage for the pulse coder has dropped below the allowable minimum. however.$SPC_RESET) to true. the RCAL alarm is not actually raised. NOTE The RCAL alarm may be displayed when any of the “SERVO--068 DTERR. thus necessitating robot mastering. 840 . Mastering is required. If the BZAL alarm is issued because the battery is not replaced in time. then turn on the power again after setting the system variable ($MCR. Should this occur. or STBERR alarm is issued. SRVO--063 SERVO2 RCAL alarm(Group:%d Axis:%d) The built-in rotation counter on the pulse coder is abnormal. disregard this alarm and refer to the other three alarm remedies. Refer to the maintenance manual. SRVO--058 FSSB init error (N:%d) FSSB communication error occured during initialization Cause: Remedy: Check FSSB hardware connection. The battery cable inside the robot may have become disconnected.) SRVO--066 SERVO2 CSAL alarm(Group:%d Axis:%d) The pulse coder ROM checksum data are abnormal. Correct the cause of the alarm. this alarm can be safely ignored. Cause: Remedy: Replace the pulse coder. disregard this alarm and refer to the other three alarm remedies. Set system variable $MCR. Cause: Remedy: If this alarm occurs along with a SRVO--068 DTERR.” “SERVO--069 CRCERR. Replace the pulse coder or motor and master the robot. SRVO--064 SERVO2 PHAL alarm(Group:%d Axis:%d) This alarm is issued when the phase of a pulse signal generated by the pulse coder is abnormal. Cause: Remedy: 1 Eliminate the cause of the alarm. immediately replace the battery while the system power is turned on. Cause: Remedy: Check the servo amplifier and its wiring.ALARM CODES B--81464EN--3/01 SRVO--057 FSSB disconnect (Group:%d Axis:%d) FSS’B for communication from SLAVE to SRVO is disconnected. Cause: Remedy: Replace the battery. or SRVO--070 STBERR. and turn the power off and then on again. Mastering must be performed. After replacing. In this case. 2 Replace the pulse coder. Mastering must be performed. position data will be lost. Cause: Remedy: Check FSSB hardware connection. Cause: Remedy: If this alarm occurs along with a SRVO--068 DTERR. Replace the pulse coder or motor and master the robot. perform mastering. SRVO--069 CRCERR.” or “SERVO--070 STBERR” alarms is raised. SRVO--059 SYSTEM Servo amp init error Servo amplifier initializing is failed.$SPC_RESET to TRUE. SRVO--061 SERVO2 CKAL alarm(Group:%d Axis:%d) The clock for the rotation counter in the pulse coder is abnormal. (When this alarm is issued. SRVO--062 SERVO2 BZAL alarm(Group:%d Axis:%d) This alarm is issued when the battery for backing up the absolute position data of the pulse coder is not Cause: Remedy: connected. NOTE If the DTERR. CRCERR. this alarm may also be output at the same time. however. 2 For a model with the robot connection cable.ALARM CODES B--81464EN--3/01 SRVO--067 SERVO2 OHAL2 alarm (Group:%d Axis:%d) The temperature inside the pulse coder has become too high. Replace it if necessary. Replace the printed circuit board for emergency stop control. then perform mastering. Remedy: Perform simple mastering and improve the shielding. 841 . SRVO--074 SERVO2 LDAL alarm(Group:%d Axis:%d) Cause: The LED on the pulse coder has become disconnected. SRVO--069 SERVO2 CRCERR alarm (Group:%d Axis:%d) Cause: Serial data changed during transfer. check connector P1 on the connector panel of the mechanical unit. If the rated load is exceeded. modify the use of the robot such that the ratings are not exceeded. Remedy: Using job feed. SRVO--068 SERVO2 DTERR alarm (Group:%d Axis:%d) A request signal was sent to the serial pulse coder. SRVO--073 SERVO2 CMAL alarm(Group:%d Axis:%d) Cause: The pulse coder may be faulty. or noise may be causing the pulse coder to malfunction. Replace the robot connection cable (for the pulse coder signal). reduce the applied load. SRVO--075 WARN Pulse not established(Group:%d Axis:%d) Cause: The absolute position of the pulse coder has not yet been established. 2 If this alarm is issued. If any of the rating specified for the robot. 3 Replace the pulse coder of the motor. replace the motor. 064). Remedy: Replace the pulse coder. Check that each unit is securely grounded. Remedy: Replace the pulse coder. after which mastering must be performed. then perform mastering. Cause: Remedy: 1 Check the cable between the main CPU printed circuit board (JRF2) and the printed circuit board for emergency stop control (JRF2). Then. even when the power is turned on and the motor has not overheated. Cause: Remedy: 1 Check that the shields of the robot connection cable (for the pulse coder signal) and peripheral device 2 3 4 5 6 7 cables are securely connected to a ground plate. Cause: Remedy: 1 This alarm does not indicate the main cause of the problem if issued together with the PHAL alarm (alarm No. until the alarm is not re--issued after being cleared. After replacing perform mastering. but no serial data was returned. SRVO--071 SERVO2 SPHAL alarm (Group:%d Axis:%d) The feedback speed is abnormally high (3750 rpm or greater). Replace the main CPU printed circuit board. Replace the cable between the printed circuit board for emergency stop control and the main CPU. SRVO--070 SERVO2 STBERR alarm (Group:%d Axis:%d) A serial data start bit or stop bit error occurred. 2 Check whether the load applied to the robot exceeds the maximum rating. causing the built--in thermostat to actuate. move the robot along each axis for which this alarm is issued. 3 Replace the serial pulse coder. Cause: Remedy: 1 Check the operating conditions of the robot. such as its rated duty cycle or load. are exceeded. Replace the pulse coder. SRVO--072 SERVO2 PMAL alarm(Group:%d Axis:%d) Cause: The pulse coder may be faulty. check the cable and replace it if necessary. Refer to the maintenance manual. it is likely that the load on the robot is heavier than the rating. Cause: Remedy: See the description for Servo -. SRVO--081 WARN EROFL alarm (Track enc:%d) The line tracking pulse count overflowed. Cause: Remedy: See the description for Servo -. SRVO--086 WARN PHAL alarm (Track enc:%d) This alarm is issued when the phase of a pulse signal generated by the pulse coder is abnormal. SRVO--087 WARN BLAL alarm (Track enc:%d) This alarm is issued when the battery voltage for backing up the absolute position data of the pulse Cause: Remedy: coder has dropped. Cause: Remedy: 1 Check the corresponding line tracking connection to the axis control printed circuit board. Cause: Remedy: Refer to SRVO--063. 4 Replace the pulse coder. SRVO--090 WARN DTERR alarm (Track enc:%d) An error occurred during communication between the pulse coder and main CPU printed circuit board. If neither a deposition nor a collision has occurred. They must be the same voltage (210 VAC or below).065 BLAL alarm. Check the input voltage of the servo amplifier. SRVO--089 WARN OHAL2 alarm (Track enc:%d) The motor has overheated. V--W.067 OHAL2 alarm.068 DTERR alarm. SRVO--083 WARN CKAL alarm (Track enc:%d) The clock for the rotation counter in the line tracking pulse coder is abnormal. See the description for Servo -. SRVO--091 WARN CRCERR alarm (Track enc:%d) An error occurred during communication between the pulse coder and main CPU printed circuit board.ALARM CODES B--81464EN--3/01 SRVO--076 Tip Stick Detection (Group:%d Axis:%d) The servo software has detected an excessive disturbance torque at the beginning of operation. Check the U--V. Cause: Remedy: Refer to SRVO--066. Cause: Remedy: Contact our service center serving your locality. SRVO--088 WARN CSAL alarm (Track enc:%d) The line tracking pulse coder ROM checksum data are abnormal.064 PHAL alarm. Cause: Remedy: Refer to SRVO--061. See the description for Servo -. 842 .062 BZAL alarm.069 CRCERR alarm. Cause: Remedy: Press the reset key on the teach pendant to cause a reset. Cause: Remedy: See the description for Servo -. and separate the robot from all obstacles by jogging. and U--W voltages. Cause: Remedy: See the description for Servo -. SRVO--082 WARN DAL alarm(Track enc:%d) Line tracking pulse coder disconnected. SRVO--085 WARN RCAL alarm (Track enc:%d) The built-in rotation counter on the line tracking pulse coder is abnormal. SRVO--084 WARN BZAL alarm (Track enc:%d) This alarm is issued when the battery for backing up the absolute position data for the pulse coder is Cause: Remedy: not connected. 3 Replace the SIF and DSM modules on the axis control printed circuit board. Each phase--to--phase voltage must be higher than 170 VAC. 2 Check the pulse coder cable. noise may have caused the pulse coder to malfunction. correct hardware connection SRVO--106 SERVO Door open/E. SRVO--096 WARN LDAL alarm (Track enc:%d) The LED on the pulse coder has become disconnected. Cause: Remedy: See the description for Servo -. Cause: Remedy: An emergency stop signal was detected temporarily. press the reset key.ALARM CODES B--81464EN--3/01 SRVO--092 WARN STBERR alarm (Track enc:%d) An error occurred during communication between the pulse coder and main CPU printed circuit board. Cause: Remedy: Refer to SRVO--005 . Cause: Remedy: See the description for Servo -. If no reset occurs. Cause: Remedy: See the description for Servo-.073 CMAL alarm.Stop (Robot:%d) The controller door was opened. Close the controller door. Cause: Remedy: See the description for Servo-. Cause: Remedy: Refer to SRVO--006. See the description for Servo -. Refer to the maintenance manual. Cause: Remedy: Refer to SRVO--009. SRVO--103 SERVO Air pressure alarm(Rbt:%d) The pneumatic pressure (PPABN) robot input is asserted. SRVO--105 Door open or E.070 STBERR alarm.stop signals are detected for a quite short time Or mis--wiring of hardware connection Close controller door And press RESET If reset is not effective. SRVO--101 SERVO Robot overtravel(Robot:%d) A Robot overtravel limit switch is pressed. 843 . repair the hardware wiring. Or.Stop Controller door is opened Cause: Remedy: Or E. and press the reset key.072 PMAL alarm. A hardware disconnection occurred. SRVO--097 WARN Pulse not established(Enc:%d) The absolute position of the pulse coder has not yet been established.074 LDAL alarm. SRVO--095 WARN CMAL alarm (Track enc:%d) The pulse coder may be faulty. SRVO--093 WARN SPHAL alarm (Track enc:%d) This alarm is issued when the position data sent from the pulse coder is considerably greater than the Cause: Remedy: previous data. SRVO--108 Press RESET to enable robot When the enable/disable switch is set to “Enable. SRVO--094 WARN PMAL alarm (Track enc:%d) The pulse coder may be faulty.075 Pulse not established. SRVO--102 SERVO Hand broken (Robot:%d) The hand broken (*HBK) robot input is asserted.” it is necessary to cause a reset. Cause: Remedy: See the description for Servo -.071 SPHAL alarm. Cause: Remedy: To enable the robot. Check the fuse(F1. SRVO--136 DCLVAL alarm (Group:%d Axis:%d) Back--up charge circuit for amplifier have trouble. SRVO--135 FSAL alarm (Group:%d Axis:%d) Cooling fan for Control circuit stops. SRVO--132 HCAL(PSM) alarm(Group:%d Axis:%d) The current in the main power circuit of the servo amplifier exceeded specification. Cause: Remedy: Make $SFLT_FUPTIM larger.F3) in transformer. Cause: Remedy: Refer to the maintenance manual. Cause: Remedy: Check the cables and connections between amplifier(CN1) and MCC.G Softfloat time out(Group:%d) Follow-up time is over when softfloat is OFF. 844 . If using B--cabinet Replace the EMG Control printed circuit board. Cause: Remedy: Make $SFLT_FUPTIM larger. Refer to the maintenance manual. SRVO--122 SERVO Bad last ang(internal)(Group:%d) Last angle update request does not match current angle. Cause: Remedy: Check the cables and connections between amplifier(CN1) and MCC. SRVO--126 Quick stop error (Group:%d) Program was over in process of quick stop. If using B--cabinet Replace the EMG Control printed circuit board. SRVO--112 PAUSE. Cause: Remedy: Check or Replace the fan. SRVO--134 DCLVAL(PSM) alarm (Group:%d Axis:%d) Back--up charge circuit for amplifier have trouble. Cause: Remedy: Contact our service center serving your locality.F3) in transformer. SRVO--133 FSAL(PSM) alarm (Group:%d Axis:%d) Cooling fan for Control circuit stops. Cause: Remedy: Refer to the maintenance manual. SRVO--131 LVAL(PSM) alarm(Group:%d Axis:%d) The DC voltage on the main power circuit of the servo amplifier is lower than the specification even Cause: Remedy: though MCC is on. SRVO--121 SERVO Excessive acc/dec time(Group:%d) Acceleration time is much longer. Cause: Remedy: Press reset SRVO--130 OHAL1(PSM) alarm (Group:%d Axis:%d) The servo amplifier(PMS) overheated. Replace the amplifier. Check the fuse(F1.ALARM CODES B--81464EN--3/01 SRVO--111 SERVO Softfloat time out(Group:%d) Follow-up time is over when softfloat is OFF. Cause: Remedy: Refer to the maintenance manual. Cause: Remedy: Contact our service center serving your locality. Replace the amplifier. remove the cause. (EMGIN1 and EMGINC are not strapped to each other. SRVO--157 CHGAL alarm (Group:%d Axis:%d) Charge of the main circuit could not finish within specified time. If HCAL still occurs. Refer to the maintenance manual for deteil. Refer to the maintenance manual. and no jumper is installed between EMGIN1 and EMGINC or between EMGIN2 and EMGINC on the terminal block of the emergency stop control printed circuit board. SRVO--171 MotorSpd lim/DVC(Group:%d Axis:%d) Motor can not rotate as fast as the calculated speed required for the current motion. SRVO--151 FSAL(INV) alarm (Group:%d Axis:%d) The cooling fan for the control circuit has stopped. or the external emergency stop Cause: Remedy: function was activated. You do not have to do anything for this warning message. If no cause can be found. and U--W resistances with a measuring instrument that can detect a low resistance at the end of a cable. Cause: Remedy: Refer to the maintenance manual. check whether the cable or motor is defective. Replace the wiring board. Cause: Remedy: This is just a notification. SRVO--173 MotorSpd lim/DVC1(Group:%d Axis:%d) Motor can not rotate as fast as the calculated speed required for the current motion. Cause: Remedy: Replace the IPM mudule. If the external emergency stop function has been activated. SRVO--148 HCAL(CNV) alarm (Group:%d Axis:%d) The current of the main power supply circuit of the servo amplifier has exceeded the rating. Electric resistance to restrict charge current may be defective. Measure the resistance between the grounding wire and each of the U. replace the axis control SIF module for the axis of interest. SRVO--172 MotorSpd lim/DVC0(Group:%d Axis:%d) Motor can not rotate as fast as the calculated speed required for the current motion. If the same resistance is observed. Cause: Remedy: This is just a notification. Cause: Remedy: This is just a notification.) Release the emergency stop button. SRVO--156 IPMAL alarm (Group:%d Axis:%d) IPM module has trouble.ALARM CODES B--81464EN--3/01 SRVO--138 SDAL alarm (Group:%d Axis:%d) SDAL alarm of an amplifier. You do not have to do anything for this warning message. You do not have to do anything for this warning message. If there is a short--circuit. V. check the cables. Cause: Remedy: Remove the motor power lines from the servo amplifier. SRVO--160 SERVO Panel/External E--stop The emergency stop button on the operator’s panel was pressed. or remove it. Check the connections. Cause: Remedy: Check the fan. If the problem is not yet solved. If a different resistance is observed. V--W. Refer to the maintenance manual for detail. replace the servo amplifier. but cables are connected to the terminals. SRVO--174 MotorAcc lim/DVC(Group:%d Axis:%d) Motor can not accelerate as much as the calculated acceleration required to for the current motion Cause: Remedy: This is just a notification. check whether the cable or motor is defective. Or. replace the servo amplifier and transistor module. 845 . and W lines at the cable terminals. Cause: Remedy: DC link may short--circuit. EMGIN2 and EMGINC are not strapped to each other. You do not have to do anything for this warning message. Check the U--V. and then turn the power on. Refer to the maintenance manual. SRVO--187 Need specfing Mass Estimating the load information of this type requires specifying the mass of the load.%d. Cause: Remedy: Internal motion error. SRVO--185 Data is for other group The data the instruction tries to use belongs to another group. No action is needed for this warning message. has not been done This is an error internal to the system. SRVO--177 CJ error %d.. take a note of what caused this alarm. Cause: Remedy: Remove the factor that turned servo activation off. Cause: Remedy: Execute the instruction after the task that uses the data area ends. Cause: Remedy: Specify the mass of the load before estimating load information.%d. Contact service immideately. SRVO--181 Mcmd input while estimating(Group:%d) Cause: Robot was going to move while identifying the payload. Turn the power off and on again. Remedy: Press RESET. SRVO--184 Other task is processing The data area that this instruction tried to use had been locked by another task. If the alarm is still issued. Cause: Remedy: This is a warning message. SRVO--178 CJ error %d. Cause: Remedy: Collect the data of the desired group before executing the instruction.%d. Contact service immideately. Cause: Remedy: Internal motion error. SRVO--186 Needed Data has not been got No data has been collected. SRVO--193 SVON input SVON input circuit is open. and then press reset.%d Wrong CJ mode was used. and then contact the service personnel. 2 Turn the power on. 1 Turn the power off. Cause: Remedy: Collect the necessary data before executing the instruction. or any collected data does not belong to the desired mode.%d Wrong CJ mode was used. SRVO--183 ROBOT isn’t ready Servo activation is off. SRVO--191 Illegal Joint Speed (Group:%d Axis:%d) The motion command exceeded specification. Cause: Remedy: Contact service representative. SRVO--182 Needed init.ALARM CODES B--81464EN--3/01 SRVO--176 CJ/Illegal Mode %d. Cause: Remedy: A system variable or internal work memory has not been initialized normally. and press the reset button. 846 . SRVO--179 Motor torque limit (Group:%d Axis:%d) The torque of the axis has exceeded the limit.%d. Cause: Remedy: Contact service representative. Cause: Remedy: Close SVON input circuit.%d Wrong CJ mode was used. Be careful not to move robot while identifying the payload. Refer to the maintenance manual for detail. Press reset. and then press reset. Refer to the maintenance manual. Input an SVON signal. If the wiring has no problem. Fence open or SVON input alarm is detected. See the remedy of the next alarm. If the wiring of SVEMG is not connceted. Refer to the maintenance manual for detail. Correct the wiring on SVEMG. and then press reset. Refer to the maintenance manual for details. Cause: Remedy: Press Non Teacher Enabling Device or connect servo. twist the operator panel emergency stop push button clockwise to release. Close fence circuit and then press reset. SRVO--203 SVON input(SVEMG abnormal) The SVON signal line is opened while the SVEMG wiring is incorrect. and press reset. correct wiring of SVEMG. Refer to the maintenance manual for details. Refer to the maintenance manual. Refer to the maintenance manual for details. Refer to the maintenance manual for detaile. Cause: Remedy: Check the wiring of SVEMG. Cause: Remedy: Correct any SVEMG wiring errors. If the wiring of SVEMG is not connceted. SRVO--199 Control Stop Control Stop is detected. twist the teach pendant emergency stop push button clockwise to release. SRVO--205 Fence open(SVEMG abnormal) Fence circuit is open and mis--wiring on SVEMG is detected. SRVO--195 NTED/Servo disconnect Non Teacher Enabling Device is released or servo is disconnected. Press reset. and turn the power off and then on again. SRVO--204 External(SVEMG abnormal) E--stop The external emergency stop push button is pressed and mis--wiring on SVEMG is detected. If using external emergency stop. correct wiring of SVEMG. Cause: Remedy: Turn power off. SRVO--200 Control box fan abnormal Cause: Control box fan motor is failure Remedy: Check and/or replace the fan. SRVO--201 Panel E--stop or SVEMG abnormal The operator panel emergency stop push button is pressed and miswiring on SVEMG is detected. Cause: Remedy: Turn power off. Refer to the maintenance manual for detail. If the wiring has no problem. Cause: Remedy: Or the operator panel emergency stop push button is pressed slowly so that SVEMG signal is delayed Check the wiring of SVEMG. Cause: Remedy: After this alarm. SRVO--202 TP E--stop or SVEMG abnormal The teach pendant emergency stop push button is pressed and miswiring on SVEMG is detected.ALARM CODES B--81464EN--3/01 SRVO--194 Servo disconnect Servo is disconnected. 847 . clear source of fault. Correct the wiring on SVEMG. Cause: Remedy: Connect servo. And press RESET Refer to the maintenance manual for details. SRVO--209 SERVO Robot--2 SVEMG abnormal A disconnection of the SVEMG signal for robot 2 was detected. Refer to the maintenance manual. SRVO--208 Extended axis brake abnormal The FET current for brake of extended axis (brake number 2 or greater) exceeded the specification.ALARM CODES B--81464EN--3/01 SRVO--206 Deadman switch (SVEMG abnormal) The teach pendant deadman switch is released while the teach pendant is enabled. Cause: Remedy: Replace the fuse on the panel PBC. Rewire the SVEMG of the controller for robot 2. and press the reset button. 848 . T2 The teach pendant was disabled while the mode switch was set in the T1 or T2 position and robot 1 and Cause: Remedy: 2 were disconnected. Set the teach pendant enable/disable switch to on. Cause: Remedy: Replace the fuse in the six--axis amplifier. there is a broken wire in the hardware. Alternatively. Turn the power off. Press teach pendant deadman switch. Refer to the maintenance manual for details. Rewire the SVEMG of the controller for the additional robot. and press the reset button. Close the fence circuit. repair the hardware wiring. Correct the wiring on SVEMG Power on. SRVO--207 TP switch abnormal or Door open SVEMG signal is detected while fence is opened and TP is enabled and Deadman switch is not released Cause: Remedy: Or controller door is opened while fence is opened and TP is enabled and Deadman switch is not released Close controller door. And miswiring on Cause: Remedy: SVEMG is detected. Turn power off. Then check servo amplifier or emergency stop control PCB if brake ports are used. If door is not opened. Press reset. Refer to the maintenance manual. Refer to the maintenance manual for detail. If a reset does not take effect. correct the wiring on SVEMG. Then check the brake cable. and press the reset key. such as a positioner or Cause: Remedy: additional axis) was detected. SRVO--211 SERVO TP OFF in T1. Cause: Remedy: Turn the power off. SRVO--213 SERVO Fuse blown (PanelPCB) The fuse on the panel PBC board has blown. Refer to the maintenance manual. Or correct enable switch and deadman switch of teach pendant. Refer to the maintenance manual. Close the fence circuit. SRVO--214 SERVO Fuse blown (Amp) The fuse in the six--axis amplifier has blown. Refer to the maintenance manual. Cause: Remedy: Check brake for zero or abnormally low impedence. SRVO--210 SERVO EX_robot SVEMG abnormal A disconnection of the SVEMG signal for an additional robot (a third robot. Then check 200VAC. though it was specified in the system variable Cause: Remedy: $AXISORDER. SRVO--233 SERVO TP OFF in T1. Cause: Remedy: If the failure occurred because of the deadman switch being released. SRVO--230 SERVO Chain 1 (+24v) abnormal A failure occurred in chain 1 (+24 V). change the setting of $AXISORDER. 849 . set whether to reset the chain failure to “Yes. Check that the amplifier power is normal. Cause: Remedy: Check that the fiber cable is connected to the amplifier correctly. Still alternatively. Replace the DSP board with one having sufficient DSPs if necessary. grip it again. and the teach pendant is disabled. SRVO--232 SERVO NTED input The NTED (non--teacher enabling device) was released. Check that $AXISORDER and $AMP_NUM are specified correctly. SRVO--234 WARN Deadman switch released The deadman switch on the teach pendant was released. SRVO--216 SERVO OVC (total) (%d) The current flowing through the robot cable has exceeded its limit. repair the hardware wiring. grip it again. After setting the teach pendant enable/disable switch to on. Refer to the maintenance manual. If a reset does not take effect. T2/Door open The mode switch is set in the T1 or T2 position. On the system setting screen. and then press the reset key.ALARM CODES B--81464EN--3/01 SRVO--215 SERVO Fuse blown (Aux axis) The fuse for additional axis control in the six--axis amplifier has blown. Cause: Remedy: Modify the program in such a way that the operating condition can be relaxed. SRVO--221 SERVO Lack of DSP (Group:%d Axis:%d) The DSP (servo control CPU) for this axis was not found. Check that the number of DSPs on the DSP board is sufficient for the quantity specified in $SCR_GRP[]. SRVO--231 SERVO Chain 2 (0v) abnormal A failure occurred in chain 2 (0 V). set whether to reset the chain failure to “Yes. Repair the chain 1 (+24 V) circuit in the hardware.” Press the reset key on the teach pendant.” Press the reset key on the teach pendant. On the system setting screen. Refer to the maintenance manual.$AXISORDER[]. there is a disconnection in the hardware. SRVO--222 SERVO Lack of Amp (Amp:%d) FSSB indicates that there is no amplifier module. Replace the fiber cable leading to the amplifier. and press the reset key. Refer to the maintenance manual. Cause: Remedy: Replace the fuse for additional axis control in the six--axis amplifier. Alternatively. Cause: Remedy: If the failure occurred because of the deadman switch being released. the controller door is open. Cause: Remedy: Alternatively. Cause: Remedy: Press the NTED (non--teacher enabling device). Cause: Remedy: This is a warning message. Refer to the maintenance manual. Refer to the maintenance manual. close the controller door. Repair the chain 2 (0 V) circuit in the hardware. SRVO--245 SERVO Chain 2 abnormal (Rbt:%d) A chain 2 (0 V) failure occurred. SRVO--236 WARN Chain failure is repaired A chain failure was removed. and press it again. Then. cause the same error to occur again. Cause: Remedy: Repair the chain 1 (+24 V) circuit in the external emergency stop hardware. On the system setting screen. On the system setting screen. SRVO--243 SERVO Chain 2 (EXEMG) abnormal When an external emergency stop signal was input. a chain 2 (0 V) failure occurred. Cause: Remedy: Repair the chain 1 (+24 V) circuit in the hardware.ALARM CODES B--81464EN--3/01 SRVO--235 SERVO Short term Chain abnormal A temporary chain failure was detected. Refer to the maintenance manual. Cause: Remedy: If this failure occurred simultaneously with the “deadman switch released” alarm.” Press the reset key on the teach pendant. SRVO--237 WARN Cannot reset chain failure An attempt to reset the chain failure failed. a chain 2 (0 V) failure occurred. the chain failure had been removed. SRVO--242 SERVO Chain 1 (EXEMG) abnormal When an external emergency stop signal was input. Refer to the maintenance manual. Refer to the maintenance manual. Cause: Remedy: Repair the chain 2 (0 V) circuit in the fence hardware. 850 .” Press the reset key on the teach pendant. Cause: Remedy: Repair the chain 2 (0 V) circuit in the fence hardware. set whether to reset the chain failure to “Yes. set whether to reset the chain failure to “Yes. set whether to reset the chain failure to “Yes. and press the reset key. set whether to reset the chain failure to “Yes. Press the reset key.” Press the reset key on the teach pendant. On the system setting screen. Cause: Remedy: When the system checked for the chain failure again. Refer to the maintenance manual. release the deadman switch. Refer to the maintenance manual.” Press the reset key on the teach pendant. a chain 1 (+24 V) failure occurred. Cause: Remedy: Repair the chain 2 (0 V) circuit in the hardware. SRVO--241 SERVO Chain 2 (FENCE) abnormal When the fence circuit was opened. a chain 1 (+24 V) failure occurred. and rotate it clockwise to release. On the system setting screen. Cause: Remedy: Repair the chain 1 (+24 V) circuit in the hardware. Press the emergency stop button on the teach pendant. On the system setting screen. set whether to reset the chain failure to “Yes. Cause: Remedy: Repair the chain 1 (+24 V) circuit in the fence hardware. SRVO--244 SERVO Chain 1 abnormal (Rbt:%d) A chain 1 (+24 V) failure occurred. On the system setting screen. set whether to reset the chain failure to “Yes.” Press the reset key on the teach pendant. press the reset key. If this failure occurs simultaneously with any other safety--related error.” Press the reset key on the teach pendant. Refer to the maintenance manual. SRVO--240 SERVO Chain 1 (FENCE) abnormal When the fence circuit was opened. Refer to the maintenance manual. Refer to the maintenance manual. On the system setting screen. Refer to the maintenance manual. Refer to the maintenance manual. 851 . SRVO--261 SERVO Chain 2 (NTED) abnormal A chain 2 (0 V) failure occurred when the NTED (non--teacher enabling device) was released. SRVO--262 SERVO Chain 1 (SVDISC) abnormal When the servo power supply off signal was input. On the system setting screen. set whether to reset the chain failure to “Yes. Cause: Remedy: Repair the chain 1 (+24 V) circuit for the servo power supply off signal circuit. a chain 1 (+24 V) failure occurred. Refer to the maintenance manual.” Press the reset key on the teach pendant. Cause: Remedy: Repair the chain 2 (0 V) circuit in the NTED (non--teacher enabling device) hardware. Cause: Remedy: This is an emergency stop circuit failure.” Press the reset key on the teach pendant.ALARM CODES B--81464EN--3/01 SRVO--246 SERVO Chain 1 abnormal (EX_robot) A chain 1 (+24 V) failure occurred in an additional robot (a third robot.STOP circuit abnormal 2 When the servo was activated. SRVO--264 SYSTEM E. SRVO--263 SERVO Chain 2 (SVDISC) abnormal When the servo disconnect signal was input. such as a positioner or additional Cause: Remedy: axis). Refer to the maintenance manual. such as a positioner or additional Cause: Remedy: axis). the MON3 was already on.” Press the reset key on the teach pendant. SRVO--260 SERVO Chain 1 (NTED) abnormal A chain 1 (+24 V) failure occurred when the NTED (non--teacher enabling device) was released. Repair the MON3 circuit in the emergency stop unit. On the system setting screen. set whether to reset the chain failure to “Yes. SRVO--250 SERVO SVEMG/MAINON1 abnormal When the SVEMG became on.” Press the reset key on the teach pendant. the MAINON1 signal remained off. set whether to reset the chain failure to “Yes. On the system setting screen. On the system setting screen. Refer to the maintenance manual.STOP circuit abnormal 1 A deposition occurred in the emergency stop unit.” Press the reset key on the teach pendant.” Press the reset key on the teach pendant. Turn the power off and on again. Refer to the maintenance manual. SRVO--265 SERVO E. Repair the chain 2 (0 V) circuit in the hardware. Cause: Remedy: Repair the chain 1 (+24 V) circuit in the NTED (non--teacher enabling device) hardware. Cause: Remedy: Repair the MON3 circuit in the emergency stop unit. Repair the emergency stop circuit hardware. Refer to the maintenance manual. SRVO--247 SERVO Chain 2 abnormal (EX_robot) A chain 2 (0 V) failure occurred in an additional robot (a third robot. set whether to reset the chain failure to “Yes. Repair the chain 1 (+24 V) circuit in the hardware. Cause: Remedy: The MON3 is abnormal. set whether to reset the chain failure to “Yes. Cause: Remedy: On the system setting screen. set whether to reset the chain failure to “Yes. a chain 2 (0 V) failure occurred. Refer to the maintenance manual. The wiring of the SVEMG is incorrect. SRVO--277 SYSTEM Panel E--stop (SVEMG abnormal) When the emergency stop button on the operator’s panel was pressed. the SVDISC2 remained on. Cause: Remedy: Set the mode switch to the T1 or auto position.ALARM CODES B--81464EN--3/01 SRVO--266 SERVO FENCE1 status abnormal When the fence signal was input. Correct it. Cause: Remedy: Repair the SVDISC2 circuit. the FENCE1 remained on. Refer to the maintenance manual. Cause: Remedy: Repair the SVOFF2 circuit. Refer to the maintenance manual. Cause: Remedy: Repair the FENCE1 circuit. and turn the power on again. Refer to the maintenance manual. SRVO--276 SERVO Disable on T2 mode The robot cannot operate in the T2 mode. Cause: Remedy: Repair the FENCE2 circuit. 852 . Refer to the maintenance manual. the SVDISC1 remained on. the EXEMG1 remained on. SRVO--275 SERVO NTED2 status abnormal When the NTED signal was input. Refer to the maintenance manual. Cause: Remedy: Repair the NTED2 circuit. SRVO--270 SERVO EXEMG1 status abnormal When an external emergency stop signal was input. the EXEMG2 remained on. SRVO--272 SERVO SVDISC1 status abnormal When the servo power off signal was input. the SVOFF1 remained on. SRVO--271 SERVO EXEMG2 status abnormal When an external emergency stop signal was input. SRVO--267 SERVO FENCE2 status abnormal When the fence signal was input. Cause: Remedy: Repair the EXEMG2 circuit. SRVO--273 SERVO SVDISC2 status abnormal When the servo power off signal was input. SRVO--269 SERVO SVOFF2 status abnormal When the SVOFF signal was input. Cause: Remedy: Repair the NTED1 circuit. Cause: Remedy: Repair the EXEMG1 circuit. Cause: Remedy: Repair the SVOFF1 circuit. the FENCE2 remained on. the SVOFF2 remained on. SRVO--268 SERVO SVOFF1 status abnormal When the SVOFF signal was input. Refer to the maintenance manual. Cause: Remedy: Repair the SVDISC1 circuit. the NTED2 remained on. the SVEMG signal was not Cause: Remedy: input. Refer to the maintenance manual. Refer to the maintenance manual. Refer to the maintenance manual. the NTED1 remained on. SRVO--274 SERVO NTED1 status abnormal When the NTED signal was input. 853 . On the system setting screen. replace the amplifier. Correct it. Cause: Remedy: Repair the chain 1 (+24 V) circuit in the SVOFF hardware. Cause: Remedy: Replace the cable between the PSM and SVM. SRVO--290 SERVO DClink HC alarm (Group:%d Axis:%d) An abnormal current flowed through the amplifier DC link circuit.FAN (PSM) alarm (Group:%d Axis:%d) A fan for cooling the PSM amplifier heat--release fins is defective. the SVEMG signal was not input. Cause: Remedy: The wiring of the SVEMG is incorrect. Cause: Remedy: Repair the chain 2 (0 V) circuit in the SVOFF hardware. Cause: Remedy: Turn the power off.FAN alarm (Group:%d Axis:%d) A fan for cooling the amplifier heat--release fins is defective.ALARM CODES B--81464EN--3/01 SRVO--278 SYSTEM TP E--stop (SVEMG abnormal) When the emergency stop button on the teach pendant was pressed. SRVO--295 SERVO A communication error occurred between the PSM and SVM. Cause: Remedy: Find out what caused the SVOFF to be input.” Press the reset key on the teach pendant. SRVO--280 SERVO SVOFF input The SVOFF (servo off signal) was input. and a disconnection of the SVEMG was detected. Cause: Remedy: Replace the cooling fan. set whether to reset the chain failure to “Yes. Close the SVOFF input circuit. SRVO--292 SERVO EXT. Refer to the maintenance manual. a chain 1 (+24 V) failure occurred. replace the SVM or PSM. set whether to reset the chain failure to “Yes. SRVO--291 SERVO IPM over heat (Group:%d Axis:%d) It was detected that the IPM element in the amplifier had overheated. Refer to the maintenance manual. On the system setting screen. Repair the wiring of the SVEMG. SRVO--281 SYSTEM SVOFF input (SVEMG abnormal) The SVOFF input circuit was detected. Refer to the maintenance manual. SRVO--283 SERVO Chain 2 (SVOFF) abnormal When the SVOFF (servo off signal) was input. Refer to the maintenance manual. Cause: Remedy: It is likely that there is a short--circuit in a motor power line or the motor coil. Cause: Remedy: Decrease the duty cycle of operation. Refer to the maintenance manual. Refer to the maintenance manual. If this symptom occurs frequently. Alternatively. Cause: Remedy: Replace the cooling fan. and press the reset key. Cause: Remedy: It is likely that there is a short--circuit in a motor power line or the motor coil. and remove the cause. SRVO--294 SERVO EXT.” Press the reset key on the teach pendant. SRVO--282 SERVO Chain 1 (SVOFF) abnormal When the SVOFF (servo off signal) was input. and turn the power on again. a chain 2 (0 V) failure occurred. SRVO--293 SERVO DClink (PSM) HCAL (Group:%d Axis:%d) An abnormal current flowed through the DC link circuit of the PSM amplifier. Refer to the maintenance manual for details. Refer to the maintenance manual. Cause: Remedy: The hand--broken setting is incorrect. Check whether the hand--broken signal circuit is connected to the robot.G HOLD button is being pressed You attempted an operation while the hold button (input) is pressed. Wait until the UNHOLD statement is executed by the KAREL program. If the circuit is connected to the robot. Cause: Remedy: To remove the alarm condition. Refer to the maintenance manual. SYST--002 PAUSE. Refer to the maintenance manual for details. or by aborting the program. Cause: Remedy: Check whether a fan cooling the regenerative resistor for the PSMR is running. SRVO--297 SERVO The voltage of the PSM control power supply has dropped. Cause: Remedy: Contact the service personnel. press the reset button. Enable a hand broken. To reset the alarm condition requires turning the power off and on again. SRVO--300 SERVO Hand broken/HBK disabled When the HBK setting is disabled. Refer to the maintenance manual. or abort the KAREL program. Lower the teaching speed set in the program. 854 . Refer to the maintenance manual for details. a hand--broken signal was input. press the reset button. it is likely that the operating condition is severe. To remove the alarm condition. Refer to the maintenance manual. a hand--broken signal was detected. press the reset button. SRVO--301 SERVO Hand broken/HBK dsbl (Rbt:%d) When the HBK setting is disabled. enable the hand--broken setting. If the fan is running. SYST Error Codes ( ID = 24 ) SYST--001 PAUSE. Cause: Remedy: To remove the alarm condition. To remove the alarm condition.ALARM CODES B--81464EN--3/01 SRVO--296 SERVO The power regenerated in the PSM is too much. SRVO--298 SERVO The speed calculated in the servo circuit is abnormal. If a HOLD Cause: Remedy: statement is executed in a KAREL program. the held condition can only be cleared by the same program using the UNHOLD statement/action. Refer to the maintenance manual. Cause: Remedy: Check that the three--phase input voltage is low. and try the same operation. Check whether the hand--broken signal circuit is connected to the robot. Enable a hand broken. a hand--broken signal was detected. SRVO--302 SERVO Set Hand broken to ENABLE When the HBK setting was disabled. Cause: Remedy: The hand--broken setting is incorrect. If the circuit is connected to the robot.G HOLD is locked by program The condition that the robot is being held in is locked by the program and cannot be cleared. Cause: Remedy: Clear the hold button (input). this error message is displayed. a hand--broken signal was input. press the reset button. SRVO--310 SERVO Internal alarm Cause: Remedy: Contact the service personnel. Replace the PSM or the PSMR if necessary. SRVO--303 SERVO Set HBK to ENABLE (Rbt:%d) When the HBK setting was disabled. enable the hand--broken setting. If you attempt a motion in such a condition. 2 To perform the operation from the remote unit. 2 To perform the operation from the remote unit. SYST--007 WARN NETWORK is the master device The attempted operation could not be done because the NETWORK command processor is the master Cause: Remedy: device. Cause: Remedy: Disable the teach pendant. set the remote switch to the local position. SYST--004 WARN SOP is enabled The attempted operation could not be done because the System Operator Panel is enabled. Cause: Remedy: Determine the cause of the alarm on the alarm cause screen. set an appropriate value for $RMT_MASTER. set an appropriate value for $RMT_MASTER. SYST--005 WARN UOP is the master device The attempted operation could not be done because the User Operator Panel is enabled. 1 To perform the operation from the operator’s panel. 855 . 1 To perform the operation from the operator’s panel. eliminate the cause. Cause: Remedy: 1 To perform the operation from the operator’s panel. Cause: Remedy: Turn the REMOTE switch on the SOP to REMOTE side. set the remote switch to the local position. SYST--013 WARN Invalid program number The specified PNS number is not within its valid range. Then. Cause: Remedy: Close the safety fence and try the same operation again.ALARM CODES B--81464EN--3/01 SYST--003 WARN TP is enabled The attempted operation could not be done because the teach pendant is enabled. SYST--008 WARN Nothing is the master device The system variable $RMT_MASTER is set to disable all devices. SYST--012 WARN Not in remote Remote condition is not satisfied. Cause: Remedy: Specify a program number that is within the valid range of 1 to 9999. 2 To perform the operation from the remote unit. SYST--014 WARN Program select failed PNS operation has failed. and try the same operation again. Cause: Remedy: Determine the cause of the alarm on the alarm cause screen. or set the $RMT_MASTER system variable correctly. Cause: Remedy: Turn the remote switch on. SYST--011 WARN Failed to run task The system has failed to run the program. eliminate the cause. Therefore. SYST--010 WARN Max num task reached The number of tasks has reached the maximum allowed. set the remote switch to the local position. and try the same operation again. no remote device can Cause: Remedy: issue motion. Then. SYST--006 WARN CRT is the master device The attempted operation could not be done because CRT is the master device. Cause: Remedy: Abort one of the running task. set an appropriate value for $RMT_MASTER. Cause: Remedy: Determine the cause of the alarm on the alarm cause screen. Then. SYST--015 WARN Robot Service Request failed RSR operation has failed. Cause: Remedy: Turn the REMOTE switch to local (if the operation is attempted from the SOP). SYST--009 WARN Safety Fence open The attempted operation could not be done because the safety fence is open. eliminate the cause. Flash ROM module was changed. Cause: Remedy: Check the communication cable. cannot continue A paused program cannot continue if PNS input ports are not zero. program start--up is disabled. SYST--028 WARN (%s) Program timed out $PWR_HOT. $PWR_SEMI program has been aborted by the system due to time out (40sec). 3. SYST--027 PAUSE. SYST--019 WARN Program not selected Program has not been selected. Cause: Remedy: Select a program from the program select menu on the teach pendant. Cause: Remedy: Respond YES or NO in the prompt box on at the teach pendant. is different from the one that was disconnected. COLD start is selected automatically. A run-time error occurred. SYST--018 WARN Continuing from different line You attempted to continue program execution from a line different that the paused line. 4. 2. SYST--024 WARN PNSTROBE is OFF.ALARM CODES B--81464EN--3/01 SYST--016 WARN ENBL signal is off ENBL signal on the User Operator Panel is off. Cause: Remedy: This is just a notification. Cause: Remedy: Input an error clear signal to set all PNS inputs to 0. or by using PNS. SYST--021 WARN System not ready. Replace the cable if necessary. System internal error 1. System internal error 2. Cannot start exec Prod_start could not be processed because PNSTROBE is off. Cause: Remedy: Press RESET to clear the error condition. SYST--017 WARN Single step operation effective Single step operation is effective. Power failed during system start up. as that which was disconnected. Cause: Remedy: Set ENBL signal ON. press RESET Because program verification failed. SYST--020 WARN Program not verified by PNS The program specified by PNS is different then the program currently selected. Cause: Remedy: Set PNSTROBE input to ON. SYST--025 WARN Teach Pendant is different type The type of teach pendant being connected. Cause: Remedy: Connect the same type of teach pendant. You do not have to do anything for this warning message.G HOT start failed (Error:%d) HOT start has failed for one of the following reasons: Cause: Remedy: 1. SYST--026 System normal power up System has executed normal power startup. SYST--023 SYSTEM Teach Pendant communication error A communication cable is broken. then input a start signal. 856 . 5. SYST--022 WARN PNS not zero. Cause: Remedy: Disable single step switch. Cause: Remedy: Decrease program size so that it can be executed within the time out limit. Cause: Remedy: Select a correct program from the program select menu on the teach pendant. The DEADMAN must be released when switching to AUTO mode Release the DEADMAN and press RESET. SYST--043 TP disabled in T1/T2 mode The mode selector is in T1 or T2 and the TP ON/OFF switch is in the OFF position Cause: Remedy: Turn the TP ON/OFF switch to ON.G Robot was connected (Group:%d) The connect/isolate key was turn to the connect side. Cause: Remedy: Fix the CE Sign key switch. SYST--032 WARN ENBL signal from UOP is lost ENBL input signal from the User Operator Panel is lost.G Robot was isolated (Group:%d) The connect/isolate key was turned to the isolate side Cause: Remedy: This is just a notification. You do not have to do anything for this warning message. You do not have to do anything for this warning message. Cause: Remedy: Restore input signal. SYST--034 WARN HOLD signal from SOP/UOP is lost HOLD input signal from System Operator Panel/User Operator Panel is lost.ALARM CODES B--81464EN--3/01 SYST--029 PAUSE. SYST--035 WARN Low or No Battery Power in PSU. SYST--030 PAUSE. Cause: Remedy: Restore input signal. Cause: Remedy: This is just a notification. Cause: Remedy: Restore input signal.G CE Sign key switch broken Improper input from CE Sign key switch. Cause: Remedy: This is just a notification. SYST--038 PAUSE. Cause: Remedy: Replace the old battery with a new battery of the same kind.G Operation mode AUTO Selected Operation mode AUTO Selected Cause: SYST--041 Ovrd Select could not ENABLED DI index is invalid Cause: Remedy: Please set valid DI index SYST--042 DEADMAN defeated The mode switch was changed from T1 or T2 mode to AUTO mode and the DEADMAN was already Cause: Remedy: pressed.Press RESET.G Operation mode T1 Selected Operation mode T1 Selected Cause: SYST--039 PAUSE. Battery power in the PSU board is low. SYST--031 SYSTEM F--ROM parity A parity error has been detected in the system FROM memory. SYST--033 WARN SFSPD signal from UOP is lost SFSPD input signal from User Operator Panel is lost. You do not have to do anything for this warning message. SYST--036 WARN Semi power failure recovery System did a semi-hot start. Cause: Remedy: Reload system software. SYST--037 ABORT.G Operation mode T2 Selected Operation mode T2 Selected Cause: SYST--040 PAUSE. 857 . SYST--046 Control Reliable config mismatch Either 1. Check the modem card. Cause: Remedy: The memory may be insufficient. Control Reliable hardware exists but the option has not been loaded. SYST--045 TP enabled in AUTO mode The mode selector is in AUTO and the TP ON/OFF switch is in the ON position Cause: Remedy: Turn the TP ON/OFF switch to OFF. Cause: Remedy: This is an abnormal condition. SYST--047 Continuing from distant position Attempt to continue program from distant position from stopped position. If a modem card is used. Press RESET. Cause: Remedy: Respond ABORT or CONTINUE in the prompt box on at the teach pendant SYST--048 NECALC couldn’t get work memory The OS could not allocate work memory to the NUCALC software part. Cause: Remedy: Check the connection between R--J3 and the modem. 858 .ALARM CODES B--81464EN--3/01 SYST--044 (Abnormal) TP disabled in T1/T2 mode The mode selector is in T1 or T2 and the TP ON/OFF switch is in the OFF position and SVON is ON. or 2. SYST--099 Card Modem is not responded There is no response from the modem card. Check if the modem card is inserted into the PCMIA slot correctly. check if the modem card is not destroyed and if the modem card is inserted correctly. Cause: Remedy: Check the remote diagnosis software of the PC. SYST--095 Remote diagnose internal error An internal error occurred with the remote diagnosis function. SYST--098 Card Modem is removed The modem card was removed during communication. Cause: Remedy: Internal error SYST--096 Designated task is not valid A task specified by the PC in remote diagnosis is invalid. Cause: Remedy: Check if a modem card is inserted correctly. Increase the controller memory. Call your FANUC technical representative. Check the modem type setting. Cause: Remedy: The memory may be insufficient. SYST--067 Panel HSSB disconnect Communication with the panel board is disabled. then restart the remote diagnosis function. Consult our service representative. The Control Reliable Cause: Remedy: option has been loaded but the hardware is not available. Cause: Remedy: Check the cable of the panel HSSB. Cause: Remedy: Check if a modem is installed. Cause: Remedy: Reinsert the modem card. SYST--097 Fail to initialize Modem Modem initialization failed. Increase the controller memory. SYST--049 SFCALC couldn’t get work memory The OS could not allocate work memory to the SFCALC software part. SYST--100 DSR in Modem OFF DSR was turned off during communication. SYST--150 Cursor is not on line 1 The program was started on a line other than the first line. Cause: Remedy: In the T2 mode. INTP--001 PAUSE. Restart the program. Cause: Remedy: Reply Yes/No in response to the inquiry displayed on the screen. SYST--144 Bad DO specfied by %s An invalid or unassigned SDO was allocated by a system variable. the robot cannot be moved. Check that a specified SDO is allocated. so that the dynamic brake was actuated. SYST--153 Cannot SIM/UNSIM DO’s in AUTO mode An attempt was made to simulate signal output in the AUTO mode. Set the switch to the T1 or AUTO mode. Cause: Remedy: Install the CE/RIA option. Cause: Remedy: Contact our service center serving your locality. SYST--148 Dynamic Brake is Disabled The dynamic brake release request signal SDI[$DYN_BRK. %d) After the program was started on a line other than the first line. exit from the AUTO mode. SYST--156 Unknown hard ware The PCB does not match the control unit. Cause: Remedy: Change the value of the system variable to 0 (for no use) or a valid number. Then.$DI_IDX] was turned on.ALARM CODES B--81464EN--3/01 SYST--101 Connection is stopped The line was disconnected. Cause: Remedy: Before performing this operation. Cause: Remedy: Replace the PCB with a correct PCB. Yes was replied to the inquiry displayed Cause: Remedy: on the screen. 859 . IMSTP is generated while the dynamic brake release request signal is on.G. restart the program. exit from the AUTO mode. Cause: Remedy: Check the telephone line. Cause: Remedy: Before performing this operation. Cause: Remedy: This is not an alarm. INTP Error Codes ( ID = 12 ) INTP--000 ABORT. Cause: Remedy: Contact our service center serving your locality.G Req has not been processed yet Internal system error. SYST--151 Start again (%s. so that the Cause: Remedy: dynamic brake was released. SYST--157 CE/RIA software does not exist The CE/RIA option is not installed. SYST--152 Cannot force DO’s in AUTO mode An attempt was made to output a signal in the AUTO mode. SYST--158 Robot cannot move in T2 mode The tri--mode switch is set to the T2 mode.G Cannot lock the motion grp Internal system error. SYST--149 Dynamic Brake is Enabled The dynamic brake release request signal was turned off. INTP--004 PAUSE. %d^5) Abort request failed An error occurred when program execution was aborted. %d^5) Program error An error occurred while the program was running. Cause: Remedy: Refer to the error cause code. Cause: Remedy: Refer to the error cause code. INTP--100 to 102 ABORT. INTP--003 ABORT.L (%s^4.L (%s^4. INTP--005 PAUSE. %d^5) BWD motion request failed Backward motion cannot be executed.L (%s^4. Cause: Remedy: Refer to the error cause code. INTP--110 (%s^4. %d^5) Continue request failed Program cannot be resumed.G Cannot release motion control Motion control cannot be released. INTP--107 ABORT. INTP--104 ABORT. Cause: Remedy: Refer to the error cause code. Cause: Remedy: Refer to the error cause code. INTP--109 WARN (%s^4. %d^5) Pause request failed An error occurred when program execution was held. 860 .L (%s^4. Cause: Remedy: Check the attribute. %d^5) Skip statement request failed The currently executing line cannot be changed. INTP--106 PAUSE. %d^5) Single step failed Single step cannot be executed Cause: Remedy: Refer to the error cause code.ALARM CODES B--81464EN--3/01 INTP--002 ABORT. Cause: Remedy: Disable the teach pendant. INTP--108 ABORT. %d^5) Internal error (PXnn) Internal system error. Cause: Remedy: Refer to the error cause code.L (%s^4.G Cannot ATTACH with TP enabled The ATTACH statement requires the teach pendant to be disabled. %d^5) Get task status request failed The specified task attribute is not found or is not read accessible. INTP--111 WARN (%s^4. Cause: Remedy: Abort the running or paused program.G Program manager internal error Internal system error. Cause: Remedy: Contact our service center serving your locality. %d^5) Run request failed The program cannot be started. Cause: Remedy: Contact our service center serving your locality. INTP--105 ABORT.L (%s^4. Cause: Remedy: Refer to the error cause code. INTP--103 ABORT.L (%s^4. Cause: Remedy: Contact our service center serving your locality.G Invalid request Internal system error. When program monitoring is enabled. INTP--118 to 123 PAUSE. Cause: Remedy: Refer to the error cause code. The error should resolve itself.L (%s^4. Cause: Remedy: Refer to the error cause code. If this alarm is raised together with the “PROG--020 TASK IS ALREADY ABORTED” alarm.L (%s^4. or suspended.L Failed to convert position The conversion of one position type to another failed. Terminate the current action program. 861 . Cause: Remedy: Refer to the error cause code. Cause: Remedy: Resume the program after hot start is complete. %d^5) Unhold motion request failed An error occurred when motion was unheld.L (%s^4. Cause: Remedy: Refer to the error cause code.L (%s^4. Cause: Remedy: Refer to the error cause code.L (%s^4.L (%s^4. INTP--114 PAUSE. INTP--128 PAUSE. INTP--125 ABORT. Cause: Remedy: Refer to the error cause code. Select another program from the program list. it is possible that the program that executed the monitoring start instruction has already been terminated when the conditions in the condition program are satisfied. %d^5) Hold motion request failed An error occurred when motion was held. and the desired action program is currently being edited. INTP--115 PAUSE. INTP--116 PAUSE. INTP--113 PAUSE. %d^5) Resume motion request failed An error occurred when motion was resumed.L Pos reg is locked Pos register is locked. Remedy: Cause: Remedy: the conditions in the condition program are satisfied. %d^5) Invalid ITR routine Internal error of software Cause: Remedy: Refer to the error cause code. %d^5) System error Internal error of software. Cause: Remedy: Refer to the error cause code.L Vision built--in return failed The vision built-in failed to return. %d^5) Cancel motion request failed An error occurred when motion was canceled. INTP--124 ABORT. INTP--127 WARN Power fail detected Power failure was detected. Cause: If this alarm is raised together with the “MEMO--004 WARN SPECIFIED PROGRAM IS IN USE” alarm. Cause: Remedy: Refer to the error cause code. Cause: Remedy: Refer to the error cause code. an action program can run only if the program that executed the monitoring start instruction is running.ALARM CODES B--81464EN--3/01 INTP--112 PAUSE. %d^5) Stop motion request failed An error occurred when motion was stopped.L Cannot call interrupt routine The interrupt routine cannot be executed. INTP--117 PAUSE. executed.L (%s^4. INTP--126 ABORT. Cause: Remedy: Wait a moment. INTP--130 ABORT. INTP--202 PAUSE. $PAUSE_PROG does not include a specified program.L Cannot use motion group You tried to lock the motion group even though this program cannot use motion groups.L Number of stop exceeds limit Too many stop data is created at one time.L (%s^4. %d^5) Untaught element encountered The program contains a portion without teaching data. Please check the condition of error recovery DO status INTP--136 Can not use motion group for dry run function In $PAUSE_PROG and $RESUME_PROG. Cause: Remedy: Change the specify of motion group. Cause: Remedy: Check $RESUME_PROG.L (%s^4. a program using a motion group is specified. Cause: Remedy: Check the alarm history screen to see if another alarm is output. Cause: Remedy: The specified condition program contains an error (statement without teaching data). INTP--135 Recovery DO OFF in auto start mode The error recovery DO status is OFF in the automatic start feature Cause: Remedy: So the resume program cannot be exeucted automatically. Cause: Remedy: Specify a program not specifying a motion group. 862 . Cause: Remedy: Check $PAUSE_PROG. Lock the motion group. Cause: Remedy: Please fix the alarm by manual. INTP--134 Over automatic start Max counter The automatic start was done the defined times but the alarm was not fixed.L (%s^4. INTP--137 Program specified by $PAUSE_PROG doesn’t exist. %d^5) Syntax error Instruction syntax error. $RESUME_PROG does not include a specified program. Cause: Remedy: Refer to the error cause code. INTP--132 Unlocked groups specified The specified motion groups are already unlocked. Cause: Remedy: Reteach the instruction. INTP--201 PAUSE.ALARM CODES B--81464EN--3/01 INTP--129 ABORT. INTP--131 ABORT. INTP--200 PAUSE.L (%s^4. Cause: Remedy: Clear the motion group mask in the program detail screen. Cause: Remedy: Make sure that the appropriate option is loaded. INTP--138 Program specified by $RESM_DRYPROG doesn’t exist. %d^5) Unimplemented TP instruction This instruction cannot be used. Cause: Remedy: Change the specify of motion group. %d^5) Local variable request failed Execution failed. Cause: Remedy: Decrease the number of stop data. INTP--133 Motion is already released Some specified motion groups are already unlocked. INTP--139 (%s^4. %d^5) Exec status recovery failed Failed to recover execution status. Teach the instruction. INTP--216 PAUSE. %d^5) Invalid value for group number The indicated value is invalid for the motion group number. %d^5) Divide by 0 Division by 0 was executed.L (%s^4. INTP--207 PAUSE. %d^5) UALM[%d^9] A user alarm occurred.L (%s^4. %d^5) Invalid value for OVERRIDE The indicated value cannot be used for the OVERRIDE instruction.L (%s^4. 863 . INTP--215 PAUSE. INTP--217 PAUSE. INTP--209 PAUSE. Cause: Remedy: Refer to the user alarm code. Cause: Remedy: Refer to the error cause code.L (%s^4. INTP--212 PAUSE. INTP--205 PAUSE. Cause: Remedy: Check the value.L (%s^4. INTP--206 PAUSE. %d^5) Group mismatch The position data is invalid. %d^5) SKIP CONDITION needed The SKIP instruction was executed before a SKIP CONDITION instruction. %d^5) Invalid value for index The index value is invalid. Cause: Remedy: Check the value.L %s^7 (%s^4.L (%s^4. Cause: Remedy: Check the value.ALARM CODES B--81464EN--3/01 INTP--203 PAUSE. INTP--218 PAUSE. INTP--213 PAUSE. Cause: Remedy: Refer to the error cause code. Cause: Remedy: Add a SKIP CONDITION instruction.L (%s^4. Refer to the user alarm code. %d^5) Digital port access error Digital I/O is not functioning properly. %d^5) Analog port access error Analog I/O is not functioning properly. INTP--214 PAUSE.L (%s^4. Cause: Remedy: Refer to the error cause code. %d^5) SELECT is needed A CASE instruction was executed before a SELECT instruction. Cause: Remedy: Refer to the error cause code. %d^5) Skip failed The SKIP instruction or SKIP CONDITION instruction cannot be executed. %d^5) Specified group not locked The position register or frame setup instructions were executed in a program without a motion group.L (%s^4.L (%s^4. Cause: Remedy: Check the index value. INTP--208 PAUSE. INTP--204 PAUSE. %d^5) Variable type mismatch The variable type is not correct. Cause: Remedy: Check the variable type. Cause: Remedy: Add a SELECT instruction before the CASE instruction.L (%s^4.L (%s^4. %d^5) Group I/O port access error Group I/O is not functioning properly. Cause: Remedy: Set up the motion group in the program DETAIL screen.L (%s^4. Cause: Remedy: Check the position data. L (%s^4. Cause: Remedy: Refer to the error cause code. INTP--230 PAUSE. INTP--227 PAUSE. INTP--223 PAUSE. %d^5) Invalid frame number The frame number is invalid. %d^5) Application failed The application instruction cannot be executed. Cause: Remedy: Refer to the error cause code. Cause: Remedy: Refer to the error cause code. Cause: Remedy: Refer to the error cause code. %d^5) Wait condition failed A condition WAIT instruction cannot be executed.L (%s^4. INTP--231 PAUSE. %d^5) Read position register failed The position register cannot be read. %d^5) Pause task failed The pause instruction cannot be executed. Cause: Remedy: Refer to the error cause code.L (%s^4. Cause: Remedy: Check the frame number. %d^5) Abort task failed The ABORT instruction cannot be executed. Cause: Remedy: Refer to the error cause code. %d^5) Write register failed The register cannot be written.L (%s^4. %d^5) Call program failed The program CALL instruction cannot be executed. Cause: Remedy: Refer to the error cause code. %d^5) Read register failed The register cannot be read.L (%s^4. %d^5) Write position register failed The position register cannot be written.L (%s^4.L (%s^4.L (%s^4. INTP--226 PAUSE. %d^5) Motion statement failed The MOTION instruction cannot be executed. Cause: Remedy: Refer to the error cause code.L (%s^4. Cause: Remedy: Refer to the error cause code.L (%s^4. INTP--225 PAUSE. INTP--229 PAUSE. %d^5) Delay time failed The WAIT instruction cannot be executed. Cause: Remedy: Refer to the error cause code. INTP--220 ABORT. INTP--222 PAUSE. Cause: Remedy: Refer to the error cause code. Cause: Remedy: Refer to the error cause code. %d^5) Read next line failed The next line cannot be read. Cause: Remedy: Refer to the error cause code. INTP--221 PAUSE.L (%s^4. INTP--232 PAUSE. 864 .L (%s^4.L (%s^4. INTP--228 PAUSE. INTP--224 PAUSE.ALARM CODES B--81464EN--3/01 INTP--219 ABORT. %d^5) Jump label failed The BRANCH instruction cannot be executed.L (%s^4. Cause: Remedy: Do not use backward execution from this point. %d^5) BWD execution completed Backward execution was completed.L (%s^4. Teach the position register. Cause: Remedy: Refer to the error cause code. Cause: Remedy: Refer to the error cause code. Cause: Remedy: Check the parameter type. Add an OFFSET CONDITION instruction before the OFFSET instruction. Cause: Remedy: Refer to the error cause code. INTP--242 PAUSE. INTP--243 ABORT. %d^5) Invalid line number The input line number is incorrect. The MOTION instruction cannot be executed. %d^5) Def grp is not specified This program has no motion group defined. INTP--236 PAUSE. 865 . %d^5) Read pos item failed The position variable cannot be read. INTP--246 PAUSE.L (%s^4.L (%s^4. %d^5) Offset value is needed An OFFSET instruction was executed before an OFFSET CONDITION instruction. A position register Cause: Remedy: was not taught in the OFFSET PR[] instruction.L (%s^4.L (%s^4. %d^5) Cannot execute backwards This instruction cannot be executed backwards. %d^5) RCV stmt failed The RECEIVE R[] instruction cannot be executed. INTP--241 PAUSE.L (%s^4. INTP--239 WARN (%s^4. INTP--237 WARN (%s^4. Cause: Remedy: Stop using backward execution at this point.L (%s^4. INTP--235 PAUSE. %d^5) Write pos item failed The position variable cannot be written. INTP--245 PAUSE.L (%s^4.L (%s^4. %d^5) No more motion for BWD Backward execution cannot be executed any further because the current program line is at the top. Cause: Remedy: Set the cursor to execute at the next line. INTP--238 WARN (%s^4. INTP--240 PAUSE. Cause: Remedy: Refer to the error cause code.ALARM CODES B--81464EN--3/01 INTP--233 PAUSE. %d^5) SEMAPHORE stmt failed The SEMAPHORE instruction cannot be executed. Cause: Remedy: Check the data type. Cause: Remedy: Refer to the error cause code. INTP--234 PAUSE.L (%s^4. %d^5) Unsupported parameter This type of parameter cannot be used. %d^5) Incompatible data type The specified data type in the PARAMETER instruction is invalid for the parameter type.G (%s^4. Cause: Remedy: Check the line number. %d^5) Read frame value failed The specified frame cannot be read. Cause: Remedy: Remove the MOTION instruction or set up the motion group in the program DETAIL screen. INTP--244 PAUSE. Cause: Remedy: Refer to the error cause code. %d^5) Write frame value failed The specified frame cannot be written. L (%s^4. INTP--252 PAUSE. Cause: Remedy: Check the tool frame number.L Tool frame number mismatch The tool frame number in the positional data is not the same as the currently selected tool frame number. Cause: Remedy: Check the MACRO setup. INTP--250 PAUSE. 866 .0 to 100.L (%s^4.L (%s^4.L (%s^4.L (%s^4. Cause: Remedy: Input a correct value.L (%s^4. INTP--253 PAUSE. Cause: Remedy: Refer to the error cause code. INTP--260 PAUSE.L Macro is not set correctly The MACRO setup was invalid. INTP--259 PAUSE. Cause: Remedy: Refer to the error cause code.0. Cause: Remedy: Check the parameter name.L User frame number mismatch The user frame number in the positional data is not the same as the currently selected user frame Cause: Remedy: number.L (%s^4. Cause: Remedy: Teach the origin 3 points or destination 3 points.L (%s^4. INTP--251 PAUSE. INTP--258 PAUSE. Cause: Remedy: Refer to the error cause code. INTP--254 PAUSE. %d^5) Invalid torque limit value The specified torque limit is not in the range of 0.0 to 100. INTP--256 PAUSE.0.L (%s^4. Cause: Remedy: Specify a torque limit in the range of 0. INTP--255 PAUSE. %d^5) MACRO failed The MACRO instruction cannot be executed. Cause: Remedy: Contact our service center serving your locality. %d^5) CAL_MATRIX failed The CAL_MATRIX instruction cannot be executed. Cause: Remedy: Refer to the error cause code. %d^5) No data for CAL_MATRIX The origin 3 points or destination 3 points are not taught.647 sec. %d^5) Invalid utool number The tool frame number is invalid. Cause: Remedy: Change position register data to Cartesian. %d^5) Weld port access error The weld is not functioning properly. %d^5) Invalid delay time The wait time value is negative or exceeds the maximum value of 2147483. %d^5) Parameter not found The specified parameter name cannot be found. %d^5) Invalid uframe number The user frame number is invalid.L (%s^4.L (%s^4. %d^5) Pre exec failed Internal error of software. INTP--257 PAUSE. Cause: Remedy: Refer to the error cause code. INTP--249 PAUSE. INTP--248 PAUSE. %d^5) Invalid position type The data type of the position register was taught using joint type.ALARM CODES B--81464EN--3/01 INTP--247 PAUSE. Check the user frame number. Cause: Remedy: Check the sub type of this CH program. If this alarm is raised together with the “MEMO--004 WARN SPECIFIED PROGRAM IN USE” alarm. Only one Skip statement can exist per line. the specified condition program is currently being edited. INTP--263 PAUSE. INTP--275 Invalid sub type of CH program The sub type of specified ch program cannot be used.L (%s^4. Cause: Remedy: Check the register type. %d^5) Array subscript missing No array element number is specified.L (%s^4.L (%s^4. a move is encountered that has a different group number from the previous Cause: Remedy: motion statement. INTP--274 (%s^4. Select another program from the program list. INTP--265 PAUSE. INTP--267 PAUSE.ALARM CODES B--81464EN--3/01 INTP--261 PAUSE. Cause: Remedy: Specify an element name. Only one of these statements can exist per Cause: Remedy: line. %d^5) This statement only one in each line A single line contains more than one application instruction.L (%s^4.L (%s^4. %d^5) Excessive torque limit value Cause: The torque limit value was modified to exceed it’s maximum value. Cause: Remedy: Cause: Use MENU to display the Alarm Log screen. Cause: Remedy: insert a CANCEL or STOP instruction before calling an interrupt routine. Cause: Remedy: Refer to the error cause code. Cause: Remedy: Abort the specified program. %d^5) CH program error This monitor statement cannot be executed. Cause: Remedy: Check the operator. INTP--269 PAUSE.L (%s^4.L (%s^4. %d^5) RUN stmt failed Specified program is already running. %d^5) Unsupported operator This operator is not supported. Set torque limit value less than or equal to the maximum value. Cause: Remedy: Specify an array element number. INTP--268 PAUSE. Cause: Remedy: Specify a value in the range of 0 to 100. %d^5) Field name missing No element name is specified. Cause: Remedy: Delete the extra Skip statement. %d^5) Skip statement only one in each line A single line contains more than one skip instruction. or that program may not exist. %d^5) Invalid value for speed value The indicated value cannot be used for the AF instruction. %d^5) Invalid register type The register type is not valid. If this alarm is raised together with the “INTP--275 PAUSE. 867 .L (%s^4. INTP--272 PAUSE. INTP--266 ABORT. INTP--270 PAUSE. %d^5) Mnemonic in interrupt is failed The execution of mnemonic instructions in the KAREL interrupt program failed. Use FWD execution carefully. INTP--271 WARN (%s^4.L (%s^4.L INVALID SUB TYPE OF CH PROGRAM” alarm. %d^5) different group cannot BWD During backward execution. The torque limit value was clamped Remedy: at the upper torque limit. INTP--262 PAUSE.L (%s^4. Delete the extra statement. the sub type of the specified condition program may not be CH. Cause: Remedy: That is. But this application instruction doesn’t match to the Cause: Remedy: application process data of this program. %d^5) Application data mismatch The application data of called program is different from that of the original program. 868 . Cause: Remedy: This alarm is defined by the customer. INTP--280 (%s^4.ALARM CODES B--81464EN--3/01 INTP--276 (%s^4. the EPT index in macro table is incorrect. %d^5) Stack over flow for fast fault recovery Stack over flow to record the fast fault recovery nesting data Cause: Remedy: Reduce the nesting of the program INTP--284 No detection of fast fault recovery The point for the fast fault recover cannot detected Cause: INTP--285 Karel program cannot entry in fast fautl recovery The fast entry cannot be performed in the karel program. %d^5) Parameter does not exist The parameter designated by AR register does not exist. INTP--289 Can’t save ffast point at program change When fast fault is enabled. TIME BEFORE/AFTER. Cause: INTP--287 Fail to execute MAINT program It failed to execute MAINT program Cause: Remedy: Confirm the MAINT program name is correct or MAINT program exist in acutual.L %s^7 The DI monitor alarm for auto error recovery function occurs. Cause: Remedy: Use TP program. the program was paused at the part of program change Cause: Remedy: Check whether the CONT terminaton exists at end of sub--program. %d^5) Application instruction mismatch The application instruction was executed. Therefore the customer knows the remedy for this alarm. %d^5) Internal MACRO EPT data mismatch The EPT index in macro table doesn’t point the program name defined in macro table. Cause: Remedy: There is no Remedy. INTP--278 (%s^7) PAUSE. please change it to FINE. This is the limitation of the fast fault recovery function. INTP--288 (%s^4. Please set the correct EPT index for the program name defined in macro table. Please change the application process data of this program to the adequate application for this application instruction. INTP--279 (%s^4. Cause: Remedy: Please change the structure of program INTP0281 No application data This program doesn’t have the application data Cause: Remedy: Please define the application data in the program detail screen INTP--282 (%s^4. If exist. INTP--283 (%s^4. and application instruction) cannot be Cause: Remedy: taught together Delete the motion option instruction INTP--277 (%s^4. %d^5) Fast fault status mismatch There is no Cause. INTP--286 MAINT program isn’t defined in fast fautl recovery MAINT program is not defined in fast fault recovery. %d^5) Invalid combination of motion option The motion option instructions (SKIP. Cause: Remedy: Please confirm the index of AR register and the parameter in CALL/MACRO command in main program. INTP--304 ABORT. INTP--293 (%s. %d^5) Stack underflow KAREL program error. Cause: Remedy: Change $SCR_GRP[].L (%s^4.$M_POS_ENB is FALSE. perform programming so that a call to the instruction can be cleared at any point of execution. The specified value exceeds the maximum limit. Cause: Remedy: Check the dimensions of the arrays. This KAREL statement cannot be executed. Cause: Remedy: Check the value. At present. Cause: Remedy: 2 Too many programs are called at one time. INTP--297 (%s.L (%s^4. Cause: Remedy: Increase the specified distance value. Execution entered into a FOR loop by the GOTO statement. 1 Before executing a recursive instruction.ALARM CODES B--81464EN--3/01 INTP--290 Fast fault recovery position is not saved During fast fault recovery sequence. INTP--301 ABORT. INTP--295 (%s. The dimensions of the arrays are not the same. INTP--294 TPE parameter error An incorrect argument is specified for call/macro instruction execution.$M_POS_ENB is FALSE Advanced execution (distance) does not function when $SCR_GRP[].%d)DB too small(done)(%dmm) A motion statement ended before the condition for advanced execution (distance) is satisfied. Cause: Remedy: Increase the specified distance value. Cause: INTP--291 (%s^4. Cause: Remedy: Check the KAREL translator software version. the stack size can be increased.%d)DB too small(away)(%dmm) The condition for advanced execution (distance) is not satisfied. %d^5) Stack overflow 1 A recursive program instruction was executed repeatedly without limit. INTP--292 more than 6 motion with DB executed Six or more advanced execution (distance) motions overlapped each other. Cause: Remedy: Modify the teaching so that six or more advanced execution (distance) motions do not overlap each other.L (%s^4. %d^5) Index for AR is not correct The AR register number is incorrect.L (%s^4. INTP--302 ABORT. For KAREL programs. Cause: Remedy: A GOTO statement cannot be used to enter or exit a FOR loop. INTP--296 (%s.%d) $SCR_GRP[%d].%d)DB too small(away)(%dmm) The condition for advanced execution (distance) is not satisfied. this alarm is not issued.$M_POS_ENB to TRUE. %d^5) Array length mismatch KAREL program error. INTP--303 ABORT. Cause: Remedy: Check the index of the AR register and the argument specified in the call/macro instruction of the main program. 2 Reduce the number of programs to be called at any one time. Cause: Remedy: Increase the specified distance value. INTP--300 ABORT. Cause: Remedy: Contact your FANUC customer service representative. any alarm occurs.L (%s^4. %d^5) Specified value exceeds limit KAREL program error. %d^5) Unimplemented P--code KAREL program error. So the fast fault recovery position is not saved. Check the label of the GOTO statement. and inform the representative of an alarm message displayed. 869 . L (%s^4.L (%s^4. Cause: Remedy: Check the action. The routine cannot be called. %d^5) No case match is encountered KAREL program error. A built-in routine error occurred. INTP--312 ABORT. %d^5) Built--in execution failed KAREL program error. Untaught or uninitialized data was used. INTP--316 ABORT. The specified parameter cannot be used in the with clause of the condition Cause: Remedy: handler.L (%s^4. Cause: Remedy: Refer to the error cause code. Check the parameter. INTP--314 ABORT. The MOTION statement cannot be executed. INTP--313 ABORT. INTP--311 PAUSE. Cause: Remedy: Refer to the error cause code. %d^5) Undefined WITHCH parameter KAREL program error. 870 . %d^5) Error related condition handler KAREL program error.L (%s^4. The specified condition was invalid. Cause: Remedy: Check the axis number and the data value. The index of the array is invalid. %d^5) Call program failed KAREL program error. INTP--310 ABORT. A condition handler error occurred. %d^5) Invalid condition specified KAREL program error. INTP--308 ABORT. The ATTACH statement failed.L (%s^4. %d^5) Invalid action specified KAREL program error. The CASE statement does not match any branches. The wrong axis number was used.ALARM CODES B--81464EN--3/01 INTP--305 ABORT. Cause: Remedy: Check the CASE value and branches. INTP--315 ABORT. %d^5) Detach request failed KAREL program error. Cause: Remedy: Refer to the error cause code. %d^5) Invalid subscript for array KAREL program error.L (%s^4. INTP--309 ABORT.L (%s^4. %d^5) Return program failed KAREL program error.L (%s^4. Cause: Remedy: Refer to the error cause code. %d^5) Motion statement failed KAREL program error. INTP--307 ABORT. Cause: Remedy: Teach or initialize the data before using it.L (%s^4. Cause: Remedy: Refer to the error cause code. Cause: Remedy: Verify the routine is loaded by referring to the error cause code. INTP--306 ABORT. INTP--317 ABORT.L (%s^4.L (%s^4. The specified action was invalid.L (%s^4. Cause: Remedy: Check the length of the array and index value. Cause: Remedy: Refer to the error cause code. The DETACH statement failed. %d^5) Attach request failed KAREL program error. %d^5) Uninitialized data is used KAREL program error.L (%s^4. Cause: Remedy: Check the condition. Execution cannot be returned from the routine. INTP--318 ABORT. %d^5) Invalid joint number KAREL program error.L (%s^4. The usage string in the OPEN FILE statement was invalid. %d^5) Invalid arg val for builtin KAREL program error. INTP--328 ABORT. Cause: Remedy: Check the data type.L (%s^4. The argument value of a built-in routine was wrong. INTP--332 ABORT. %d^5) END stmt of a func rtn KAREL program error. %d^5) Invalid open mode string KAREL program error. Cause: Remedy: Refer to the error cause code. The file string in the OPEN FILE statement was invalid. Cause: Remedy: Make sure the data in the file is valid. The FILE variable is already being used. %d^5) File var is already used KAREL program error. Cause: Remedy: Check the argument value. Reading the variable failed. Cause: Remedy: Refer to the error cause code.L (%s^4. INTP--329 ABORT. %d^5) Write file failed KAREL program error.L (%s^4. Cause: Remedy: Check the variable’s type and data value. INTP--330 ABORT. The END statement was executed in a function routine instead of a RETURN Cause: Remedy: statement. %d^5) Invalid file string KAREL program error. The file could not be opened.L (%s^4.L (%s^4. Cause: Remedy: Close the file before reusing the FILE variable or add a new FILE variable. Cause: Remedy: Open the file before operation. INTP--331 ABORT. The data value for the variable was too large. Add a RETURN statement to the function routine. Writing to the file failed. INTP--327 ABORT. Cause: Remedy: Check the file string. The data type was invalid. INTP--323 ABORT. INTP--325 ABORT. INTP--326 ABORT. %d^5) Read data is too short KAREL program error. %d^5) Invalid type code KAREL program error. The built-in routine is not defined.ALARM CODES B--81464EN--3/01 INTP--319 ABORT. Cause: Remedy: Check the appropriate option is loaded. INTP--321 ABORT.L (%s^4. The specified file was not opened before operation. INTP--320 ABORT. %d^5) Read variable failed KAREL program error. Cause: Remedy: Check the usage string in the OPEN FILE statement. Cause: Remedy: Refer to the error cause code.L (%s^4. INTP--322 ABORT. %d^5) File is not opened KAREL program error. %d^5) Value overflow KAREL program error.L (%s^4. INTP--324 ABORT. %d^5) Undefined built--in KAREL program error.L (%s^4. %d^5) Open file failed KAREL program error.L (%s^4.L (%s^4.L (%s^4. 871 . Data read from the file is too short.L (%s^4. Cause: Remedy: Refer to the error cause code.L (%s^4. %d^5) Write variable failed KAREL program error. L (%s^4. INTP--336 ABORT. INTP--344 ABORT. Cause: Remedy: Refer to the error cause code. The string read from the file is wrong. The ABORT statement cannot be executed. A file pre-defined by the system cannot be closed. Cause: Remedy: Refer to the error cause code. Cause: Remedy: Check the data of the file. Cause: Remedy: Refer to the error cause code.L (%s^4. %d^5) Read file failed KAREL program error. %d^5) Abort task failed KAREL program error. Cause: Remedy: Use the file defined by the system without opening it. %d^5) Cannot open pre--defined file KAREL program error.L (%s^4. %d^5) Invalid routine type KAREL program error. Cause: Remedy: Increase the buffer size. Cause: Remedy: Make sure you have the correct routine type and name. Make sure you have the correct data type and variable type. The program name is invalid. %d^5) Invalid ASCII string for read KAREL program error. %d^5) Incompatible variable KAREL program error.L (%s^4. The variable cannot be found. Cause: Remedy: Refer to the error cause code. INTP--345 ABORT.L (%s^4.L (%s^4. %d^5) Variable not found KAREL program error. The data type defined by the BYNAME function and the variable type are Cause: Remedy: mismatched. The buffer to read ahead from the device overflowed. The variable name is invalid. %d^5) Cannot close pre--defined file KAREL program error. Cause: Remedy: Make sure you have the correct program name.ALARM CODES B--81464EN--3/01 INTP--333 ABORT. INTP--337 ABORT.L (%s^4. INTP--343 ABORT. %d^5) Invalid variable name KAREL program error.L (%s^4. This routine cannot be used. %d^5) Pause task failed KAREL program error.L (%s^4. INTP--340 ABORT. Cause: Remedy: Make sure you have the correct variable name. Too many variables are passed using the BYNAME function. Cause: Remedy: Decrease the number of BYNAME functions.L (%s^4. INTP--334 ABORT. Reading from the file failed. %d^5) Close file failed KAREL program error. Cause: Remedy: Do not try to close it. The PAUSE statement cannot be executed. %d^5) Reference stack overflow KAREL program error. %d^5) Readahead buffer overflow KAREL program error.L (%s^4. INTP--342 ABORT. %d^5) Invalid program name KAREL program error. INTP--346 ABORT. Cause: Remedy: Verify the program name and variable name. A file pre-defined by the system cannot be opened.L (%s^4. INTP--338 ABORT.L (%s^4.L (%s^4. 872 . Closing the file failed. INTP--335 ABORT. INTP--339 ABORT. INTP--341 ABORT. The RETURN_AMR built-in routine cannot be used for an unoperated AMR. INTP--348 ABORT.L (%s^4. INTP--349 ABORT. %d^5) WAIT_AMR is cancelled KAREL program error. INTP--355 ABORT. %d^5) Write I/O value failed KAREL program error. The UNHOLD statement cannot be executed. %d^5) Read request is nested KAREL program error. Cause: Remedy: Check the device being read. Remove nested reads.L (%s^4. INTP--360 ABORT. %d^5) Break point failed KAREL program error. INTP--351 ABORT.L (%s^4. %d^5) AMR is not processed yet KAREL program error. %d^5) Unhold motion failed KAREL program error. The READ statement timed out. %d^5) Stop motion failed KAREL program error. INTP--356 ABORT.L (%s^4. INTP--357 ABORT.L (%s^4. The execution of the WAIT_AMR built--in routine was cancelled. %d^5) Resume motion failed KAREL program error. Cause: Remedy: Refer to the error cause code. Cause: Remedy: Refer to the error cause code.L (%s^4. INTP--353 ABORT. Cause: Remedy: Refer to the error cause code. INTP--352 ABORT. The AMR operated by the RETURN_AMR built-in routine was not found. Cause: Remedy: Refer to the error cause code. Cause: Remedy: Refer to the error cause code.L (%s^4.ALARM CODES B--81464EN--3/01 INTP--347 ABORT. INTP--358 ABORT. The digital input signal cannot be input.L (%s^4. The break point function cannot be executed. %d^5) Cancel motion failed KAREL program error. The RESUME statement cannot be executed.L (%s^4.L (%s^4. The STOP statement cannot be executed. Cause: Remedy: Refer to the error cause code. Another READ statement was executed while a READ statement was waiting Cause: Remedy: for input. The digital output signal cannot be output. %d^5) Vector is 0 KAREL program error. Cause: Remedy: Refer to the error cause code. INTP--359 ABORT. %d^5) Timeout at read request KAREL program error. The vector value was invalid. Cause: Remedy: Operate the AMR using the WAIT_AMR built-in routine. %d^5) Read I/O value failed KAREL program error.L (%s^4. %d^5) Hold motion failed KAREL program error. Cause: Remedy: Check program operation.L (%s^4. %d^5) AMR is not found KAREL program error. Cause: Remedy: The program executing the WAIT_AMR must be restarted. INTP--354 ABORT.L (%s^4. Cause: Remedy: Check the vector value. INTP--350 ABORT. The CANCEL statement cannot be executed. The HOLD statement cannot be executed. Cause: Remedy: Refer to the error cause code. 873 .L (%s^4. INTP--367 ABORT. Cause: Remedy: Reset the error using the CLR_IO_STAT built-in routine.ALARM CODES B--81464EN--3/01 INTP--361 PAUSE. INTP--366 ABORT. Cause: Remedy: Increase the target string size.L (%s^4. %d^5) Bad base in format KAREL program error.L (%s^4. Cause: Remedy: Check the appropriate option is loaded. The vision CPU board is not plugged in. %d^5) Undefined vision parameter type KAREL program error.L (%s^4. Cause: Remedy: If an AMR was expected within the time--out value check logic in the task that should have posted the AMR INTP--370 ABORT. %d^5) Vision CPU not plugged in KAREL program error. Cause: Remedy: Check the use of this file.L (%s^4. %d^5) FRAME:P3 exists on line P2--P1 KAREL program error. %d^5) FRAME:P3 is same as P1 KAREL program error.L (%s^4. INTP--371 ABORT. INTP--363 PAUSE. The X--Y plane cannot be calculated in the FRAME built-in routine because P1 Cause: Remedy: and P3 are the same point. Teach P1 and P3 as different points.L (%s^4. Teach P1 and P2 as different points. INTP--368 PAUSE. The WAIT_AMR built-in routine timed out. INTP--372 ABORT. The last file operation failed. Cause: Remedy: Check the specified mode. Cause: Remedy: Modify your program so that fewer vision built-ins are executing at the same time. The target string is too short.L (%s^4. Cause: Remedy: Check the parameter of the vision built-in routine. The specified program cannot be used.L (%s^4.L (%s^4. %d^5) Cannot use specified program KAREL program error. INTP--362 PAUSE. Cause: Remedy: Plug in the vision CPU board. The X--Y plane cannot be calculated in the FRAME built-in routine because P3 Cause: Remedy: is located in the X--axis direction. The vision built-in routine is not defined. %d^5) I/O status is not cleared KAREL program error.L (%s^4.L (%s^4. INTP--364 ABORT. INTP--369 ABORT. The operation overflowed in the vision built-in routine. %d^5) Predefined window not opened KAREL program error. INTP--365 ABORT. %d^5) FRAME:P2 is same as P1 KAREL program error. The X--axis direction cannot be calculated in the FRAME built-in routine because Cause: Remedy: P1 and P2 are the same point. I/O mode operates only from binary to hexdecimal. Teach P3 out of the X--axis direction. %d^5) Undefined vision built--in KAREL program error. %d^5) Vision built--in overflow KAREL program error.L (%s^4. 874 .L (%s^4. The parameter to the vision built-in routine is invalid. %d^5) Timeout at WAIT_AMR KAREL program error. Cause: Remedy: Refer to the error cause code. INTP--373 ABORT. %d^5) String too short for data KAREL program error. A FILE pre-defined by the system is not opened. %d^5) Local COND recovery failed This local condition cannot be recovered. Delay time must be in the range 0. %d^5) OFIX is not available The attitude fix instruction cannot be used.$MAXNUMTASK + 2.L (%s^4. GET_VAR.L Bad program number An invalid program number has been specified. Cause: Remedy: Check the return value from the vision built-in routine. INTP--377 WARN (%s^4. INTP--382 (%s^4. DISABLE. Cause: Remedy: Decrease the number of motions executed at the same time. With the BYNAME function. Cause: Remedy: Check the path node.86400000 . %d^5) Invalid bit field value An invalid value has been specified in bit field Cause: Remedy: Use a valid value for the bit field. %d^5) System var passed using BYNAME This alarm is related to the KAREL program. %d^5) Motion in interrupt is failed There is no CANCEL or STOP instruction. %d^5) Number of motions exceeded Too many motions are executed at the same time.$SCR.L (%s^4. or PURGE statement or action. %d^5) Stitch disable(S/S) The single step mode is set. Condition handler numbers must be in the range of 1--1000.L (%s^4. INTP--421 (%s^4. no system variable can be used. Cause: Remedy: Use a valid delay time. INTP--379 ABORT. Cause: Remedy: insert a CANCEL or STOP instruction before call a interrupt routine. Cause: Remedy: Refer to the error cause code. %d^5) Not On Top Of Stack Paused motion exists after the motion was resumed. Cause: Remedy: Use a valid program number.L (%s^4. INTP--380 ABORT. Cause: Use Pass without BYNAME. %d^5) Path node out of range The specified path node is out of range. 875 . Correct the condition handler number. Program numbers must be in the range of 1 -. Cause: Remedy: Cancel the single step mode. INTP--401 ABORT. Cause: Remedy: Check the motion format and the motion addition instruction. %d^5) Invalid Delay Time An invalid delay time has been specified in DELAY statement. %d^5) Local variable is used Local variable or parameter is used for the condition. INTP--400 ABORT. or with an Cause: Remedy: ENABLE. Execute the next motion after the completion of the last motion.. The return value from the vision built-in routine is invalid. INTP--381 (%s^4. INTP--378 WARN (%s^4. INTP--375 (%s^4.L Bad condition handler number An invalid condition handler number was used in either a condition handler definition. Cause: Remedy: Resume the motion that was previously paused. INTP--383 (%s^4. INTP--420 (%s^4. or SET_VAR. INTP--376 ABORT.ALARM CODES B--81464EN--3/01 INTP--374 ABORT. %d^5) Undefined vision return type KAREL program error. Cause: Remedy: Use global variable to recover local condition. %d^5) Robot link type mismatch From the master/slave/single slave program of the robot link. the type of a calling program differs from the type of a called program. Match the slave program motion group with the slave robot motion group specified with the slave group. Do not call a normal program with a motion group from the master/slave/single slave program. Cause: Remedy: Set the stitch enable signal to ON. a normal program with a motion group was Cause: Remedy: called. INTP--456 (%s^4. %d^5) Group mismatch(Link pattern) The master program motion group of the robot link does not match the master robot motion group Cause: Remedy: specified with the link pattern. INTP--454 (%s^4. INTP--426 (%s^4. Cause: Remedy: Make a change to linear motion. %d^5) Eq. 876 . Cause: Remedy: Do not call a program of a different type from the master/slave/single slave program. %d^5) Cannot call KAREL program From the master/slave/single slave program of the robot link. %d^5) Illegal return occurred In the robot link. %d^5) Not in remote The slave program of the robot link can be executed only in the remote mode. INTP--425 (%s^4. Cause: Remedy: Check the stitch speed value. Cause: Remedy: Do not call the KAREL program from the master/slave/single slave program. %d^5) Another prog is in stitching Another program is using the stitch function. %d^5) Stitch speed error The stitch speed value is incorrect. INTP--457 (%s^4. INTP--455 (%s^4. Cause: Remedy: Terminate the program that is using the stitch function. INTP--424 (%s^4. %d^5) Cannot call Motion program From the master/slave/single slave program of the robot link. %d^5) Master tool number mismatch The tool coordinate system number currently selected by the master robot does not match the robot link Cause: Remedy: data master tool coordinate system number of the slave program. Cause: Remedy: Match the type of a calling program with the type of a called program. %d^5) Group mismatch(Slave group) The slave program motion group of the robot link does not match the slave robot motion group specified Cause: Remedy: with the slave group. Cause: Remedy: Ensure that the remote condition is satisfied. INTP--451 (%s^4. %d^5) Stitch enable signal off The stitch enable signal is set to OFF. INTP--450 (%s^4. INTP--452 (%s^4. INTP--423 (%s^4. Match the master program motion group with the master robot motion group specified with the link pattern. INTP--453 (%s^4. %d^5) Illegal motion type(J) The stitch function cannot be used with joint motion. Match the tool coordinate system number currently selected by the master robot with the robot link data master tool coordinate system number of the slave program.ALARM CODES B--81464EN--3/01 INTP--422 (%s^4. the KAREL program was called. a program of a different type was called.condition signal error The equipment condition signal is incorrect. Cause: Remedy: Check the equipment condition signal. %d^5) BWD is failed for Master An attempt for BWD synchronization of the mater of the robot link failed. The master program was activated from the teach pendant. %d^5) Robot link not calibrated The robot link is not calibrated. an incremental instruction is taught. 877 . INTP--465 (%s^4. INTP--461 (%s^4. INTP--471 (%s^4. the robot is placed in the master (manual) state. other slaves cannot be executed. so that the master/slave/single slave cannot establish Cause: Remedy: synchronization. Cause: Remedy: The incremental instruction cannot be used in a motion statement of the slave program. so that the slave program stops temporarily. %d^5) Slave cannot JOINT motion The motion statement in the slave program of the robot link specifies a joint motion.ALARM CODES B--81464EN--3/01 INTP--458 (%s^4. %d^5) Tracking error The robot link could not perform synchronous motion. then restart the program. Cause: Remedy: Check the setting of the robot link. Cause: Remedy: Calibrate the robot link. For external activation. %d^5) Robot is Master(Manual) In the robot link. INTP--467 (%s^4. %d^5) Cannot use INC for Slave In a motion statement of the slave program of the robot link. %d^5) Master TP is enabled The master program of the robot link was activated from the teach pendant. INTP--472 (%s^4. restart the program. INTP--459 (%s^4. After the robot stops. Cause: Remedy: Place the slave in the synchronization wait state. The slave program stops Cause: Remedy: temporarily. Cause: Remedy: In the master (manual) state. Cause: Remedy: BWD synchronization is supported for the slave program. Cause: Remedy: The compensation instruction cannot be used in a motion statement of the slave program. %d^5) Cannot start Robot Link The setting of the robot link may be incorrect. INTP--468 (%s^4. the robot is placed in the slave (manual) state. Cause: Remedy: Check the setting. %d^5) Not support BWD for Slav BWD synchronization is not supported for the slave program of the robot link. Cause: Remedy: In the slave (manual) state. INTP--460 (%s^4. INTP--470 (%s^4. INTP--463 (%s^4. Hold the program. %d^5) Motion group is Master The motion group of a program whose execution was attempted with the robot link is master. external activation is disabled. %d^5) Cannot use OFFSET for Slave In a motion statement of the slave program of the robot link. %d^5) Robot is Slave(Manual) In the robot link. and cancel the slave (manual) state. Cause: Remedy: Change the motion statement of the slave program to orthogonal motion. Cause: Remedy: Cancel the setting of master. %d^5) Cannot use JOINT pos for Slave The position data format of the slave program of the robot link is the joint format. set the master (single) state on the manual operation screen. Cause: Remedy: Change the position data format of the slave program to the orthogonal format. INTP--462 (%s^4. %d^5) Robot is still moving The robots are moving with the robot link. INTP--469 (%s^4. a compensation instruction is taught. INTP--466 (%s^4. Specify another group as a master. Cause: Remedy: Cancel the single step mode. %d^5) Cannot run Slave directly The slave program of the robot link cannot be activated directly. there is a slave not calibrated. INTP--485 Bad Group number (SLAVE) The group number of the slave of the robot link is incorrect. a program--specified link pattern number is incorrect. or modify the setting. INTP--480 Bad Hostname or Address(SLAVE) An attempt was made to execute the robot link when a host name not registered is specified or the Cause: Remedy: setting of an IP address is incorrect in the host communication setting or link pattern setting. INTP--486 SLAVE is not calibrated In the robot link. Cause: Remedy: Correct the synchronous motion ID on the list screen. INTP--476 (%s^4. Check the master in the robot link setting and host communication setting. a program--specified master number is incorrect. INTP--483 Bad Master Number In the robot link. Cause: Remedy: Correct the master number on the list screen. %d^5) BWD is failed In the robot link. Cause: Remedy: BWD failed. Cause: Remedy: Check the group number of the master. INTP--482 Bad Link Pattern Number In the robot link. INTP--481 Bad Synchronization ID In the robot link. INTP--479 Bad Hostname or Address(MASTER An attempt was made to execute the robot link when a host name not registered is specified or the Cause: Remedy: setting of an IP address is incorrect on the host communication screen or the master setting screen. INTP--475 (%s^4. Cause: Remedy: Calibrate the slave robot. a program with a synchronous motion ID different from the synchronous motion ID of Cause: Remedy: the currently executed program was executed. INTP--484 Bad Group number (MASTER) The group number of the master of the robot link is incorrect. BWD failed. Programs with different synchronous motion IDs cannot be executed at the same time. Cause: Remedy: Execute the slave by calling from the normal program. Cause: Remedy: Check the group number of the slave. INTP--477 (%s^4. Check the slave in the robot link setting and host communication setting. INTP--478 This group can not be MASTER This alarm is issued when an attempt is made to specify as a mater a robot not set as a master in the Cause: Remedy: robot link or when an attempt is made to specify as a master a group not set as a master on the manual operation screen. %d^5) Synchro ID mismatch In the robot link. Cause: Remedy: Correct the link pattern number on the list screen. a program--specified synchronous motion ID is incorrect.ALARM CODES B--81464EN--3/01 INTP--474 (%s^4. 878 . %d^5) Cannot single step The slave program of the robot link cannot be executed in the single step mode. So. or motion Cause: Remedy: group is incorrect in the host communication setting or robot link setting or when the robot link program is not executed at the communication destination. Cause: Remedy: Increase the value of $RK_SYSCFG. the slave program at the communication destination stopped. perform jog feed to move the overtravel axis into the movable range. Check the state of the robot at the communication destination. INTP--489 Bad Hostname or Address. press the alarm clear button to clear the alarm. INTP--493 Slave program stopped During robot link execution as the master. JOG--002 WARN Robot not Calibrated Robot has not been calibrated. Cause: Remedy: Only press one rotational jog key at a time. INTP--491 Linked robot or comm stopped During robot link execution. Group An attempt was made to execute the robot link when the setting of a host name. the robot at the communication destination stopped program execution. a synchronization start timeout occurred.ALARM CODES B--81464EN--3/01 INTP--488 RLINK communication timeout In the robot link. 879 . Or. Cause: Remedy: Check the state of the robot at the communication destination. Check the robot link setting and host communication setting. Cause: Remedy: Release the hold key or hold button. JOG--003 WARN No Motion Control Other program has motion control Cause: Remedy: Abort the program that has motion control by pressing FCTN key then selecting ABORT. Cause: Remedy: No action is required. Or. Check the robot link setting and host communication setting. Cause: Remedy: While holding down the shift key. or Cause: Remedy: stopped communication for a cause such as a power failure.$RMGR_PHTOUT by 100. *HOLD input is off. while holding down the shift key. JOG--004 WARN Illegal linear jogging You cannot do more than one rotational jog at a time. or motion Cause: Remedy: group is incorrect in the host communication setting or robot link setting. IP address. 2 Turn the power off and then on again. turn on *HOLD input. Cause: Remedy: Apply one the following methods for positioning: 1 Make positioning settings on the positioning screen. the master program at the communication destination stopped. and also check the state of the robot at the communication destination. INTP--493 Slave program stopped During slave program execution. Cause: Remedy: Check the state of the robot at the communication destination. communication initialization timed out. Then. JOG Error Codes ( ID = 19 ) JOG--001 WARN Overtravel Violation A robot overtravel has occurred. INTP--490 Timeout for link start An attempt was made to execute the robot link when the setting of a host name. JOG--005 WARN Can not clear hold flag The hold key or hold button is held down. JOG--006 WARN Subgroup does not exist No extended axis exist in this group with which to jog. IP address. JOG--009 WARN Hold deadman to jog The DEADMAN switch is not pressed. but robot is not currently on a taught path. JOG--008 WARN Turn on TP to jog Teach pendant is not enabled. release the JOG key then press it again. Extend the axis limit if it does not exceed the robot and software specifications. Cause: Remedy: Press the DEADMAN switch. release the JOG key then press it again. Cause: Remedy: Hold the DEADMAN and turn on the teach pendant before jogging the robot. or tool Z direction is same teaching Cause: Remedy: path. Then hold down the SHIFT key and press the JOG key. Cause: Remedy: Engage all the brakes by pressing EMERGENCY STOP button. or specify another jog frame. so Y direction can not be determined. then press RESET key to clear the error. Cause: Remedy: To continue jogging. JOG--016 SERVO Softfloat time out(Group:%d) Follow-up time is over when softfloat is ON. Cause: Remedy: The robot already reach the stroke limit and cannot jog in the current direction any more. 880 . Cause: Remedy: Release the SHIFT key and the JOG key. The new TOOL frame will take effect automatically. Cause: Remedy: To continue jogging. release the jog key. then press the RESET key. Cause: Remedy: You must press the SHIFT key when jogging the robot. Cause: Remedy: Make the system variable $SFLT_FUPTIM larger. JOG--010 WARN Jog pressed before SHIFT The JOG key was pressed before the SHIFT key was pressed. JOG--014 WARN Vertical fixture position Robot reaches its vertical fixture position on the LR-MATE system. JOG--015 WARN Horizontal fixture position Robot reaches its horizontal fixture position on the LR-MATE system. Can not PATH JOG Use shift--FWD to execute program path. Cause: Remedy: To continue jogging. JOG--013 WARN Stroke limit (Group:%d Axis:%x Hex) Robot axis reaches its specified stroke limit. JOG--017 At R--Theta robot posture In remote TCP jogging. the robot assumed the R--Theta attitude. JOG--012 WARN manual brake enabled The manual brake enabled.ALARM CODES B--81464EN--3/01 JOG--007 WARN Press SHIFT key to jog The SHIFT key is not pressed. JOG--020 Can not PATH JOG now PATH JOG has selected. then press the jog key again. Release the JOG key then hold the SHIFT key and press the JOG key to jog. Cause: Remedy: Release the JOG key. JOG--011 WARN Utool changed while jogging The selected tool frame changed while jogging. JOG--021 Multi key is pressed Use of multiple jog keys is not supported in PATH JOG Cause: Remedy: Use only one jog key at a time. Cause: Remedy: Contact our service center serving your locality. TPIF--005 WARN Program is not selected The program was not selected when the program was displayed at the edit screen. TPIF Error Codes ( ID = 9 ) TPIF--001 to 003 WARN Mnemonic editor error (%s^1) Illegal case occurred on software. JOG--028 Attitude fix mode limit (TCP) A linear motion range limit was reached. Cause: Remedy: Select a program in the SELECT screen. Cause: Remedy: To use attitude--fixed jogging. JOG--027 Reverse direction from J4=0 The direction of jogging is opposite to the 0_ direction of J4. Cause: Remedy: Attitude--fixed jogging is enabled. Cause: Remedy: Change the jog coordinate system. 881 . TPIF--006 WARN SELECT is not taught This taught statement needed the SELECT statement before the current line. J4 needs to be at the 0_ position. or switch to joint motion. JOG--025 J4 is not zero J4 is not at the 0_ position. JOG--029 OFIX jog error Internal error Cause: Remedy: Contact your FANUC customer service representative. and inform the representative of an alarm message displayed. JOG--026 J4 is zero J4 is now at the 0_ position. TPIF--004 WARN Memory write error The instruction cannot be used because the corresponding software option is not provided. Cause: Remedy: Change the target position. Cause: Remedy: Check the additional alarm on the alarm history screen. Cause: Remedy: Teach the SELECT statement before the current line. JOG--030 Can’t jog as OFIX Attitude--fixed jogging is disabled. Cause: Remedy: Install the software option. An additional alarm is issued.ALARM CODES B--81464EN--3/01 JOG--022 Disabled in JOINT path PATH jog is disabled in JOINT path Cause: Remedy: PATH jog is available in LINEAR and CERCULAR path JOG--023 Available only in PAUSE PATH jog is available only in PAUSE status Cause: Remedy: PATH jog is available only in PAUSE status JOG--024 Currently this key is invalid This key is currently disabled. A stroke limit in the TCP mode was reached. Cause: Remedy: Press the jog key for the opposite direction. Cause: Remedy: Select program after aborting the program which is running or pausing. Cause: Remedy: Edit program after Teach pendant is enabled. Cause: Remedy: Try another item or close replace function. Cause: Remedy: Enable program editing on the application setting screen. Cause: Remedy: Check the index of the position register. TPIF--023 WARN WJNT and RTCP are not compatible Wjnt and RTCP are not compatible Cause: Remedy: Remove Wjnt or RTCP before add the other 882 . TPIF--010 WARN Cancel enter by application The program cannot be edited because program editing is disabled by the application tool software. TPIF--008 WARN Memory protect violation Program’s write protection is set on. TPIF--018 WARN Unspecified index value Specified index value is invalid. Cause: Remedy: 1 Select a program again. TPIF--016 to 017 WARN Memory access failed (%s^1) Illegal case occurred on software. TPIF--015 WARN Bad position register index The specified position register index is invalid. TPIF--019 WARN This item cannot be replaced This item can not be replaced. Cause: Remedy: Check specified index value. 2 Contact your FANUC Service Center. TPIF--009 WARN Cancel delete by application The program cannot be deleted because program deletion is disabled by the application tool software. TPIF--014 WARN Teach pendant is disabled Can not be edit a program when the Teach pendant is disabled. TPIF--011 WARN Item is not found Item is not found below this line Cause: Remedy: Try another item or close search function TPIF--012 WARN Kinematics solution is invalid Can not translate position data Cause: Remedy: Check the configuration of robot and $MNUTOOL/$MNUFRAM of system variables TPIF--013 WARN Other program is running Can not select the program when other is running or pausing. Cause: Remedy: Release protection on select screen.ALARM CODES B--81464EN--3/01 TPIF--007 WARN Robot is not calibrated The calibration was not finished yet Cause: Remedy: Finish the calibration. Cause: Remedy: Enable program deletion on the application setting screen. Cause: Remedy: Contact our service center serving your locality. TPIF--020 NONE Mnaction search error Illegal case occurred on software. TPIF--044 WARN Program is unsuitable for robot The group mask of program differs from selected robot (group). already exists. Cause: Remedy: Check MNUFRAMNUM number in SYSTEM variables. TPIF--031 WARN Remove num from top of Program name Top of program name is number. Cause: Remedy: Check to select robot (group) or check group mask of program attribute. Cause: Remedy: Remove minus from program name. Cause: Remedy: Remove space from program name. TPIF--036 WARN Memory is not enough Not enough memory available.CHANGE_SDI in SYSTEM variables to ZERO. TPIF--034 WARN Remove dot from Program name A dot is included in the program name. Cause: Remedy: Delete unused programs. Cause: Remedy: Check MNUTOOLNUM number in SYSTEM variables. Cause: Remedy: Remove number from top of program name.ALARM CODES B--81464EN--3/01 TPIF--030 WARN Program name is NULL Program name was not entered. Cause: Remedy: Remove dot from program name. Cause: Remedy: Remove comma from program name. Cause: Remedy: Enter program name. Cause: Remedy: Set $MULTI_ROBO. Cause: Remedy: Change to different label No. TPIF--042 WARN MNUFRAMENUM number is invalid Specified MNUFRAMNUM number is invalid. because the function that select robot by external DI is valid. TPIF--035 WARN Remove minus from Program name A minus is included in the program name. TPIF--033 WARN Remove comma from Program name A comma is included in the program name. TPIF--041 WARN MNUTOOLNUM number is invalid Specified MNUTOOLNUM number is invalid. TPIF--037 WARN Program must be selected by TP Only the Teach Pendant default program can be edited on the CRT Cause: Remedy: Please select the program on the Teach Pendant before editing on the CRT TPIF--038 WARN Invalid char in program name Invalid character in program name Cause: Remedy: Please remove invalid character from program name TPIF--040 WARN Label is already exist Same label No. TPIF--032 WARN Remove space from Program name A space is included in the program name. TPIF--043 WARN External change is valid Can not change robot (group). 883 . TPIF--050 WARN Macro does not exist A program is not assigned to this macro command. TPIF--051 WARN Program has been selected by PNS When a program has been selected by PNS. TPIF--046 WARN Motion option is over max Too many motion options for default motion Cause: Remedy: Please decrease motion options for default motion TPIF--047 WARN Invalid program is selected Program type is wrong. you can not execute the program by TP Cause: Remedy: Please select the Disabled FWD in the function menu. you can not select program at SELECT screen. TPIF--052 WARN FWD/BWD is disabled When the Disabled FWD function has been selected. Cause: Remedy: Assign a program to this macro command. Cause: Remedy: Turn off the signal of PNSTROBE. then you can release from the Disable FWD TPIF--053 WARN Not editing background program The program has not been selected by the BACKGROUND editing Cause: Remedy: Please select the BACKGROUND program in the SELECT screen TPIF--054 WARN Could not end editing Memory is not enough or background program is invalid Cause: Remedy: Please delete useless program or confirm the background program TPIF--055 WARN Could not recovery original program Failed recovering original program which has been selected by the BACKGROUND Cause: Remedy: Please end editing by the END_EDIT of [EDCMD] again before executing the origianl program which has been selected by the BACKGROUND TPIF--056 WARN This program is used by the CRT The program of BACKGROUND can not be selected by the CRT and TP at the same time Cause: Remedy: Please end editing by the END_EDIT of [EDCMD] at the CRT TPIF--057 WARN This program is used by the TP The program of BACKGROUND can not be selected by the CRT and TP at the same time Cause: Remedy: Please end editing by the END_EDIT of [EDCMD] at the TP TPIF--060 WARN Can’t record on cartesian (Group:%d) This current position is in singularity Cause: Remedy: You can record this position on joint type only. TPIF--048 WARN Running program is not found Running program does not exist. Please select the function key 884 . Cause: Remedy: Teach another program. Cause: Remedy: Set port for outside device. Cause: TPIF--049 WARN Port number is invalid Port is not set for outside device.ALARM CODES B--81464EN--3/01 TPIF--045 WARN Pallet number is over max Palletizing instruction can not teach more than 16 in one program. Cause: Remedy: Select TPE program. or */. Cause: Remedy: Check the sub type of the program. Cause: Remedy: You cannot mix AND and OR operator on a the same line.4) Too many AND/OR operators (Max. Cause: Remedy: You cannot mix AND OR operaotr on a the same line Verify all logical operators on this line before execution TPIF--064 Too many AND/OR operator(Max. Cause: Remedy: Refer to the error cause code. Cause: Remedy: Cannot mix arithmatic + and -. TPIF--071 Cannot change sub type Cannot change sub type Cause: Remedy: Check sub type of the program TPIF--072 Cannot change motion group Cannot change motion group Cause: Remedy: Check sub type of the program TPIF--090 WARN This program has motion group The program specified in $PWR_HOT. 885 . Cause: Remedy: Make sure the value_array specifies the correct names for the variables and that the types expected are correct. Verify that all logical operators on this line are the same before execution.4 on a single line) Cause: Remedy: Teach the logical operation on another line TPIF--065 Arithmetic operator was unified to +-.operators with * and /operators on the same line.5 on a single line) Cause: Remedy: Teach the arithmetic operation on another line TPIF--067 Too many arguments (Max. when checking in singularity Please check this recorded position again before excution TPIF--062 AND operator was replaced to OR All AND operators on this line were replaced with OR operators. TPIF--063 OR operator was replaced to AND All OR operator on this line were replaced by AND operators. $PWR_SEMI and $PWR_NORMAL must not have motion Cause: Remedy: group.10) Too many arguments (Max.ALARM CODES B--81464EN--3/01 TPIF--061 WARN Group[%s] has not recorded This position data has not been changed to displayed groups because you selected the function key Cause: Remedy: which did not record the position.5) Too many arithmetic operators (Max.10 for a program or a macro) Cause: Remedy: Check arguments of the program/macro TPIF--070 Cannot teach the instruction Cannot teach the instruction. Verify all arithmetic operators on this line before execution TPIF--066 Too many arithmetic operator(Max. TPIF--092 Value %d expected %s The value_array that was passed to a KAREL built--in was incorrectly specified. TPIF--091 WARN PREG access error An error occurred when accessing a position register.or */ Arithmetic operator on this line was changed to +-. Set * to all motion group in program detail screen on TP. Cause: Remedy: Consult our service representative. $PWR_SEMI or $PWR_NORMAL is not executed Cause: Remedy: Read the cause code TPIF--099 WARN This program is edited The program specified in $PWR_HOT. Cause: Remedy: Contact our service center serving your locality. $PWR_SEMI and $PWR_NORMAL is not executed.STOP is asserted FWD execution is selected while. 886 . Cause: Remedy: Consult our service representative. 2 Select a program and then start a program. starting from teach pendant was performed. TPIF--102 WARN E. Cause: Remedy: Turn the E. TPIF--105 WARN Program is not selected A program was started without selecting a program. Cause: Remedy: After turning on the enable switch of the teach pendant. TPIF--106 WARN Program is already running While a program was running. TPIF--104 WARN Teach Pendant is disabled A program was not started because the teach pendant was disabled. TPIF--101 WARN No such menu Illegal case occured on software. E. 1 After finishing the procedure of entering the value.STOP off. Select the other program TPIF--100 WARN No vacant table space Illegal case occured on software. TPIF--107 WARN FWD/BWD is disabled 1 Starting a program was performed when the starting was prohibited such as entering the value into Cause: Remedy: the message line. Cause: Remedy: Press and hold the deadman switch and start a program. Cause: Remedy: Start a program after waiting for program’s ending or aborting it. the deadman switch was released.STOP is asserted.ALARM CODES B--81464EN--3/01 TPIF--093 USER menu must be selected Software internal error. start a program. Then select FWD execution TPIF--103 WARN Dead man is released When starting the program with the teach pendant. Cause: Remedy: Contact our service center serving your locality. Cause: Remedy: After selecting a program. 2 A program was not selected. TPIF--094 USER2 menu must be selected Software internal error. when the Cause: Remedy: program is in editing. start a program. start the program. TPIF--095 WARN Execution history table error Software internal error Cause: Remedy: Please do controlled start( it isn’t necessary to re--set the new item) TPIF--097 WARN Running task’s history can’t display The execution history of the executing program can not be displayed Cause: Remedy: Please refer this screen when the program is paused or aborted TPIF--098 WARN %s was not run The program of $PWR_HOT. 2 On the teach pendant. turn on the robot. press and hold the SHIFT and RESET keys. item %d The Form Manager detected an error on the specified line with the specified item. Cause: Remedy: Contact your FANUC Service Center. Cause: Remedy: Contact your FANUC Service Center. TPIF--116 System variable error: %s System variable name is invalid Cause: Remedy: Check the spelling and format of the name. Cause: Remedy: Consult our service representative. Cause: Remedy: Consult our service representative. TPIF--112 op_sel does not exist Internal system error. TPIF--115 Data is full Internal system error. line %d. Cause: Remedy: Consult our service representative.ALARM CODES B--81464EN--3/01 TPIF--108 WARN Form error. Cause: Remedy: Consult our service representative. TPIF--113 Illegal param in op menu Internal system error. TPIF--110 WARN Screen used by other device An internal software error occurred. Cause: Remedy: Refer to the cause code for the actual error. 3 While still pressing the SHIFT and RESET keys. TPIF--111 op_global does not exist Internal system error. document the events that TPIF--119 File compression failed Failed creating compressed file Cause: Remedy: Check backup device TPIF--120 Device failure Device failure Cause: Remedy: Check device and try again 887 . TPIF--117 Cannot backup to device: %s The default device is not valid for backup Cause: Remedy: Select a valid device and try again TPIF--118 File error for %s File error Cause: Remedy: Perform a cold start: 1 Turn off the robot. TPIF--109 WARN %v not specified correctly An internal software error occurred. If the error is not cleared. TPIF--114 Illegal data in op menu Internal system error. Cause: Remedy: Consult our service representative. TPIF--123 No active applications Internal system error. Quick Skip 3 Incremental 4 Continuous turn 5 Ahead execution command Check the above motion option instruction.ALARM CODES B--81464EN--3/01 TPIF--121 Invalid copy. And modify the copied statement correctly. Cause: Remedy: Consult our service representative. TPIF--133 Can’t recover this command Palletizing command and Compliance control command can not be recovered by UNDO function Cause: 888 . this operation can not recover by UNDO function Cause: Remedy: Check the cause code. Cause: Remedy: Consult our service representative. TPIF--130 Specified application has no EQ Internal system error. Cause: Remedy: Consult our service representative. The reverse motion copy function does not supported group Cause: Remedy: motion instruction. If the memory is full. Cause: Remedy: Consult our service representative. Cause: Remedy: 1 Application command 2 Skip. And modify the copied statement correctly. Use MOVE key. is pasted The group motion instruction is copied. Cause: Remedy: Use the MOVE key and try again TPIF--122 Specified softpart ID is illegal Internal system error. TPIF--124 Current application is nothing Internal system error. Cannot COPY a file on a Memory device to the same Memory device. please delete program or disable UNDO function. TPIF--129 Group motion inst. TPIF--127 TOPK ASLOAD is failed Internal system error. TPIF--125 Specified softpart ID is nothing Internal system error. TPIF--128 Verify logic of pasted line(s) The reverse motion copy function does not support the following motion option instruction. Cause: Remedy: Consult our service representative. TPIF--126 THKY ASLOAD is failed Internal system error. Cause: Remedy: Consult our service representative. Cause: Remedy: Consult our service representative. Check the group motion instruction. TPIF--131 Please set application mask data This program has no application mask Cause: Remedy: Please set the application mask in the program detail screen TPIF--132 Can’t recover this operation Because the data for UNDO can not be saved. MOTN--010 to 011 STOP.G Limit error (Group:%d^2. Axis 4: 8. Cause: Remedy: Reteach the position that is not reachable. 2 Change the movable range settings on the joint movable range screen. MOTN--022 STOP. Axis 6: 20. as shown below. Axis 9: 100 If two or more axes have caused this alarm.G Invalid softpart MIR Internal system error. which is displayed by selecting 6 SYSTEM AXIS LIMITS.G Internal error for single step The tool stopped at the midpoint of an arc in single step mode. Cause: Remedy: Set limit number correctly. Example Axis 1 + Axis 3 + Axis 4 + Axis 6 + Axis 9 = 12D 1 4 8 20 100 1 Correct the position so that it falls within the movable range. Axis:%x^3 Hex) The specified position falls outside the joint movable range ($PARAM_GROUP. MOTN--013 STOP. MOTN--018 STOP. Cause: Remedy: Reteach the position that is near a singularity point.G In singularity The position is near a singularity point.G Position not reachable The position is not reachable or is near a singularity point. Axis 8: 80. MOTN--012 STOP. MOTN--020 WARN Wristjoint warning Wrist joint warning Cause: Cause: Wrist joint warning MOTN--021 STOP.ALARM CODES B--81464EN--3/01 MOTN Error Codes ( ID = 15) MOTN--001 to 008 STOP.G Invalid limit number Invalid limit number. is indicated in hexadecimal. Axis 3: 4. Axis 1: 1. 889 .$LOWERLIMS. Cause: Remedy: Use joint motion. Axis 7: 40. Cause: Remedy: Cycle start controller MOTN--009 STOP. Cause: Remedy: Reteach the position that is near a singularity point. MOTN--023 STOP. Cause: Remedy: $PARAM_GROUP. MOTN--019 WARN In singularity The position is near a singularity point.G Internal error in osmkpkt Internal system error.G Invalid softpart SEG Internal system error. Axis 5: 10. Axis 2: 2.$UPPERLIMS). Axis j is defined in hexadecimal. Cause: Remedy: Ignore this alarm. Cause: Remedy: Contact our service center serving your locality. MOTN--017 STOP. the total of their values. Cause: Remedy: Contact our service center serving your locality.G No kinematics error No kinematics.G Internal error in osathpkt Internal system error. Cause: Remedy: Contact our service center serving your locality. shown above. and inform the representative of an alarm message displayed. different position data formats are set for the Cause: Remedy: start point and end point. Cause: Remedy: Teach via position. Axis 2: 2. Axis 5: 10.G Position config change (Group:%d^2) For path--controlled operation (linear or circular operation).G Uninitialized dest pos (Group:%d^2) Uninitialized destination position. shown above.G Uninitialized via pos (Group:%d^2) Uninitialized via position.ALARM CODES B--81464EN--3/01 MOTN--024 STOP. Cause: Remedy: Contact our service center serving your locality. Cause: Remedy: Contact our service center serving your locality. Cause: Remedy: Define Kinematics. Cause: Remedy: Teach destination position. as shown below.$SPEEDLIMJNT) is Cause: Remedy: invalid.G Invalid spdlim (Group:%d^2 Axis:%x^3 H) An internal software error occurred. 1 Set the same position data format for the start point and end point. Axis 1: 1.G Attempt to move w/o calibrated Robot not calibrated. You do not have to do anything for this warning message.G Speed out of range (Group:%d^2) Internal system error. Cause: Remedy: Calibrate the robot. MOTN--057 to 062 STOP. Example Axis 1 + Axis 3 + Axis 4 + Axis 6 + Axis 9 = 12D 1 4 8 20 100 Correct the joint speed factor.G Internal error in MMGR:PEND Internal system error. MOTN--055 STOP. Axis 3: 4. MOTN--054 STOP. MOTN--049 STOP.G Rs orientation error (Group:%d^2) Internal system error. MOTN--047 Internal error in MMGR:PRST Internal error Cause: Remedy: Contact your FANUC customer service representative. Cause: Remedy: Contact our service center serving your lacality. Cause: Remedy: This is just a notification. Axis 8: 80. MOTN--063 STOP. 890 . Axis 9: 100 If two or more axes have caused this alarm. MOTN--064 and 065 STOP. The joint speed factor ($PARAM_GROUP. Axis 6: 20.G Invalid mir (Group:%d^2) Internal system error. the total of their values. 2 Specify joint operation mode.G Kinematics not defined Kinematics is not defined. Axis j is defined in hexadecimal. Cause: Remedy: Contact our service center serving your locality. 3 Specify a wrist joint operation instruction (operation addition instruction). Axis 7: 40. MOTN--051 to 53 STOP. Axis 4: 8. MOTN--050 STOP. MOTN--030 to 046 STOP. MOTN--056 WARN Speed limits used (Group:%d^2) Speed limits used. is indicated in hexadecimal. MOTN--067 to 072 STOP. Cause: Remedy: Contact our service center serving your locality.G Not cartesian move (Group:%d^2) Motype is not cartesian. and end points are arranged in a straight line.G Extended not supported (Group:%d^2) Extended axes not supported Cause: Remedy: Do not use extended axes. MOTN--096 STOP. MOTN--097 WARN INTR overrun %d^3 (Group:%d^2) Internal system error. Cause: Remedy: Contact our service center serving your locality. passing. the position data for the start point.G Extended position error (Group:%d^2) No value is set for the additional axis. Specify appropriate start. b. and end points for circular operation. Cause: Remedy: Contact our service center serving your locality. Cause: Remedy: Must set motype to cartesian.G (Group:%d^2) Internal system error.G Internal (Group:%d^2) Internal plan error Cause: Remedy: Contact our service center serving your locality. Two of the start. Cause: Remedy: 1 Turn off acceleration vector control. Cause: Remedy: a. Cause: Remedy: Contact our service center serving your locality. Cause: Remedy: Teach via position.G Error in speed (Group:%d^2) Internal system error.G Error in orientype (Group:%d^2) Internal error: planner received invalid orientype. MOTN--089 to 091 STOP.G Degenerate circle (Group:%d^2) For circular operation.G (Group:%d^2) Internal system error. 891 . the specified operation instruction results in an inconstant robot path. 2 Correct the operation instruction so that it can be executed normally. passing. Cause: Remedy: Contact our service center serving your locality. Cause: Remedy: Set a value for the additional axis.G Cart rate not equal(Group:%d^2) Internal system error. MOTN--081 STOP. MOTN--074 to 079 STOP.G Ata2 error in circle (Group:%d^2) Internal system error. and end points overlap one another. MOTN--088 STOP. MOTN--095 WARN Can’t blend corner line:%d^5 Under acceleration vector control. MOTN--080 STOP. MOTN--092 STOP. All of the start. MOTN--073 STOP. Cause: Remedy: Contact our service center serving your locality. MOTN--082 to 087 STOP. Cause: Remedy: Contact our service center serving your locality.G Via position required (Group:%d^2) Missing via position for circular motion. passing. MOTN--093 and 094 STOP. and end point is invalid. passing point.ALARM CODES B--81464EN--3/01 MOTN--066 STOP. Cause: Remedy: Contact our service center serving your locality. MOTN--117 WARN Robot not mastered (Group:%d^2) Robot not mastered. 892 . MOTN--123 WARN Not enough node (Group:%d^2) Internal system error. Cause: Remedy: Master the robot. Cause: Remedy: Contact our service center serving your locality. Cause: Remedy: Contact our service center serving your locality. Cause: Remedy: Contact our service center serving your locality. MOTN--119 WARN Servo is off (Group:%d^2) Robot servo is on. MOTN--114 WARN Servo is on (Group:%d^2) Servo in still on. according to the desired path--controlled operation. Cause: Remedy: Reteach position. MOTN--112 Increment move turn Mismatch Incremental motion causes turn number mismatch Cause: Remedy: Change position to absolute position MOTN--113 WARN Robot not calibrated Robot not calibrated.G INTR (Group:%d^2) Internal system error. Cause: Remedy: Reset over travel jog the robot outside of the overtravel position. MOTN--111 WARN Can’t switch filter(Group:%d^2) Internal system error.ALARM CODES B--81464EN--3/01 MOTN--098 to 109 STOP. joint operation could not be performed. Cause: Remedy: Calibrate the robot. MOTN--120 to 121 WARN Invalid reference position (Group:%d^2) Internal system error. Cause: Remedy: Correct the operation instruction. Cause: Remedy: Contact our service center serving your locality. Cause: Remedy: Turn off servo. MOTN--116 WARN Invalid solution (Group:%d^2) Invalid kinematics solution. Cause: Remedy: Turn off servo. MOTN--122 STOP.G Dfilter not empty (Group:%d^2) Internal system error. MOTN--110 STOP. Cause: Remedy: Contact our service center serving your locality. MOTN--115 WARN Invalid brake mask (Group:%d^2) Internal system error.G Use FINE in last L (Group:%d^2) During the execution of the specified operation instruction. MOTN--118 WARN Robot in over travel (Group:%d^2) Robot in overtravel. Cause: Remedy: Contact our service center serving your locality. Cause: Remedy: Contact our service center serving your locality. MOTN--137 STOP.G In singularity Position near by a singularity point.G INTR:Bad Mirpkt req_code(Group:%d^2) Internal system error. 893 .G Group circ not supported(Group:%d^2) Internal system error. Cause: Remedy: Contact our service center serving your locality. MOTN--140 STOP. MOTN--132 STOP.G No circular softpart (Group:%d^2) Internal system error.G Last motype can’t be circular (Group:%d^2) Internal system error. Cause: Remedy: Contact our service center serving your locality. MOTN--134 STOP. Cause: Remedy: Contact our service center serving your locality.G No KAREL motion softpart (Group:%d^2) Internal system error. MOTN--138 STOP.G Illegal filter switch line:%d^5 Internal system error. Cause: Remedy: Contact our service center serving your locality.G No cart short motion SP (Group:%d^2) Internal system error.G No KAREL motion func. MOTN--128 STOP.G Group mtn not supported(Group:%d^2) Group motion not supported. Use joint coordinates to specify the target point in joint operation mode. Cause: Remedy: Contact our service center serving your locality. MOTN--141 STOP. MOTN--135 STOP. Cause: Remedy: Contact our service center serving your locality. MOTN--139 STOP. Cause: Remedy: Document the events that led to the error and contact our service center serving your locality.G Can not move path backward (Group:%d^2) Internal system error. Move the target point well away from the singular point.ALARM CODES B--81464EN--3/01 MOTN--124 to 127 STOP. Cause: Remedy: Contact our service center serving your locality. Cause: Remedy: Contact our service center serving your locality. MOTN--136 STOP.G No joint short motion SP (Group:%d^2) Internal system error. ptr (Group:%d^2) Internal system error. MOTN--129 and 130 STOP. MOTN--131 STOP. MOTN--133 WARN Time after limit used(Group:%d^2) Internal system error. Cause: Remedy: Contact our service center serving your locality. b.G Local cond ptr conflict(Group:%d^2) Internal system error. Cause: Remedy: Contact our service center serving your locality. Cause: Remedy: a. Cause: Remedy: Reduce the load. the Cause: Remedy: turn number might be mismatched.G No Motion Resume SP (Group:%d^2) Internal system error.Another program is called. -. Turn the power off and then on again. -. MOTN--161 (%s^4 L:%d^5) Can’t look ahead With the shortest time control function.The position register is used without locking. Remedy: -. -. Cause: Remedy: Stop all linked robots once. MOTN--149 STOP.Integrate the programs into one. Therefore. MOTN--145 STOP.G No joint Turbo Move SP (Group:%d^2) Internal system error. Cause: Remedy: Contact our service center serving your locality. MOTN--172 Another robot is re--linked The robot at a link destination was relinked. MOTN--144 STOP.The if/selection instruction is used.G No cart Turbo Move SP (Group:%d^2) Internal system error. re-teach the path. MOTN--143 STOP. 2 Reduce the speed. Cause: Remedy: Reteach position.Remove the if/selection instruction. Cause: Remedy: Contact our service center serving your locality. causing the robot to slow down Change the current motion’s motype to linear or change the previous motion’s motype to joint. when a joint motion follows several linear motions. so that operation stopped. Cause: Remedy: Contact our service center serving your locality. MOTN--171 Overload An overload is imposed. This will cause Cause: Remedy: slow down on both groups. 894 .$cf_framenum to 1 or 2. Cause: The following situations can be considered: -. 3 Specify positioning as the previous operation. program lines cannot be read in advance.Use the lock position register instruction. If the problem persists.G INTR can’t replan major axis(Group:%d^2) Mismatch in major axis turn number.G CF:rotspeedlim exceeded line:%d^5 CF:rotspeedlim exceeded.G No Group Motion SP (Group:%d^2) Internal system error. MOTN--146 STOP. MOTN--147 WARN L-->J replan joint slowdown (Group:%d^2) Linear motions ignore turn numbers. re-teach the path.ALARM CODES B--81464EN--3/01 MOTN--142 STOP. Cause: Remedy: 1 Set system variable $cf_paramgp[]. then restart the robots. Cause: Remedy: Contact our service center serving your locality. MOTN--148 SWARN Can’t move concurrently (Group:%d^2) Two motion groups cannot synchronize with each other due to replanning of one group. If slow down is not acceptable. -. Cause: Remedy: No particular action is required. or the setting is incorrect. main board. cable connection. and inform the representative of an alarm message displayed. and the robot link setting. MOTN--182 Failed to get data from master Communication data is not sent from the master robot. it was detected that the robot at the communication destination lost Cause: Remedy: synchronism for a cause such as program termination. or check the robot link setting. Modify the program. and robot link setting. or check the robot link setting. and also check the robot link setting. Cause: Remedy: Match the software version of the master robot with that of the slave robot. Cause: Remedy: Check the Ethernet cable. MOTN--180 Robot link Calib--data not found Calibration data cannot be found. Cause: Remedy: Check the value of the system variable $MNUTOOL. MOTN--177 Failed to end sync motion If the master and slave have not stopped or the setting is incorrect. robot motion is Cause: Remedy: not completed. Restart the programs of the master and slave. MOTN--179 Robot link internal error Internal error Cause: Remedy: Contact your FANUC customer service representative. Check the motion instruction of the program. for example. Cause: Remedy: Check the host name and IP address in the host communication setting. MOTN--178 Link robot is HELD After start of synchronous motion. MOTN--176 Failed to be SLAVE At the time of switching to the master state by program execution or manual operation.ALARM CODES B--81464EN--3/01 MOTN--173 Robot link configuration error The robot link setting is incorrect. robot motion is Cause: Remedy: not completed. 895 . Perform an operation after the robot stops. MOTN--184 Invalid MNUTOOL data array The value of the system variable $MNUTOOL is invalid. Cause: Remedy: Calibrate the robot link. Modify the program. when an operation for master or slave setting such as manual Cause: Remedy: operation screen manipulation or program execution is performed while the robot is moving according to a program or jog operation. The programs temporarily stop. Cause: Remedy: No particular action is required. MOTN--181 Robot link Version mismatch The robot link software differs between the master robot and slave robot. or the setting is incorrect. synchronous motion cannot be Cause: Remedy: completed. MOTN--186 Protect of BCST BF to be sent The memory in the master robot for communication from the master robot to the slave robot is protected. MOTN--185 Protect of ACK BF to be sent The memory in the slave robot for communication from the slave robot to the master robot is protected. MOTN--175 Failed to be MASTER At the time of switching to the master state by program execution or manual operation. hub. MOTN--174 No motion control This alarm is issued. Decrease the advanced processing time. MOTN--195 RLINK internal error %d^5 Internal error Cause: Remedy: Contact your FANUC customer service representative. The taught points of an arc must be on the same plane. the tool coordinate system of the slave robot was changed. Cause: Remedy: Do not change the tool coordinate system in the master state.ALARM CODES B--81464EN--3/01 MOTN--187 Protect of ACK BF to be read The memory in the master robot for communication from the slave robot to the master robot is protected. Otherwise. use a motion instruction in deg/sec or sec. MOTN--199 CRC Via--Dest too close(L:%d^5) The intermediate point and end point of an arc are too close to each other. Cause: Remedy: Reteach the robot. a minor modification to the teaching can cause a major change in motion. MOTN--198 CRC Start--Via too close(L:%d^5) The start point and center point of an arc are too close to each other. a minor modification to the teaching can cause a major change in motion. The taught points of an arc must be on the same plane. synchronous motion is disabled. Cause: Remedy: No particular action is required. Cause: Remedy: Change the data to the orthogonal format. MOTN--193 UT of SLAVE was changed In the slave state. MOTN--230 T1 rotspeed limit (G:%d^2) The attitude change speed in the T1 mode was clamped. Cause: Remedy: Cancel the machine lock state. Cause: Remedy: -. MOTN--194 Machine Lock is ENABLED In the master lock state. MOTN--200 (%s^4. Cause: Remedy: No particular action is required. Otherwise. Restart after the previous motion is completed. Cause: Remedy: Reteach the robot. MOTN--190 Slave cannot use JOINT pos The motion instruction data of the slave robot is in the joint format. MOTN--191 Slave cannot JOINT motion The slave program cannot make a joint motion. Cause: Remedy: Change the instruction to an orthogonal motion instruction. MOTN--188 Protect of BCST BF to be read The memory in the slave robot for communication from the master robot to the slave robot is protected. and inform the representative of an alarm message displayed. the tool coordinate system of the master robot was changed. %d^5) Too long anticipate time The value of advanced processing time (Timebefore) is too large. MOTN--189 Slave motion remained In the slave robot. the amount of travel of the previous motion remains before the slave program is Cause: Remedy: started. Cause: Remedy: Do no change the tool coordinate system in the slave state. MOTN--192 UT of MASTER was changed In the master state. Cause: Remedy: Decrease the speed of teaching.Reteach the previous taught point to increase the distance of motion. Alternatively. 896 . -. and reteach the robot so that the motion does not exceed the range. Cause: Remedy: Check the alarm history to see if other alarms are issued. MOTN--243 OFIX error The attitude--fixed motion instruction cannot be executed for another cause. MOTN--249 OFIX Too large tool spin In attitude--fixed motion. use joint motion. Cause: Remedy: Check if the robot supports attitude--fixed motion. MOTN--241 OFIX stroke limit In attitude--fixed motion. MOTN--244 OFIX Detect J4 is not 0 J4 at the motion start position or target position is not at the 0_ position. MOTN--250 Use CNT0/FINE for L/C before OFIX A circular motion or a linear motion other than attitude--fixed motion continues to an attitude--fixed Cause: Remedy: motion through a smooth motion. a stroke limit was detected. and teach each split part of the motion. Cause: Remedy: Cause the robot to assume such an attitude that the flange surface is parallel with the J1--axis. MOTN--242 OFIX is disabled The attitude--fixed motion instruction is disabled. MOTN--246 OFIX Invalid rail vector The attitude--fixed motion instruction is disabled.ALARM CODES B--81464EN--3/01 MOTN--231 T1 Speed restriction (G:%d^2) When the taught speed is 250 mm/sec or less in the T1 mode. Split the motion. such as an incremental motion instruction or remote TCP. MOTN--248 OFIX Too large tool rotation In attitude--fixed motion. Change the positioning mode of the circular motion or linear motion to smooth 0 or positioning. and teach each split part of the motion. Cause: Remedy: Check the attitude and make modifications. which cannot be used Cause: Remedy: at the same time with the attitude fix instruction. This alarm is a warning. and does not represent a failure. MOTN--245 OFIX Wrist config mismatch The configuration differs between the motion start position and target position. If motion is still unsuccessful. Cause: Remedy: Check the motion range. MOTN--240 J4 is not zero The J4--axis is not at the 0_ position. the rotation angle of the flange between the start point and end point exceeded Cause: Remedy: the range allowable in one motion. is specified. The speed of the flange section exceeded 250 mm/sec because of a change in the tool attitude. MOTN--247 E--Effector is not vertical to rail The flange surface is not parallel with the J1--axis. Split the motion. Modify the instruction. Cause: Remedy: Check the value of J4 at each position. Cause: Remedy: Make a motion so that the J4--axis is at the 0_ position. However. MOTN--251 Can’t use OFIX with this motion A motion statement. and make modifications. speed restriction processing was Cause: Remedy: performed. the rotation angle of J6 between the start point and end point exceeded the Cause: Remedy: range allowable in one motion. 897 . Cause: Remedy: Check if the robot supports attitude--fixed motion. the actual motion of this portion needs to be checked in the T2 mode. MOTN--258 Not reached to dest rotation At the end of attitude--fixed motion. Cause: Remedy: Split the motion. MOTN--259 Not reached to dest spin At the end of attitude--fixed motion. the tool arrival attitude does not match the internal calculation for Cause: Remedy: attitude--fixed motion. Cause: Remedy: Modify the teaching only so that the J4--axis moves completely with 0 degree. 898 . and teach each split part of the motion. check if an application such as for tracking that compensates for a motion is used and check also if a motion addition instruction such as for compensating for a track is used. Moreover. Moreover. and inform the representative of an alarm message displayed. or switch to joint motion. MOTN--257 Wrist start angle mismatch The motion start angle of the wrist axis does not match the internal calculation for attitude--fixed motion. MOTN--253 OFIX: Motion type mismatch Internal error Cause: Remedy: Contact your FANUC customer service representative. Cause: Remedy: Change termtype FINE or CNT. Check the values of the start point and end point of J4. MOTN--301 Path to resume is changed(G:%d^2) Can’t resume motion. Modify the teaching only so that the J4--axis moves completely with 0 degree. MOTN--302 Corner speed slowdown L:%d^5 Corner speed slows down automatically because of robot constraint. Cause: Remedy: Change the target position. If this alarm is issued even when J4 is taught to assume exactly the 0_ position at both points. MOTN--300 CD not support:Use CNT L:%d^5 Term type CD is not supported. split the motion statement. check if an application such as for tracking that compensates for a motion is used and check also if a motion addition instruction such as for compensating for a track is used. it was detected that J4 is not at the 0_ position. MOTN--256 OFIX: TCP config limit A linear motion range limit was reached. Moreover. check if an application such as for tracking that compensates for a motion is used and check also if a motion addition instruction such as for compensating for a track is used. MOTN--254 OFIX: Detect large spin The tool attitude change per motion is too large. Modify the teaching only so that the J4--axis moves completely with 0 degree. the tool arrival attitude does not match the internal calculation for Cause: Remedy: attitude--fixed motion. Cause: Remedy: If slow down is not acceptable. Cause: Remedy: Abort and run program. or the angular change of the flange per motion is too large. Cause: Remedy: This alarm is issued because J4 is slightly shifted from the 0_ position at the start point or end point of motion. and inform the representative of an alarm message displayed. MOTN--255 OFIX: Detect J4 is not 0 During motion.ALARM CODES B--81464EN--3/01 MOTN--252 OFIX: No plan data Internal error Cause: Remedy: Contact your FANUC customer service representative. re--teach the path. or abort program 899 . MOTN--310 Pos.ALARM CODES B--81464EN--3/01 MOTN--303 Can’t maintain CDist L:%d^5 Can’t maintain corner distance because path is short or speed is high. Then. change 2 (G:%d^2) Configuration mismatch Cause: Remedy: string matches the start position’s configuration string. Cause: Remedy: This is just a notification. You do not have to do anything for this warning messsage. MOTN--309 Circular speed reduced L:%d^5 Circular speed is reduced because of robot contraint Cause: Remedy: Reduce program speed not to display. MOTN--308 FINE termtype used L:%d^5 Can’t generate corner between two motion because of motion instruction. Cause: Remedy: And CNT or CD is ignored. MOTN--314 Can’t resume motion CJ(3) Can’t resume motion on the original path due to motion condition. Cause: Remedy: Lengthen path or reduce speed. MOTN--312 Can’t resume in single step CJ Can’t resume motion in single step mode. MOTN--315 Command speed is changed CJ Can’t resume motion on the original path due to command speed change. the resumed motion may not be on the original path. MOTN--313 Can’t resume motion CJ(2) Can’t resume motion on the original path. MOTN--311 Path to resume is changed(G:%d^2) Can’t resume motion on the original path. MOTN--304 CS:Prog speed achieved L:%d^5 SPD value does not affect corner speed anymore. Cause: Remedy: Abort program and rerun. and inform the representative of an alarm message displayed. Cause: Remedy: Abort and run program. A:%x^3 Hex) Resume motion cannot reach stop position Cause: Remedy: Can’t resume orginal path. Then. the resumed motion may not be on the original path. Use LOCK PREG instructiion when PR[] is used for positiion or OFFSET instruction is used. You do not have to do anything for this warning messsage. Then. the resumed motion may not be on the original path. Cause: Remedy: Abort and run program. Cause: Remedy: This is just a notification. Cfg. MOTN--305 Can’t maintain speed L:%d^5 Can’t maintain program speed on the path because of robot constraint. Abort program and rerun MOTN--307 Mismatch MMR (G:%d^2) Internal error Cause: Remedy: Contact your FANUC customer service representative. Cause: Remedy: Abort and run program. MOTN--306 Can’t replan (G:%d^2. Cause: Remedy: Modify back the command speed. Cause: Remedy: Check the program name. Cause: Remedy: From the alarm message. MOTN--321 Posn unreachable at line %s During a fine adjustment check.ALARM CODES B--81464EN--3/01 MOTN--316 Override change not allowed An override change was made when CJP was disabled and the program was being restarted. Cause: Remedy: Do not use an incremental motion. N/A MOTN--341 NO Z offset for INC motion A Z offset value cannot be applied to an incremental motion. Cause: Remedy: Contact our service center serving your locality. MOTN--342 Override change not allowed Change in teach pendant override setting while the program is running. a position that cannot be reached was detected. Cause: Remedy: From the alarm message. Cause: Remedy: Reteach the robot. MOTN--320 Adj out of limit at line %s During a fine adjustment check. Cause: Remedy: Check the program name. identify the line that generated the alarm. Cause: Remedy: Set Teach Pendant’s override to the desired value and resume the program PROG Error Codes PROG--001 to 004 ABORT. a position that cannot be reached was detected. MOTN--319 CRC large orient change (G:%d^2) The small circle causes a large attitude change. Cause: Remedy: Check the line number. identify the line that generated the alarm. PROG--007 WARN Program is already running The specified program is already being executed. MOTN--340 Fast fault recovery This is notification for application process enabled in the fast fault recovery when the alarm position is Cause: Remedy: found. PROG--008 WARN In a rtn when creating a task Execution cannot be started in sub-routine program. PROG--005 WARN Program is not found The specified program cannot be found.L Invalid pointer is specified System internal error. PROG--009 WARN Line not same rtn as paused at The program attempted to resume at a line different from the paused line. Cause: Remedy: Check the line number. PROG--006 WARN Line is not found The specified line number cannot be found. Use CLR_Adj to clear the adjustment value. Cause: Remedy: Check the line number. 900 . Do not make an override change immediately after the program is restarted. Cause: Remedy: Make an override change before restarting the program. Use CLR_Adj to clear the adjustment value. Only the RESUME MOTION program Cause: Remedy: instruction can resume the motion. Cause: Remedy: Resume the motion paused the last time. Cause: Remedy: Check the task name. PROG--011 PAUSE. Cause: Remedy: Resume or abort some programs. Cause: Remedy: Abort any unnecessary programs. Cause: Remedy: Check the program name. PROG--018 ABORTG Motion stack overflowed Too many programs are paused. PROG--014 WARN Max task number exceed The number of programs you attempted to start exceeded the maximum number allowed. PROG--017 WARN Task is not running The specified task is not running. PROG--023 WARN Task is not paused The specified program is not paused. Cause: Remedy: Check the program name.ALARM CODES B--81464EN--3/01 PROG--010 WARN Not same prg as paused A program. PROG--013 WARN Motion is stopped by program This motion was paused by the MOTION PAUSE instruction. PROG--016 WARN Task is not found The specified task is not running or paused. PROG--019 WARN Ignore pause request The request to pause the program was ignored. PROG--021 WARN Ignore abort request The request to abort the program was ignored. Use the RESUME MOTION instruction in the program. different from the paused program. Cause: Remedy: Pause the program. Cause: PROG--020 WARN Task is already aborted The specified program was already aborted. Cause: Remedy: Check the task name. 901 . Cause: Remedy: Do not use backward execution at this point.L Cannot get the motion control Motion control cannot be obtained. PROG--015 WARN Cannot execute backwards Backward execution cannot be used. attempted to resume. Cause: PROG--022 WARN Invalid request type Internal error Cause: Remedy: Contact our service center serving your locality. PROG--012 WARN All groups not on the top The program attempted to resume at a motion different from the paused motion. Cause: Remedy: Check the teach pendant enable switch and other running programs to determine who has motion control. Cause: PROG--043 WARN Already released by you Motion control was already released by request of this program. PROG--025 WARN Cannot execute backwards Backward execution cannot be used. PROG--026 WARN No more motion history Backward execution cannot be used any more. Cause: 902 . Cause: Remedy: Do not attempt backwards execution at this time. The current line is on top of the memorized path. PROG--036 WARN The length of trace array is 0 Either there is not enough memory available. Cause: Remedy: Contact our service center serving your locality. PROG--038 Inconsistency in task status Internal system error. Cause: Remedy: Check the routine name and verify it is loaded. but not get mctl Motion control for the specified group was reserved. Cause: PROG--037 WARN No data in the trace array There is no execution record in memory. or the task attribute is set incorrectly. but it cannot be obtained. Cause: Remedy: Do not use backwards execution here. Cause: Remedy: Consult our service representative. PROG--042 WARN Already released Motion control was already released. Cause: Remedy: Check the other running programs to determine who has motion control. PROG--034 WARN Routine not found The specified routine cannot be found. Cause: PROG--044 WARN Arm has not been released yet Motion control was not released yet. Cause: Remedy: Turn on tracing using the KCL SET TRACE ON command. Cause: Remedy: Check the teach pendant enable switch and other running programs to determine who has motion control. Disable the teach pendant.ALARM CODES B--81464EN--3/01 PROG--024 WARN Not have motion history The motion path record is lost. PROG--039 WARN locked.L Already locked by other task Motion control for the specified group was already reserved by another program. Cause: PROG--040 PAUSE. PROG--035 WARN Not locked the specified group Motion control for the specified group cannot be locked. The robot cannot be started Cause: Remedy: until motion control is obtained. The teach pendant currently has motion control. PROG--041 WARN mctl denied because released Motion control is released. Cause: PROG--027 to 033 WARN Invalid task number Internal system error. 2 Allocate the program to other devices (SU. PROG--051 WARN Cannot skip the return stmt The specified lines to which a move was attempted exceed the number of lines in the program.L Process is aborted while executing The user application task was forced to abort while the application was executing. Cause: Remedy: Hold the BWD key with shift key to resume execution. Cause: PROG--053 ABORT.ALARM CODES B--81464EN--3/01 PROG--045 WARN Other than requestor released Motion control was already released by the request of another program.L Shift released while running (%s^7) The shift key was released while the program was executing. Cause: Remedy: Start the user application task before executing the application.L User AX is not running The user application task was not executed. Cause: Remedy: Check the line number. 2 The index is beyond the set range. Cause: Remedy: Wait a few seconds. PROG--050 WARN Abort still in progress The program is in the process of being aborted. Cause: Remedy: On the test execution screen. disable the motion data output function. Cause: PROG--048 PAUSE. Cause: Remedy: 1 The allocation definition is duplicated. Cause: PROG--047 PAUSE. MACR--004 WARN Can’t execute motn_prog by UK It is not possible to execute a program with MOTION lock group with the User Key(UK) button.L TP is disabled while running (%s^7) The teach pendant was disabled while the program was executing. robot moving Motion control cannot be released because the robot is moving. Cause: Remedy: Hold the FWD key with shift key to resume execution. MACR--003 WARN Can’t assign motn_prog to UK It is not possible to assign a program with MOTION lock group to the User Key(UK) button. Cause: PROG--049 WARN Cannot release. PROG--056 Motion data out is enable The machine lock function is disabled. Cause: Remedy: Remove the motion lock group from the program. SP.L TP is enabled while running (%s^7) The teach pendant was enabled while the program was executing. and the motion data output function is enabled. Cause: Remedy: 1 Remove all the motion groups from the group mask for detailed program information. PROG--052 ABORT. and MF). PROG--055 BWD released while running (%s^7) BWD key was released while the program is executing. Modify the device allocation. 903 . PROG--054 FWD released while running (%s^7) FWD key was released while the program is executing. Cause: Remedy: Check the status of robot motion. Cause: PROG--046 PAUSE. MACR Error Codes ( ID = 57 ) MACR--001 WARN Can’t assign to MACRO command The conditions for assigning macros are not correct. Cause: Remedy: Refer to the error cause code.ALARM CODES B--81464EN--3/01 MACR--005 WARN Please enable teach pendant It is not possible to execute a program when the teach pendant is disabled. Cause: Remedy: Change the assign index so that it is within the valid range. MEMO Error Codes ( ID = 7 ) MEMO--001 WARN System error Internal system error. MACR--008 WARN Remote--cond isn’t satisfied This assign type is only enabled at a REMOTE condition. Cause: Remedy: Either abort the specified program or select it once more after selecting another program. Cause: Remedy: Change the value of the $MACRUOPENBL system variable. MACR--009 WARN The index is out of range This assign index is out of range. MACR--011 WARN This UOP button is disabled This UOP signal is disabled for macro execution. Cause: Remedy: Create a REMOTE condition. MEMO--002 WARN Specified program is in use The specified program is editing or executing. MEMO--003 WARN Specified program is in use The specified program is editing or executing. Cause: Remedy: Enable the teach pendant. Cause: Remedy: Change the assign type. Cause: Remedy: Contact our service center serving your locality. Then assign the new macro as RI or DI. MACR--012 WARN Number of DI+RI is over The number of RI+DI is over the maximum number. MACR--006 WARN Please disable teach pendant It is not possible to execute a program when the teach pendant is enabled. MACR--013 WARN MACRO execution failed Cannot execute this MACRO. Cause: Remedy: The macro will begin executing from the first line at the next execution. Cause: Remedy: First deassign the other RI or DI assignments. MACR--010 WARN This SOP button is disabled This SOP button is disable for macro execution. Cause: Remedy: Change the value of the $MACRSOPENBL system variable. MEMO--004 WARN Specified program is in use The specified program is editing or executing. 904 . Cause: Remedy: Either abort the specified program or select it once more after selecting another program. Cause: Remedy: Disable the teach pendant. Cause: Remedy: Either abort the specified program or select it once more after selecting another program. MACR--016 WARN The macro is not completed The macro aborted while executing. MACR--007 WARN The same macro type exists The macro assign type already exists. MEMO--019 WARN Too many programs The number of the programs and routines exceeded the maximum allowed (3200). MEMO--017 WARN System error Internal system error. Cause: Remedy: Contact our service center serving your locality. Cause: Remedy: Contact our service center serving your locality. MEMO--016 WARN System error Internal system error. not exist Internal system error. MEMO--015 WARN Program already exists The specified program already exists in the system. Cause: Remedy: Contact our service center serving your locality. Cause: Remedy: Delete unnecessary programs and routines. 905 . Cause: Remedy: Cancel the protection of the specified program. Cause: Remedy: Specify the same program type.ALARM CODES B--81464EN--3/01 MEMO--006 WARN Protection error occurred The specified program is protected by a user. MEMO--007 WARN Invalid break number Internal system error. MEMO--011 WARN System error Internal system error. MEMO--014 WARN Specified label already exists The specified label id already exists in the program. MEMO--013 WARN Program type is different The specified program type is different from that of the object being processed. MEMO--009 WARN System error Internal system error. Cause: Remedy: Specify the same program name. MEMO--008 WARN Specified line no. MEMO--012 WARN System error Internal system error. Cause: Remedy: Contact our service center serving your locality. Cause: Remedy: Either specify another program name or delete the registered program. Cause: Remedy: Contact our service center serving your locality. Cause: Remedy: Contact our service center serving your locality. Cause: Remedy: Contact our service center serving your locality. MEMO--018 WARN System error Internal system error. Cause: Remedy: Contact our service center serving your locality. Cause: Remedy: Specify another label number. MEMO--010 WARN Program name error The specified program name is different from the one in the P-code file. MEMO--038 WARN Too many programs The number of programs exceeded the maximum allowed. Cause: Remedy: Contact our service center serving your locality. Cause: Remedy: Delete unnecessary programs.ALARM CODES B--81464EN--3/01 MEMO--020 to 024 WARN System error Internal system error. Cause: Remedy: Specify another line number. MEMO--034 WARN The item can’t be changed The specified item is locked to change by system. MEMO--026 WARN Line data is full The number of line data exceeded the maximum possible line number (65535). The size of modified data is different from that of original Cause: Remedy: data when replacing it. Specify another line number or data of the same size. 906 . Cause: Remedy: Delete unnecessary line data. Cause: Remedy: Either abort the specified program or select it once more after selecting another program. MEMO--027 WARN Specified line does not exist The specified line data does not exist. MEMO--035 WARN System error Internal system error. Cause: Remedy: Contact our service center serving your locality. MEMO--036 WARN System error Internal system error. MEMO--032 WARN Specified program is in use The specified program is editing or executing. MEMO--025 WARN Label does not exist Specified label does not exist. MEMO--029 WARN The line data can’t be changed The specified line data cannot be changed. Cause: Remedy: Set the index to an existing label. Cause: Remedy: Contact our service center serving your locality. Cause: Remedy: Specify another item. Cause: Remedy: Contact our service center serving your locality. Cause: Remedy: Contact our service center serving your locality. Cause: Remedy: Contact our service center serving your locality. MEMO--028 WARN System error Internal system error. MEMO--030 WARN System error Internal system error. Cause: Remedy: Contact our service center serving your locality. MEMO--031 WARN System error Internal system error. MEMO--037 WARN System error Internal system error. MEMO--045 WARN System error Internal system error. MEMO--041 WARN System error Internal system error. Cause: Remedy: Contact our service center serving your locality. Cause: Remedy: Contact our service center serving your locality. 907 .ALARM CODES B--81464EN--3/01 MEMO--039 WARN System error Internal system error. Cause: Remedy: Contact our service center serving your locality. MEMO--046 WARN System error Internal system error. Cause: Remedy: Contact our service center serving your locality. Cause: Remedy: Specify another break point. Cause: Remedy: Contact our service center serving your locality. Cause: Remedy: Contact our service center serving your locality. MEMO--040 WARN System error Internal system error. Cause: Remedy: Contact our service center serving your locality. Cause: Remedy: Contact our service center serving your locality. MEMO--051 WARN System error Internal system error. MEMO--049 WARN System error Internal system error. Cause: Remedy: Specify another program or create the new program first. MEMO--052 WARN System error Internal system error. MEMO--043 WARN System error Internal system error. MEMO--048 WARN Break point data doesn’t exist The specified break point data does not exist. Cause: Remedy: Contact our service center serving your locality. MEMO--050 WARN Program does not exist The specified program does not exist in the system. Cause: Remedy: Contact our service center serving your locality. Cause: Remedy: Contact our service center serving your locality. MEMO--044 WARN System error Internal system error. Cause: Remedy: Contact our service center serving your locality. MEMO--042 WARN System error Internal system error. MEMO--047 WARN System error Internal system error. Cause: Remedy: Specify another position. MEMO--057 to 064 WARN System error Internal system error. Cause: Remedy: Contact our service center serving your locality. Cause: Remedy: Specify another program or create the new program first. MEMO--066 WARN System error Internal system error. Cause: Remedy: Contact our service center serving your locality. The specified program is tied to a MACRO. MEMO--055 WARN System error Internal system error. MEMO--069 WARN System error Internal system error.ALARM CODES B--81464EN--3/01 MEMO--053 WARN System error Internal system error. MEMO--065 WARN Too many opened programs Too many CALL instructions being used. Remove the program from the MACRO entry. The number of opened programs exceeded the maximum Cause: Remedy: allowed ( 100 ). MEMO--068 WARN Specified program is in use 1. Cause: Remedy: 2. MEMO--054 WARN System error Internal system error. 1. Cause: Remedy: Contact our service center serving your locality. Cause: Remedy: Contact our service center serving your locality. MEMO--070 WARN System error Internal system error. The specified program is editing or executing. Either abort the specified program or select it once more after selecting another program. Cause: Remedy: Contact our service center serving your locality. Cause: Remedy: Contact our service center serving your locality. Cause: Remedy: Specify another program or create the new program first. 908 . MEMO--056 WARN Program does not exist The specified program does not exist in the system. Cause: Remedy: Contact our service center serving your locality. MEMO--067 WARN System error Internal system error. Cause: Remedy: Specify another position or delete the data in the specified position. 2. MEMO--072 WARN Position data already exists Position data already exists in the position you specified to move. MEMO--073 WARN Program does not exist The specified program does not exist in the system. Cause: Remedy: Contact our service center serving your locality. Abort any unnecessary programs or remove unnecessary CALL instructions. MEMO--071 WARN Position does not exist The specified position data does not exist. MEMO--077 WARN System error Internal system error. Cause: Remedy: Contact our service center serving your locality. Cause: Remedy: Contact our service center serving your locality. Cause: Remedy: Contact our service center serving your locality.ALARM CODES B--81464EN--3/01 MEMO--074 WARN Program type is not TPE The operation can be applied only to teach pendant programs. MEMO--080 WARN Protection error occurred The specified program is protected by a user. Cause: Remedy: Contact our service center serving your locality. MEMO--087 WARN System error Internal system error. MEMO--075 WARN Program can’t be used The program must be opened before attempting read or write operations. Cause: Remedy: Contact our service center serving your locality. MEMO--076 WARN System error Internal system error. MEMO--078 WARN Program can’t be used The specified operation is not supported for program type. MEMO--081 WARN Specified program is in use The specified program is editing or executing. MEMO--082 WARN System error Internal system error. Cause: Remedy: Contact our service center serving your locality. MEMO--086 WARN System error Internal system error. Cause: Remedy: Select a teach pendant program. Cause: Remedy: Cancel the protection of the specified program. Cause: Remedy: Contact our service center serving your locality. Cause: Remedy: Contact our service center serving your locality. 909 . Cause: Remedy: Open the program before reading or writing. MEMO--085 WARN System error Internal system error. Cause: Remedy: Contact our service center serving your locality. Cause: Remedy: Specify a program whose program type matches the operation. MEMO--084 WARN System error Internal system error. MEMO--083 WARN System error Internal system error. Cause: Remedy: Abort the specified program or select it once more after selecting another program. MEMO--079 WARN System error Internal system error. Then reload the P-code. Cause: Remedy: Contact our service center serving your locality. Cause: Remedy: Contact our service center serving your locality. MEMO--103 WARN Check sum error occurred The specified data was broken. EOF occurs.ALARM CODES B--81464EN--3/01 MEMO--088 WARN Program does not exist The specified position data does not exist. Cause: Remedy: Contact our service center serving your locality. Cause: Remedy: Contact our service center serving your locality. Cause: Remedy: Contact our service center serving your locality. Cause: Remedy: Contact our service center serving your locality. MEMO--090 WARN System error Internal system error. Cause: Remedy: Check the name of the specified program. MEMO--094 WARN System error Internal system error. MEMO--089 WARN System error Internal system error. Cause: Remedy: Specify another position. Cause: Remedy: Contact our service center serving your locality. MEMO--098 WARN EOF occurs in file access EOF occurs in file access. Cause: Remedy: The P-code data may be broken. Cause: Remedy: Contact our service center serving your locality. MEMO--092 WARN System error Internal system error. MEMO--093 WARN Specified program is in use The specified program is editing or executing. Translate the specified KAREL program again. MEMO--091 WARN System error Internal system error. MEMO--095 WARN System error Internal system error. 910 . MEMO--097 WARN System error Internal system error. MEMO--099 WARN Program name is wrong The length of the program name is different from that of the P-code data. MEMO--096 WARN System error Internal system error. MEMO--100 to 102 WARN System error Internal system error. Cause: Remedy: Contact our service center serving your locality. Cause: Remedy: Abort the specified program or select it once more after selecting another program. When the P-code file was scanned. Cause: Remedy: Contact our service center serving your locality. This is the internal error. MEMO--114 WARN Break point can’t be removed The break point data can not be overwritten because the program is protected by a user or is executing. MEMO--111 WARN System error Internal system error. Cause: Remedy: Contact our service center serving your locality. MEMO--108 WARN System error Internal system error. MEMO--113 WARN File access error The port that has the program you want to load is not connected. MEMO--112 WARN Break data already exists The specified break point data already exists in the program. MEMO--107 WARN System error Internal system error. MEMO--116 WARN System error Internal system error. MEMO--117 WARN System error Internal system error.ALARM CODES B--81464EN--3/01 MEMO--104 WARN Program already exists The specified program already exists in the system. Cause: Remedy: Cancel the protection of the program or abort the program. Cause: Remedy: Cancel the protection of the program or abort the program. MEMO--109 WARN System error Internal system error. MEMO--105 WARN System error Internal system error. MEMO--110 WARN System error Internal system error. Cause: Remedy: Contact our service center serving your locality. 911 . Cause: Remedy: Contact our service center serving your locality. Cause: Remedy: Contact our service center serving your locality. Cause: Remedy: Specify another break point. MEMO--115 WARN Break point can’t be removed The break point data can not be removed because the program is protected by a user or is executing. MEMO--106 WARN System error Internal system error. Cause: Remedy: Contact our service center serving your locality. Cause: Remedy: Specify another program name or delete the registered program. Cause: Remedy: Contact our service center serving your locality. Cause: Remedy: Check the port setting and the connected device. Cause: Remedy: Contact our service center serving your locality. Cause: Remedy: Contact our service center serving your locality. Cause: Remedy: Contact our service center serving your locality. MEMO--128 WARN %s parameters are different A routine exists in memory with a different parameter definition than the routine in the PC file being Cause: Remedy: loaded.ALARM CODES B--81464EN--3/01 MEMO--118 WARN System error Internal system error. Then create the program in the current system. Update the calling convention in the KAREL program being loaded or delete the obsolete routine from system memory. Cause: Remedy: Translate the program with a newer version of the Translator. Then create the program in the current system. Cause: Remedy: Delete unnecessary programs. Specify another application data. MEMO--129 WARN System error Internal system error. Cause: Remedy: Set new position ID for the referenced position. Cause: Remedy: Contact our service center serving your locality. MEMO--122 WARN System error Internal system error. MEMO--123 WARN Application data doesn’t exist The specified application data does not exist because the program does not correspond to the specified Cause: Remedy: application. 912 . Specify another application data. MEMO--121 WARN System error Internal system error. MEMO--119 WARN Application data doesn’t exist The specified application data does not exist because the program does not correspond to the specified Cause: Remedy: application. MEMO--127 WARN Pos reference over 255 times Reference of the same position exceeded the maximum count (256). MEMO--124 WARN Program version is too new KAREL program version number is newer than that of the system. Cause: Remedy: Translate the program with an older version of the Translator. MEMO--130 SYSTEM Please power up again System data in CMOS has been broken. Cause: Remedy: Contact our service center serving your locality. Cause: Remedy: Contact our service center serving your locality. MEMO--120 WARN Application data doesn’t exist The specified application data does not exist because the program does not correspond to the specified Cause: Remedy: application. MEMO--126 WARN No more available memory Lack of the memory which can be used. Cause: Remedy: Turn power off and then back on. MEMO--125 WARN Program version is too old KAREL program version number is older than that of the system. Specify another application data. Cause: Remedy: Contact our service center serving your locality. Create the program in the current system. MEMO--133 SYSTEM Please power up again System data in CMOS has been broken. or power on again. Cause: Remedy: Delete the program and create it again. MEMO--141 WARN System error Internal system error. MEMO--132 WARN %s has been broken Program data has been broken at the power fail recover. Because of this. If necessary. use multiple header records. Delete the program at controlled start. 913 . Cause: Remedy: Delete the teach pendant (TP) program. MEMO--137 WARN Load at Control Start Only Specified KAREL program cannot be loaded in this mode. Cause: Remedy: Turn power off and then back on. MEMO--134 WARN TPE program %s already exists A teach pendant (TP) program with the same name already exists. Cause: Remedy: Turn power off and then back on. MEMO--139 WARN System error Internal system error. switch the start mode to cold start or control start 2. Must be less than 256. Cause: Remedy: Contact our service center serving your locality. Load the program at controlled start. Cause: Remedy: Contact our service center serving your locality. Then load the specified KAREL program again. MEMO--136 WARN Cannot load P--code here The KAREL program cannot be loaded in this start mode. Cause: Remedy: Contact our service center serving your locality. Cause: Remedy: Contact our service center serving your locality. MEMO--140 WARN System error Internal system error.ALARM CODES B--81464EN--3/01 MEMO--131 SYSTEM Please power up again System data in CMOS has been broken. Because the same name program has Cause: Remedy: already been loaded at controlled start. Cause: Remedy: On the auxiliary menu. MEMO--143 WARN System error Internal system error. Cause: Remedy: Select the function menu to change the start mode. Contact our service center serving your locality. MEMO--138 WARN Delete at Control Start Only Specified program has already been loaded at controlled start. you can only delete Cause: Remedy: the program at controlled start. MEMO--144 WARN Header size too big The teach pendant (TP) header size specified is too big. Cause: Remedy: Contact our service center serving your locality. MEMO--142 WARN System error Internal system error. MEMO--135 WARN Cannot create TPE program here The teach pendant (TP) program cannot be created in this start mode. Cause: Remedy: Change size to range of 1--256. CMND--006 WARN Self copy not allowed A file cannot be copied to itself. Cause: Remedy: Check to make sure the file has been spelled correctly and that it exists. CMND--003 WARN File already exists The file already exists and could not be overwritten. Cause: 914 . Cause: CMND--012 WARN Type codes do not match Internal error. Cause: CMND--010 WARN Source type code is invalid Internal error. Cause: Remedy: Program data may be destroyed. Cause: Remedy: Change the name of the destination file so it is different from the source file. MEMO--147 Flash File access error(write) An attempt to write to the F--ROM failed. Cause: Remedy: Check the contents of the program. Also verify the device and path name are correct. CMND--002 WARN File not found The specified file could not be found. so that a program with the specified name cannot Cause: Remedy: be created. MEMO--148 Flash File access error(read) An attempt to read from the F--ROM failed. MEMO--146 Invalid variable is used A KAREL program includes an invalid variable. CMND--009 WARN Position types are the same Internal error. The F--ROM may be faulty.ALARM CODES B--81464EN--3/01 MEMO--145 TPE cannot have KAREL routine A KAREL program with the same name already exists. Cause: Remedy: Program data may be destroyed. The F--ROM may be faulty. MEMO--149 Specified program is broken Program data is destroyed. Cause: Remedy: Make sure the overwrite option has been specified. Change the name to a different one. CMND Error Codes CMND--001 WARN Directory not found The specified directory can not be found. Cause: Remedy: Delete unnecessary programs. MEMO--151 No more available memory(TEMP) Temporary memory is insufficient. Cause: CMND--011 WARN Destination type code is invalid Internal error. Cause: Remedy: Check the variable of the KAREL program. Cause: Remedy: Check the device and path that you entered. COND--003 WARN Already enabled. but it is not found. Cause: Remedy: Check the device and path that you entered. Cause: CMND--021 WARN Cannot rename file The destination file name contained both alphanumeric characters and the global Cause: Remedy: character ’*’.ALARM CODES B--81464EN--3/01 CMND--013 WARN Representation mismatch Internal error. No change has been made. or deleted is specified. disabled. Cause: Remedy: No action is required 915 . Cause: Remedy: This is a notification. Cause: CMND--016 WARN Division by zero Internal error. and has been superseded by the new Cause: Remedy: condition. Cause: CMND--017 WARN Angle is out of range Internal error. Use only alphanumeric characters or a single global character when renaming a file. Cause: CMND--020 WARN End of directory The directory listing is finished. You do not have to do anything for this warning message. no change The specified condition is already enabled. COND--009 WARN Break point encountered Break point has been encountered. Cause: Remedy: This is a notification. No change has been made. Cause: Remedy: Check the existing monitor numbers and specify one of them. CMND--019 WARN Operation cancelled The operation was cancelled because CTRL--C or CTRL--Y was pressed.G Time motion with dist before Unknown Cause: Remedy: Unknown COND Error Codes COND--001 WARN Condition does not exist The number of a monitor to be enabled. Cause: CMND--018 WARN Invalid device or path You have specified an invalid device or path. CMND--022 STOP. Cause: CMND--015 WARN Both arguments are zero Internal error. You do not have to do anything for this warning message. This is a notification. You do not have to do anything for this warning message. COND--002 WARN Condition handler superseded The specified condition number already exists in the system. no change The specified condition is already disabled. Cause: CMND--014 WARN Positions are not the same Internal error. COND--004 WARN Already disabled. or variables. Cause: COND--011 ABORT. DICT--002 WARN Not enough memory to load dict There is no more permanent memory available in the system to load another dictionary. loaded to memory Not enough memory exists in FROM so the dictionary was loaded to CMOS. 916 . Cause: Remedy: Check the dictionary or element number to be sure it is specified correctly. Cause: Remedy: Store the dictionaries into C--MOS memory. Cause: Remedy: Fix the dictionary text file to include fewer nested levels. DICT--004 WARN Dictionary not found The specified dictionary was not found. DICT--009 WARN End of language list The language list has completed. Cause: DICT--010 WARN End of dictionary list The dictionary list has completed. Cause: Remedy: Use the DEFAULT language or a language in which a dictionary has been loaded. Cause: Remedy: Clear all unnecessary programs. DICT Error Codes DICT--001 WARN Dictionary already loaded A dictionary cannot be reloaded if it was loaded into FROM. DICT--007 WARN Dictionary not opened by task The dictionary was never opened. DICT--012 WARN Low on FROM. Cause: Remedy: Use KCL LOAD DICT to load the dictionary into the DEFAULT language or the current language. where file open processing is not required. dictionaries. Condition was not superseded.ALARM CODES B--81464EN--3/01 COND--010 WARN Cond exists. DICT--008 WARN Dictionary element truncated The dictionary element was truncated because the KAREL string array is not large enough to hold all Cause: Remedy: the data. Cause: Remedy: Remove the close operation. DICT--003 WARN No dict found for language There are no dictionaries loaded for the specified language. not superseded The specified condition already exists. DICT--006 WARN Nested level too deep Only five levels of dictionary elements can be nested. Close any unused dictionary files. DICT--005 WARN Dictionary element not found The dictionary element was not found. It took too long to scan them all. Cause: Remedy: Load the dictionary files into F--ROM or C--MOS memory. Cause: DICT--011 WARN Dict opened by too many tasks Only five dictionaries can be open by one task at one time. Increase either the size of the string or the number of strings in the array.G Scan time took too long There are too many conditions defined. Cause: Remedy: Reduce the number of conditions defined. Cause: Remedy: Load into a different language and use KCL SET LANG to set the language. DICT--020 WARN Reserved word expected An identifier is expected after the & to specify a reserved word. DICT--023 WARN Dict does not need to be opened Dictionaries loaded to memory do not need to be opened. DICT--028 WARN No FROM write. Cause: Remedy: Use the element number to reference the element. Cause: Remedy: Check for misspellings or look up the correct word in the KAREL Reference Manual. You do not have to do anything for this warning message. DICT--016 WARN Ending quote expected The dictionary text incorrectly specifies an element without using quotes. Cause: Remedy: Make sure the cursor position is valid. For example. 917 .1 for the first row and col respectively. Cause: Remedy: Make sure all dictionary text is surrounded by double quotes. Cause: Remedy: Remove the & or look up the reserved word in the KAREL Reference Manual. DICT--024 WARN Cannot remove dictionary file Dictionaries loaded to FROM cannot be removed or a dictionary cannot be removed if another task has Cause: Remedy: it opened. Cause: Remedy: Make sure all dictionary text is correct. Cause: Remedy: Do not try to open the dictionary file.ALARM CODES B--81464EN--3/01 DICT--013 WARN Cannot open dictionary file The dictionary file does not exist on the specified device or in the specified directory. Do not try to remove a dictionary loaded to FROM. use @1. \”This is an example\” will produce ”This is an example” DICT--017 WARN Expecting element name or num A reference to another element is expected. You do not have to do anything for this warning message. Remove the dictionary from the same task which loaded it.internal error Incorrect scanning. Cause: Remedy: Make sure all dictionary elements begin with a $. Use a backslash if you want an actual quote to appear in the text. For example. Cause: Remedy: Correct the text of the dictionary. Cause: Remedy: Select the proper device/directory and try again. loaded to memory Not enough memory exists in FROM so the dictionary was loaded to CMOS for R-J. Cause: Remedy: This is a notification. Cause: Remedy: Remove the # or look up the ASCII character code in the KAREL Reference Manual. DICT--025 Invalid state -. DICT--015 WARN Reserved word not recognized A reserved word was not recognized in the dictionary text. DICT--022 WARN Dict already opened by task The dictionary is already open by the task. DICT--018 WARN Invalid cursor position The cursor position is specified incorrectly or the values are outside the limits. DICT--021 WARN Invalid character An unexpected character was found in the dictionary text file. DICT--014 WARN Expecting $ in dictionary file The dictionary text incorrectly specifies an element without a $. DICT--019 WARN ASCII character code expected A series of digits are expected after the # to specify an ASCII character code. Cause: Remedy: This is a notification. LANG Error Codes LANG--004 WARN File is not open 1 A file having the same name already exists. LANG--007 System Error The data of a program file cannot be read correctly. If the checks above cannot correct the error. LANG--014 WARN Program already exists The program that is about to load. LANG--015 WARN Can not write file 1 The file is write--protected. Cause: Remedy: Before you load it. The function key element must be specified with a caret (^) followed by the element number. already exists in the system. Check the Handy File setting. Data communication failed. The data must be normal to load the file. Cause: Remedy: Check the port setting. Cause: Remedy: Check the connection of the device. Cause: Remedy: Please select a teach pendant program. Close the file.ALARM CODES B--81464EN--3/01 DICT--029 WARN Help element not found The help dictionary element was not found. LANG--006 Invalid or corrupted TP file The data of a program file cannot be read correctly. LANG--005 WARN Program type is different Only able to process teach pendant programs. Cause: Remedy: Check the dictionary to be sure the function key element was specified correctly. Cause: Remedy: 2 3 4 1 2 3 4 The specified file has already been opened. Cause: Remedy: The file cannot be loaded with the data as it is. 918 . LANG--016 WARN Can not read file Data of the specified size could not be read. 1 Cancel write protection. LANG--017 WARN File format is incorrect The data you are trying to save to a file is either abnormal or broken. or rename the file. Cause: Remedy: 2 Data of the specified size could not be written. it has no free space. Check the floppy or memory card connection. Check the Handy File setting. When a floppy disk is used. delete the program already in the system. If the checks above cannot correct the error. delete any unnecessary files from the existing floppy disk to create sufficient free space to save the file. Cancel write protection. The help dictionary element must be specified with a question mark (?) followed by the element number. Check the floppy or memory card connection. the data of the file may be destroyed. Delete any unnecessary files. Cause: Remedy: Check the dictionary to be sure the help dictionary element was specified correctly. The file is write--protected. therefore the file cannot be loaded. 2 The disk may be faulty. DICT--030 WARN Function key element not found The function key dictionary element was not found. Or. Replace the disk. Use a new floppy disk. Cause: Remedy: Check the port setting. the data of the file may be destroyed. LANG--098 WARN Disk timeout Could not access the disk. delete the file that already exists on the floppy. and the motion control was not granted. 919 .ALARM CODES B--81464EN--3/01 LANG--018 WARN Group mask value is incorrect When printing the program. LANG--094 WARN File already exists The specified file already exists on the floppy. and the motion control was not granted. Cause: Remedy: Clear the error. LANG--096 WARN Disk is full The floppy disk has reached its limit and is full. program/file names must match The file name and the program name are not same. LANG--100 WARN Device error Could not access the device. Cause: Remedy: Wait until the robot comes to a complete stop. Cause: Remedy: Check the file name or content of the floppy. Cause: Remedy: Disable the teach pendant and try the operation again. LANG--050 WARN %s contains %s. Cause: Remedy: Cancel the write protection. Cause: Remedy: Before you write the new file to the floppy. LANG--099 WARN Write protection violation The disk has write protection. Cause: Remedy: Enable the teach pendant and try the operation again. Their names must match. Reteach the position data so that the group number matches the group mask of the program. Cause: Remedy: Connect the correct device to the correct port. MCTL--005 NONE not in control of motion The motion control was not granted because of some unknown reason. Cause: Remedy: Check if the correct device is set to port and if it turns on. and try the operation again. Cause: Remedy: Either use a new floppy disk or delete an necessary file in order to make room for saving to the floppy. there was an illegal position that did not match the group mask of the Cause: Remedy: program. Cause: Remedy: Clear the reason. and the motion control was not granted. and try the operation again. Cause: Remedy: Rename the file name to be same as the program name. MCTL Error Codes MCTL--001 NONE TP is enabled The teach pendant is enabled. MCTL--003 NONE system is in error status The motion control was not granted because the system is in error status. LANG--095 WARN File does not exist The specified file does not exist on the floppy. MCTL--002 NONE TP is disabled The teach pendant is disabled. MCTL--004 NONE motion is in progress The motion is still in progress. and try the operation again. MCTL--009 NONE Other has motion control Another device has motion control. and inform the representative of an alarm message displayed.ALARM CODES B--81464EN--3/01 MCTL--006 NONE TP has motion control The motion control was not granted because the teach pendant currently has motion control. MCTL--015 NONE Manual brake enabled The motion control was not granted because manual brake control is enabled. Cause: Remedy: Set the $RMT_MASTER system variable correctly. MCTL--007 NONE PROG has motion control The motion control was not granted because the program has motion control Cause: Remedy: Pause or abort the program. Cause: Remedy: Use one of the port types defined in IOSETUP. and inform the representative of an alarm message displayed. 920 . MCTL--013 NONE ENBL input is off ENBL input on the UOP is off. PRIO--003 SYST No memory available The memory required for this operation is not available. Cause: Remedy: Correct the port number. Cause: Remedy: Wait for a few seconds until servo is up and ready. MCTL--012 subsystem code unknown Internal error Cause: Remedy: Contact your FANUC customer service representative. Cause: Remedy: Delete KAREL programs and/or variables to free memory. and the motion control was not granted. and try the operation again. and try the operation again. and try the same operation again. PRIO Error Codes PRIO--001 WARN Illegal iotype Port type specified is invalid.KL. PRIO--002 WARN Illegal index Port number is invalid or not presently assigned. Cause: Remedy: Set ENBL input ON. Cause: Remedy: Disable the teach pendant. and inform the representative of an alarm message displayed. MCTL--010 Other than msrc is rel’ing Internal error Cause: Remedy: Contact your FANUC customer service representative. Cause: Remedy: Disable the manual brake control. MCTL--014 NONE Waiting for Servo ready The motion control was not granted because servo was not up. Cause: Remedy: Set the $RMT_MASTER system variable correctly. MCTL--008 NONE Operator panel has motion control The motion control was not granted because the operator panel has the motion control. MCTL--011 Due to error processing Internal error Cause: Remedy: Contact your FANUC customer service representative. PRIO--006 WARN bad log port number in asgt The specified port number in an assignment is invalid. Cause: Remedy: Correct the number of ports. Cause: Remedy: Use the I/O menu to set the port simulated or avoid setting the port. PRIO--012 WARN bad board num The specified rack and/or slot number is invalid or refers to an unused rack/slot number. PRIO--016 WARN log port already asgnd The specified logic number is already in use. The sequence has from 1 to 15 port numbers. It must be in the range of 1 -.32767. PRIO--010 WARN bad phys port number is asgt Invalid physical port number in assignment request. It must be in the range of 1 -.32767.ALARM CODES B--81464EN--3/01 PRIO--004 WARN Too few ports on mod too few ports on mod There are not enough ports on the specified board or module to make the specified assignments Cause: Remedy: Correct either the first port number or the number of ports. PRIO--013 WARN no aiseq for bd An attempt was made to delete an analog input sequence which has not been defined. PRIO--007 WARN no match in deassign call Port being deassigned is not presently assigned. so that it is within the valid range. PRIO--009 WARN n_ports invalid The number of ports in an assignment is invalid. Check the SLC2 mounted on the main CPU board or I/O unit. PRIO--017 WARN I/O point not sim I/O point not sim You attempted to set an input port that was not simulated. does not exist.128. Cause: Remedy: Check the rack and/or slot number. Cause: Remedy: Correct the logical port number. PRIO--020 SYST SLC communications error %d %d %d %d An unrecoverable error is detected in communication with a process I/O board. PRIO--005 WARN bad logical port no The specified port number in an assignment is invalid. Cause: Remedy: Use another logic number. Cause: Remedy: Correct the rack number. It must be greater than 1. Cause: Remedy: Correct the rack and/or slot number. so that it is greater than 1. Cause: Remedy: Correct the logical port number. 921 . so that it is within the valid range. PRIO--014 WARN ai seq too long The specified analog input sequence is too long. Cause: Remedy: Correct the port number. Cause: Remedy: Correct the first port number or number of ports. Cause: Remedy: Check the cable between the main CPU board and the I/O unit. slot number. It must be in the range of 1 -. Cause: Remedy: Supply a sequence of an appropriate length. PRIO--011 WARN asgt overlaps existing asgt The logical port numbers being assigned overlap existing assignments. so that it is within the valid range. PRIO--008 WARN phys ports not found Physical port being assigned to. Cause: Remedy: Correct the physical port number. or port number. Cause: Remedy: Disconnect some devices. 2 Press F5 (INTER CONNECT). (2) Replace the I/O unit fuse. (6) The I/O unit is faulty. PRIO--023 WARN no ports of this type There are no ports of the specified type.ALARM CODES B--81464EN--3/01 PRIO--021 Unknown I/O hardware An unknown device is connected to the I/O Link connector. (2) The I/O unit fuse has blown. (4) The I/O link cable is either disconnected or not securely connected. Initialize I/O. Cause: Remedy: Replace the device with a device that is compatible with the current software or install a version of software that recognizes the device. Cause: Remedy: Check the power and cabling from MODEL B interface unit and DI/DO unit. or between DI/DO units. PRIO--063 WARN Bad IO asg: rack% d^1 slot %d^2 The I/O unit to which a signal is allocated is not found. or define ports (e. PRIO--083 Digital I/O is not recovered Digital output port states are not recovered when semi--hot start is enabled because I/O device Cause: Remedy: configuration or assignments have changed. (3) Power is not supplied to the I/O unit. PRIO--085 BUSY in SLC2 does not turn off BUSY bit in SLC2 does not turn off. (4) Ensure that the I/O link cable is connected securely. 922 . PRIO--022 Too much I/O data on I/O link The devices connected to the I/O Link exceed the I/O link capacity.g. Cause: Remedy: Disconnect some of the I/O units so that no more than 31 are connected. even when power restoration is enabled. PRIO--072 WARN Pulse output is full Max of pulse output is 255 at the same time. press F1 (TYPE) and select I/O LINK to display the I/O link screen. (6) Replace the I/O unit. GIN or GOUT) of the specified type. Cause: Remedy: Check other error messages displayed on the TP alarm screen. Possible causes are as follows: (1) The I/O unit has been replaced with another type of I/O unit. Cause: Remedy: Check SLC2 on Main CPU board or I/O device and I/O link cable. Then. There is no I/O unit corresponding to the rack Cause: Remedy: and slot numbers subsequent to the alarm message. Cause: Remedy: Change the port type. (5) The I/O link cable is broken. is lost. all output signals are turned off. PRIO--032 WARN too many DIO modules More than 31 I/O units are connected through an I/O link. 1 Press MENU and select I/O. 4 Turn the power off and then back on. PRIO--081 I/O is not initialized This indicates that an severe error has occured during I/O initialization at controller power--up. (5) Replace the I/O link cable.. Cause: Remedy: Check the count of pulse output. PRIO--100 Model B comm fault %srack:%d slot:%d Communication between the MODEL B interface unit and DI/DO units. (1) If the I/O unit has been replaced.” press F4 (YES). or between DI/DO units. In this case. 3 In response to the prompt “RECOVER ALL. apply the following procedure to clear the I/O allocation. (3) Check the power supply to the I/O unit. ROUT--028 ABORT. Cause: ROUT--025 ABORT.ALARM CODES B--81464EN--3/01 PRIO--119 Too many DIGITAL I/O ports There are too many DIGITAL I/O ports. that does not exist. Cause: Remedy: Check SYSFAIL of the other PCB.G Illegal file attribute number Incorrect file attribute id was specified.G Bad index in ORD Internal error of software. Cause: Remedy: Specify correct attribute id. Cause: Remedy: Specify a correct register number.G SUBSTR length less than 0 Internal error of software. Cause: Remedy: Specify a correct attribute value. Cause: Remedy: Specify a larger size string variable. ROUT--033 ABORT. Cause: ROUT--023 PAUSE. PRIO--125 SLC2 initialization error The SLC2 is in an error state at the end of initialization. Also check the main PCB. ROUT--031 WARN Illegal register type Incorrect register type is specified. is specified.G Illegal semaphore number Incorrect number is specified for semaphore id. Cause: Remedy: Specify a correct file attribute id.G Illegal file attribute value Incorrect file attribute value was specified. ROUT--030 WARN Non existent register number A register number. Cause: Remedy: Specify the correct register type for the attempted operation. ROUT--032 ABORT. ROUT--027 WARN String size not big enough Specified string variable does not have enough room to hold the return data. ROUT--029 ABORT. ROUT--026 WARN Illegal group number Invalid group number is specified. Cause: ROUT--024 PAUSE.G Illegal attribute type Illegal attribute id was specified. Cause: Remedy: Specify correct position type. Cause: Remedy: Disconnect some DIGITAL I/O devices.G Position type mismach Position type is not correct for the operation. 923 . Cause: Remedy: Specify existing group number.G Bad index in SUBSTR Internal error of software. Cause: Remedy: Specify a number between 1 to 255. ROUT Error Codes ROUT--022 PAUSE. G Bad TPE header size Value used in SET_HEAD_TPE for bfr_size is invalid. Cause: Remedy: Consult our service representative. ROUT--038 PAUSE. Cause: SCIO--009 string size is illegal in xxstr routine Internal system error. Cause: Remedy: Resume stopped motion and wait until motion has completed or cancel stopped motion. Cause: SCIO--007 opw_sw is illegal in xxmov routine Internal system error. not static Internal system error. Cause: SCIO--004 write flag is illegal. Cause: Remedy: Confirm the contents of position data.G Uninitialized TPE position It indicates that the position data in the specified line of the specified TP program has not been recorded. Cause: Remedy: Wait until executing motion has completed.ALARM CODES B--81464EN--3/01 ROUT--034 WARN Not a TPE program A non-teach pendant program is specified. ROUT--040 WARN Stopped motion exists Cannot unlock group while stopped motion exists. type is illegal Internal system error. Cause: SCIO--005 top of string is not $ in scwrtpar Internal system error. ROUT--035 WARN Value is out of range Internal error of software. ROUT--041 Dym. Cause: Remedy: Confirm the param_no and the parameter in CALL/MACRO command in main TPE program. Cause: Remedy: Use buffer size in the range 1--255. Internal system error. SCIO Error Codes SCIO--001 constants type is illegal Internal system error. Cause: SCIO--006 read line is illegal when call mmreadln Internal system error. var. ROUT--042 TPE parameters do not exist The parameter designated by param_no does not exist. Cause: ROUT--037 ABORT. ROUT--039 WARN Executing motion exists Cannot unlock group while motion is executing. disp. Cause: SCIO--008 interp. Cause: 924 . Cause: SCIO--002 data size is illegal Internal system error. Cause: Remedy: Specify a program name other than a KAREL program. Cause: SCIO--013 string size is illegal in xxpro routine Internal system error. use a linear or circular motion instruction. Cause: SCIO--012 string size is illegal in xxpar routine Internal system error. modify the tool coordinate system number of the master robot on the program detail screen. SCIO--022 EPT_idx is different from before power down Internal system error. SCIO--017 checksum did not match Internal system error.ALARM CODES B--81464EN--3/01 SCIO--010 string size is illegal in xxlbl routine Internal system error. Cause: SCIO--011 string size is illegal in xxcal routine Internal system error. Cause: SCIO--023 Line number is 0. Cause: SCIO--019 chechk sum error pos_id =%d Internal system error. SCIO--032 Master UT mismatch The current tool coordinate system number of the master robot does not match the tool coordinate Cause: Remedy: system number specified on the program detail screen. Cause: SCIO--020 WARN LBL[%d] exists in line %d: This label number exists in another line. For teaching. SCIO--031 JOINT position in slave program The single slave execution program and slave program of the robot link cannot use the joint position Cause: Remedy: format for motion instruction position data. Alternatively. Cause: SCIO--016 WARN This option does not exist This option does not exist Cause: Remedy: Confirm the bought option. Cause: SCIO--015 pos type is illegal in xxmov routine Internal system error. Cause: Remedy: Select another label number. Cause: SCIO--014 opt_sw is illegal Internal system error. Modify the tool coordinate system number of the master robot. Cause: SCIO--030 JOINT motion in slave program The single slave execution program and slave program of the robot link cannot use a joint motion Cause: Remedy: instruction. Cause: SCIO--024 recov_sw is illegal Internal system error. Use the orthogonal position format. 925 . when screcov is called Internal system error. Cause: SCIO--018 option switch is illegal Internal system error. Check if cable is broken. 926 . Check if there exists a noise source near controller. Check if there exists a noise source near controller. and frame error occured. Check target device status. Check if there exists a noise source near controller. Check if cable is broken. Check if there exists a noise source near controller. Cause: Remedy: Initialize the serial port before using it. SRIO--012 S. Check if cable is broken. Check if there exists a noise source near controller. Cause: Remedy: Check if serial port setup is correct. Cause: Remedy: Check if serial port setup is correct. SRIO--010 S. Cause: Remedy: Open serial port before using it. Cause: Remedy: Ensure that the slave program contains only one line of motion instructions. Cause: Remedy: Check if serial port setup is correct. Check if cable is broken. Cause: Remedy: Check if serial port setup is correct. PORT PARITY & FRAME Serial port parity error and frame error occured Cause: Remedy: Check if serial port setup is correct. Check if there exists a noise source near controller. PORT OVERRUN & FRAME Serial port overrun error and frame error occured. Check if cable is broken. overrun error. SRIO--007 SERIAL PORT OVERRUN ERROR Serial port overrun error occured. Check if cable is broken. SRIO--004 SERIAL PORT NOT INITIALIZE Serial port is not initialized. PORT PRTY & OVRRN & FRM Serial port parity error. PORT PARITY & OVERRUN Serial port parity error and overrun error occured. and it was tried to be opened again. SRIO--011 S. Check if there exists a noise source near controller. Cause: Remedy: Check if serial port setup is correct. Cause: Remedy: Check if serial port setup is correct. Check if cable is broken. Cause: Remedy: Check if serial port setup is correct. SRIO--005 SERIAL PORT DSR OFF Serial port DSR is off. SRIO--003 SERIAL PORT ALREADY OPEN Serial port has already been opened. SRIO--008 SERIAL PORT FRAME ERROR Serial port frame error occured. Cause: Remedy: Do not try to open the serial port which has already be opened.ALARM CODES B--81464EN--3/01 SCIO--033 Slave can have ony one motion line The robot link slave program allows only one line of motion instructions to be taught. SRIO--009 S. Check if cable is broken. SRIO--006 SERIAL PORT PARITY ERROR Serial port parity error occured. Check if there exists a noise source near controller. SRIO Error Codes SRIO--002 SERIAL PORT NOT OPEN Serial port is not opened. 927 . Check if cable is broken. FLPY--101 Block check error The checksum data is bad. FLPY--009 Communications error The protocol format was invalid. Cause: Remedy: Clean the disk drive. Cause: Remedy: Data is corrupted on disk and can not be read. Cause: Remedy: Do not attempt to read beyond the end of a file. PORT DSR OFF & HARDWARE ERR Serial port DSR is off and harware error occured. FLPY--008 Only one file may be opened An attempt was made to open more than one file. FLPY--100 Directory read error The directory information is corrupted and unreadable. or reformat the disk.ALARM CODES B--81464EN--3/01 SRIO--013 S. Check the hardware. try another disk. Check target device status. FLPY--002 File already exists The file name you are trying to create already exists on this device. FLPY--004 Unsupported command Operation is not supported on floppy disk. Cause: Remedy: Do not attempt to open more than one file at a time. Cause: Remedy: Check if serial port setup is correct. FLPY--003 File does not exist The file you are trying to open does not exist on this device. FLPY--015 Write protection violation The disk has write protection enabled. FLPY--006 End of file reached The end of the file was reached while reading. Cause: Remedy: Delete some unneeded files or use a disk with sufficient free space. Cause: Remedy: Retry the operation. Cause: Remedy: Delete the file of this name or choose a different file name. You do not have to do anything for this warning message. Cause: Remedy: Remove write protection from the disk or use a disk that is not write protected. Check if there exists a noise source near controller. FLPY--005 Disk is full The disk file capacity has been reached. or reformat the disk FLPY--103 Seek error There is a bad sector or track on the disk. Cause: Remedy: This is a notification. Try another disk. Cause: Remedy: Try another disk or reformat the disk. Cause: Remedy: Use only operations supported on floppy disk. FLPY Error Codes FLPY--001 End of directory reached Your listing has reached the end of the directory. Cause: Remedy: Open a file that does exist on the device. Check the validity of the logical unit number. FILE--008 Illegal device name Device name contains an illegal character. Cause: Remedy: Mount the correct file device. Cause: Remedy: You tried to create a file in the root directory which execeeded the maximum number of files allowed on the device. FILE--009 Illegal logical unit number Illegal LUN is used. Delete unnecessary files in the root directory. Cause: Remedy: Format the card with UTILITY menu on FILE screen.ALARM CODES B--81464EN--3/01 FLPY--104 Disk timeout The drive did not respond to a command. You should mount the device before using it. FILE--011 Directory full Directory is full. Cause: Remedy: Mount device only once. 928 . FLP--105 Write protection violation The disk has write protection enabled. FILE--002 Device is Full Device is full. Cause: Remedy: Check if the device is mounted and ready to use. FILE--005 Device not mounted Device is not mounted. Cause: Remedy: Check the cable to the drive and make sure drive power is on. FLPY--107 Not formatted card The Memory Card is not formatted. Cause: Remedy: Check spelling and validity of device name. Cause: Remedy: Remove write protection from the disk or use a disk that is not write protected. FILE--010 Directory not found Specified directory does not exist Cause: Remedy: Check validity of directory name. Cause: Remedy: Delete any unnecessary files or change to a new device. There is no more space to store data on the device. FLPY--106 Memory Card hardware error Memory Card hardware error is detected. Cause: Remedy: This is an internal error. FILE--006 Device is already mounted You tried to mount the device which had been already mounted. Cause: Remedy: Release the device protection. FILE Error Codes FILE--001 Device not ready Specified file device is not ready. you cannot write to the device. Cause: Remedy: Check Memory Card I/F unit connection or battery of the card. So. FILE--003 Device is protected Device is protected. Cause: Remedy: Check that the file exists and that the file name was spelled correctly. Cause: Remedy: Release the lock. FILE--018 File is already opened You tried to create/delete/rename a file which is already opened. FILE--017 File not open You tried to access a file which is not open. Cause: Remedy: Check if the access mode is correct. Cause: Remedy: Open the file before accessing. Cause: FILE--022 Illegal file name File name contains an illegal character. Cause: Remedy: Check if the protection code is correct. Cause: Remedy: Release the protection to the directory. Cause: Remedy: Release the protection from file.ALARM CODES B--81464EN--3/01 FILE--012 Directory is protected You tried to write to a write protected directory. FILE--014 File not found The specified file was not found. Cause: Remedy: Close file before such operations. FILE--025 Illegal protection code File protection code is illegal. FILE--013 Illegal directory name Directory name contains an illegal character. FILE--024 Illegal file type File type contains an illegal character. FILE--019 File is locked You tried to access a file which is locked. 929 . Cause: Remedy: Check the spelling and validity of the file type. Cause: Remedy: Check spelling of directory name. FILE--021 End of file End of file was detected. Cause: Remedy: Check spelling of file name. FILE--015 File is protected You tried to access a protected file. Cause: Remedy: Use a valid file number which is the ID returned from an open request. FILE--026 Illegal access mode File access mode is illegal. FILE--023 Illegal file number File number is illegal. Cause: Remedy: Change file size to be correct. FILE--020 Illegal file size File size is invalid. FILE--039 Directory already exists You tried to create a sub--directory that already exists. FILE--036 File already exist You tried to rename a file to an already existing file name. Cause: Remedy: Close unnecessary files. Cause: Remedy: Use a unique name for new sub--directory FILE--040 Illegal file access mode You tried to read from a write only opened file or tried to write to a read only opened file. Cause: Remedy: Check that the file position parameter from SEEK request is positive and not beyond the end of file. FILE--028 Illegal data block Data block is broken which is used in FIND_NEXT request. Cause: Remedy: Unlock any unnecessary file lock requests. Cause: Remedy: You should keep the data block which is returned from the previous FIND_FIRST or FIND_NEXT request. FILE--038 File locked by too many tasks There are too many lock requests to same file. Cause: Remedy: Remove all files and directories in the subdirectory before removing subdirectory. FILE--033 System file buffer full File management buffer is full. Cause: Remedy: Check if the request code is corect. Cause: Remedy: Check if the path name is correct. FILE--037 Directory not empty You tried to remove a subdirectory which contains some files or directories. FILE--034 Illegal file position Illegal file position is specified. Cause: Remedy: Check that all parameters for the request are valid. Cause: Remedy: Change the new file name to be unique or delete the existing file. FILE--031 Illegal path name Path name contains an illegal character.ALARM CODES B--81464EN--3/01 FILE--027 Illegal attribute File attribute in the SET_ATTRIBUTE request is illegal. FILE--035 Device not formatted You tried to access a unformatted device. Cause: Remedy: Check that attribute specified is valid. Cause: Remedy: Open a file with correct access mode. FILE--032 Illegal parameter Illegal parameter is detected. Cause: Remedy: Dismount any unnecessary devices. 930 . Cause: Remedy: Format the device before using it. FILE--030 Device lun table is full Device management table is full. FILE--029 Command is not supported Illegal request command is specified. Cause: SSPC--002 Occer dead lock condition The priority of space is invalid Cause: Remedy: Set the priority valid SSPC--003 AccuPath not allowed Space Check function is not compatible with AccuPath. Cause: Remedy: Perform calibration. SSPC--014 Common frame setting (G:i) The inter--robot calibration of group (G:i) is not completed. SSPC--012 Invalid element (s:i j) The setting of model elements is incorrect. Not use AccuPath or disable space check function SSPC--004 CTV option not allowed Space Check function is not compatible with Continuous Turn CTV option. SSPC--017 Invalid comb index (C:i s) The model number on the (s) side (L[left].ALARM CODES B--81464EN--3/01 FILE--041 File not locked You tried to unlock file which you had not locked. Check that the setting of a link number and link type is correct. Remove CTV option or disable space check function SSPC--011 APDT error (i) Internal error Cause: Remedy: Contact your FANUC customer service representative. Cause: Remedy: Example of display: “Invalid element (G:1 6)” The sixth model element of group1 is set incorrectly. R[right]) of combination setting (C:i) is invalid. check the model type. Cause: Remedy: AccuPath is not allowed. Cause: Remedy: Perform inter--robot calibration. You can only unlock files which YOU have locked. SSPC--013 Invalid hand num (G:i UT:j) The hand number assigned to tool coordinate system number (UT:j) of group (G:i) is invalid. SSPC--015 Not calibrated (G:i) The calibration of group (G:i) is not completed. Cause: Remedy: Don’t unlock a file that is not locked. SSPC--016 Invalid comb type (C:i s) The model type on the (s) side (L [left]. R[right]) of combination setting (C:i) is invalid. check the model number. check the hand number assignment. The CTV motion option is Cause: Remedy: not allowed. Check the setting of model elements. SSPC Error Codes SSPC--001 Waiting until space gets clear Special checking space is not clear. check the model type and model number. and inform the representative of the character string indicated in (i) of the message. Cause: Remedy: On the model combination setting screen. Cause: Remedy: On the model setting screen. SSPC--018 APDT is not supported (G:i) The robot of group (G:i) does not support the proximity stop function. “Invalid element (H:2 1)”The first model element of hand 2 is set incorrectly. Cause: Remedy: On the model combination setting screen. 931 . Cause: Remedy: On the model combination setting screen. check the teach group number. This alarm is not issued usually.s) The model type on the (s) side (L[left]. SSPC--020 Invalid fixture obj (F:i) The teach group number of jig model (F:i) is invalid. Cause: Remedy: Reduce the number of settings. Cause: Remedy: The alarm can be released by an ordinary reset operation. SSPC--101 (G:i) is close to target Proximity was detected. SSPC--111 Invalid comb type (ST. SSPC--021 Too many settings There are an excessive number of model settings or combination settings.C:i) of the message.C:i.ALARM CODES B--81464EN--3/01 SSPC--019 (G:i) is close to target An interference was detected. ( i: Group number) Cause: Remedy: The alarm can be released by an ordinary reset operation.C:i) The distance between model elements could not be calculated. SSPC--103 (G:i) is near to target A gradual stop occurred.G:i) The calibration of group (G:i) is not completed. Cause: Remedy: Reduce the number of settings. SSPC--101 SSPC--102 (G:i) is close to target(qstop) Proximity was detected. R[right]) of combination number (C:i) in the proximity stop Cause: Remedy: combination setting is invalid. Cause: Remedy: On the proximity stop combination setting screen. SSPC--112 Invalid comb index(ST.s) The model number on the (s) side (L[left]. SSPC--113 APDT isn’t supported (ST. check the model type and model number. SSPC--105 Too many settings There are an excessive number of model settings or combination settings. Cause: Remedy: On the jig model setting screen. ( i: Group number) Cause: Remedy: The alarm can be released by an ordinary reset operation. On the proximity stop model combination setting screen. Cause: Remedy: SSPC--111. On the proximity stop combination setting screen. Cause: Remedy: Perform calibration. SSPC--106 Failed to get dist (j.G:i) The robot of group (G:i) does not support the proximity stop function. SSPC--104 APDT error (i) Internal error ( i: Error number) Cause: Remedy: This alarm is not issued usually. R[right]) of combination number (C:i) in the proximity stop Cause: Remedy: combination setting is invalid. Inform your FANUC customer service representative of the numeric value indicated in (j. Inform your FANUC customer service representative of the numeric value indicated in (i) of the message. ( i: Group number) Cause: Remedy: The alarm can be released by an ordinary reset operation. check the model type. SSPC--114 Not calibrated (ST.C:i. 932 . check the model number. check the hand number assignment. SSPC--135 Invalid utool number (WT.ALARM CODES B--81464EN--3/01 SSPC--115 Invalid utool number (ST.UT:j) The hand number assigned to tool coordinate system number (UT:j) of group (G:i) is invalid.s) The model number on the (s) side (L[left]. R[right]) of combination number (C:i) in the proximity wait Cause: Remedy: combination setting is invalid. SSPC--131 Invalid comb type (WT. SSPC--118 Invalid element (ST.UT:j) The hand number assigned to tool coordinate system number (UT:j) of group (G:i) is invalid. Cause: Remedy: Perform calibration.F:i) The teach group number of jig model (F:i) is invalid. j) of the message. SSPC--116 Invalid hand num(ST.C:i. Cause: Remedy: SSPC--111. check the model type and number. “Invalid element (ST . Cause: Remedy: On the model setting screen. check the hand number assignment. SSPC--134 Not calibrated (WT. Cause: Remedy: Example of display: “Invalid element (ST.G:i.s:i. Cause: Remedy: This alarm is not issued usually. SSPC--132 Invalid comb index(WT.G:i.G:i) The tool coordinate system number of group (G:i) is invalid. Cause: Remedy: Check the tool coordinate system number. check the model type.C: i. SSPC--136 Invalid hand num(WT. R[right]) of combination number (C:i) in the proximity wait Cause: Remedy: combination setting is invalid. Check that the setting of a link number and link type is correct.G:i) The robot of group (G:i) does not support the proximity wait function. Cause: Remedy: Perform inter--robot calibration.G:i) The inter--robot calibration of group (G:i) is not completed.H:2 1)”The first model element of hand 2 is set incorrectly. On the proximity wait combination setting screen. Cause: Remedy: On the proximity wait combination setting screen. Inform your FANUC customer service representative of the numeric value indicated in (ST.G:i) The calibration of group (G:i) is not completed. Cause: Remedy: On the jig model setting screen. SSPC--120 Invalid fixture obj (ST. SSPC--117 Common frame setting (ST.G:i. 933 . Perform inter--robot calibration.G:i) The inter--robot calibration of group (G:i) is not completed. SSPC--133 APDT isn’t supported (WT. Cause: Remedy: On the model setting screen.j) The current position of a model element could not be calculated. check the teach group number. check the model number. Check the setting of model elements. On the proximity wait combination setting screen. SSPC--119 Can’t get elem pos(ST. SSPC--137 Common frame setting (WT.G:1 6) ”The sixth model element of group1 is set incorrectly. Cause: Remedy: Check the tool coordinate system number.j) The setting of model elements is incorrect.s) The model type on the (s) side (L[left].G:i.G:i) The tool coordinate system number of group (G:i) is invalid. G:i. check the teach group number. Check the setting of model elements. check the setting of the proximity wait halt signal.C:i) is disabled An attempt was made to temporarily disable invalid proximity stop combination (C:i) on the setting Cause: Remedy: screen with a program instruction.C:i) is enabled by other An attempt was made to enable/disable proximity wait condition number (C:i) already enabled by Cause: Remedy: another task. the proximity wait halt signal was input.C:i) In a specified proximity wait combination (C:i). check the host name. Cause: Remedy: Adjust the wait time. Cause: Remedy: On the host communication screen of the setting screen. Set a correct host name. Moreover. SSPC--139 Can’t get elem pos(WT. The proximity wait condition number is currently used by another program. “Invalid element (WT.s:i.C:i) In the proximity wait state. an invalid host name is set. Cause: Remedy: On the jig model setting screen.H:2 1)”The first model element of hand 2 is set incorrectly. Enable the proximity stop combination on the setting screen before using it.ALARM CODES B--81464EN--3/01 SSPC--138 Invalid element (WT.j) The current position of a model element could not be calculated.j) The setting of model elements is incorrect. check if the same signal is used for another purpose. SSPC--154 (ST. set 0 in “time--out” on the proximity wait combination setting screen. the time set in time--out has elapsed. Cause: Remedy: If the halt is unexpected. SSPC--152 App_STOP (ST.C:i) is disabled An attempt was made to temporarily disable invalid proximity stop combination (C:i) on the setting Cause: Remedy: screen with a program instruction. To wait infinitely. SSPC--156 Invalid host name (WT. The proximity stop condition number is currently used by another program.F:i) The teach group number of jig model (F:i) is invalid. SSPC--153 (WT. check the host name. Cause: Remedy: Example of display: “Invalid element (WT. Enable the proximity stop combination on the setting screen before using it. SSPC--151 App_STOP (ST. j) of the message.G:1 6)”The sixth model element of group1 is set incorrectly.C:i) In the proximity wait state. SSPC--155 Invalid host name (ST. Use it after it is freed.C:i) is disabled by other The proximity stop instruction was used for proximity stop condition number (C:i) being used by another Cause: Remedy: task. SSPC--157 Intrupt signal (WT. Set a correct host name. Cause: Remedy: This alarm is not issued usually. an invalid host name is set. Contact your FANUC customer service representative of the numeric value indicated in (WT. SSPC--140 Invalid fixture obj (WT. Check that the setting of a link number and link type is correct.C:i) In a specified proximity stop combination. Use it after it is freed. Cause: Remedy: On the host communication screen of the setting screen.G:i. SSPC--158 App_WAIT timeout (WT. 934 . an Cause: Remedy: attempt was made to enable the setting before the power is turned off then back on.G (s. Alternatively. and communication line state. SSPC--181 Comm init error i s An error occurred at communication initialization time. then is executed after retraction F After this alarm is issued. the proximity wait function is disabled even if the program is restarted. reply NO in response to the confirmation message to prevent execution from being disabled. s: Control unit name) Cause: Remedy: For the control unit name indicated by the error message. SSPC--182 Invalid hostname (s) After the setting of a new control unit name with a proximity stop or proximity wait combination.C:i) This message is output for confirmation when combination (C:i) is temporarily disabled by the proximity Cause: stop instruction. host name. reply NO in response to the confirmation message to prevent execution from being disabled. SSPC--160 App_STOP is TMP_DISed(ST.ALARM CODES B--81464EN--3/01 SSPC--159 App_WAIT can’t be used(WT. then is restarted by changing the line F Case where the program is temporarily stopped with combination (C:i) enabled by the proximity wait instruction. Moreover. Remedy: When the program is restarted by changing the line. (i: Error cause number. SSPC--168 (s. i) invalid rate value An invalid sensitivity is specified with the proximity stop sensitivity instruction.C:i) This message is issued for confirmation when combination (C:i) is enabled by the proximity wait Cause: instruction. then is restarted by changing the line F Case where the program is temporarily stopped with combination (C:i) temporarily disabled by the proximity stop instruction. then is executed after retraction F After this alarm is issued. SSPC--162 App_WAIT is enabled (WT. (s: Control unit name) When a new control unit name is specified. Remedy: When the program is restarted by changing the line. an invalid control unit name is specified. (s: Program name. check the address setting.C:i) This alarm is issued in the following cases: Cause: Case where the program is temporarily stopped with combination (C:i) temporarily disabled by the proximity stop instruction. i: Line number) SSPC--169 PAUSE. Cause: Remedy: Specify a correct group number. i: Line Cause: Remedy: number) Enter a correct value (0 to 100). Remedy: SSPC--161 App_STOP is enabled (ST.C:i) This alarm is issued in the following cases: Cause: Case where the program is temporarily stopped with combination (C:i) enabled by the proximity wait instruction. (s: Program name. 935 .G:i) In the following operations. Remedy: SSPC--163 App_WAIT is disabled (WT. the power must be turned off then back on for the setting to become effective.i) invalid group number An invalid group number is specified with the proximity stop sensitivity instruction. check the control unit name on the host communication setting screen. the combination is not temporarily disabled even if the program is restarted. automatic stop/restart based on the proximity wait function cannot be Cause: performed: F When slave robot follow--up operation is being performed based on robot link synchronization F When the continuous rotation function is being used Remedy: Do not use any of the two functions above at the time of automatic stop/restart operation. j) The position data of a remote element received from another control unit is obsolete. then check if the settings are correct and also check if all data is displayed correctly. SSPC--187 Receive invalid data i s Data received from another control unit contains an error. make a proximity stop or proximity wait setting for the target control unit. Delete unused control units. reduce the number of elements whose settings are enabled. i: Element type. SSPC--189 Timeout element (s. and element type 3 represents the jig. Next. Cause: Remedy: (s: Control unit name) The control unit name and its address must be checked and modified as required. Check and modify the setting of the element. SSPC--185 Number of element exceed limit The number of elements whose settings can be enabled on one control unit exceeded the limit. If this alarm is issued even when all elements are set correctly. the power must be turned off then back on for the setting to become effective.i. and the address. (s: Control unit name. SSPC--184 Number of host exceed limit The number of control units specifiable for proximity stop setting and proximity wait setting on one Cause: Remedy: control unit exceeded the limit. (s: Control unit name. 936 . this alarm is issued also when the control unit indicated in the alarm does not have a proximity stop or proximity wait setting made for the target control unit. and hub settings.i. Cause: Remedy: Check if an error has occurred on the source control unit or hub. j: Element number) Element type 1 represents the robot. Moreover. Alternatively. (s: Control unit name) Cause: Remedy: This function does not communicate with a control unit not specified as a proximity stop or proximity wait target. Cause: Remedy: SSPC--111. Alternatively. Turn off the power. host name. on the remote control unit as well. Cause: Remedy: Communication with the control unit may have been disconnected. then turn on the power. contact your FANUC customer service representative. So. the communication address setting is incorrect. element type 2 represents the hand. j: Element number) If communication is disconnected. from the proximity stop setting screen and the proximity wait setting screen. and disable the settings of those elements that may not be used. SSPC--190 No communication (s) This alarm is issued when no response is received from another control unit. SSPC--186 Invalid element (s. if any. Check the communication line cabling.j) The setting of an element of the control unit indicated by the control unit name in this alarm message Cause: Remedy: is invalid. SSPC--188 Invalid data for send i Data to be sent to another control unit contains an error.ALARM CODES B--81464EN--3/01 SSPC--183 Invalid address (s) For the control unit name for which this alarm is issued. i: Element type. Cause: Remedy: Check the settings of elements. Open the element setting screen. reduce the number of control units specified. the no--response alarm is usually issued. Cause: Remedy: Contact your FANUC service center. CNTR--007 STOP. Cause: Remedy: Contact your FANUC service center.C:i. Cause: Remedy: Check the operation option. SSPC--192 Target elem not exist(PA.G Invalid dest.ALARM CODES B--81464EN--3/01 SSPC--191 Target elem not exist(ST. F Remedy: Check the items listed above.G Serious Internal error (G:i) Internal software error. or $IA_FOBJ are disabled. CNTR--008 STOP. CNTR--010 STOP. Cause: Remedy: Contact your FANUC service center. Cause: Remedy: Delete either instruction. SSPC--193 IAL detect overload (i) The operation. The communication destination control unit does not have a target set correctly for a cause indicated above or because of nonexecution of calibration. F All elements of the target $IA_GRP. This alarm is not issued usually. or $IA_FOBJ are disabled. Cause: There may be one of the following errors: F A nonexistent element type or number is specified.G Ind. F Remedy: Check the items listed above.angle (G:i) An operation option that cannot be used with the continuous rotation function is specified. 937 . communication processing. F All elements of the target $IA_GRP. and proximity wait processing Cause: Remedy: in the control unit are causing an overload. For the current robot setting. CNTR--006 WARN Unable to Allocate Memory Internal software error. $IA_HAND. Ignore this message. CNTR--005 WARN Wrong CN Axis/N1 or N2 (G:i) The number of the continuous rotation axis is invalid. Cause: There may be one of the following errors: F A nonexistent element type or number is specified. the interpolation period may be is too short. AR[right]) of proximity stop combination (C:i) contains an error. CNTR Error Codes CNTR--004 WARN No cnir pointer Internal software error. Contact your FANUC customer service representative. F A nonexistent group is specified. The communication destination control unit does not have a target set correctly for a cause indicated above or because of nonexecution of calibration.$ROBOT. F A nonexistent group is specified.C:i. AR[right]) of proximity wait combination (C:i) contains an error. proximity stop processing.s) The element on the (s) side (L[left].EV option not allowed Both an additional axis speed instruction and continuous rotation instruction are used. $IA_HAND.s) The element on the (s) side (L[left]. CNTR--009 WARN Warn--Cont Vel too high (G:i) The continuous rotation speed is relatively high. Cause: Remedy: This does not present any problem.$ROBOT. Cause: Remedy: Set a valid axis number. TAST--008 STOP.G The analog signals could not be allocated. RTCP Error Codes RTCP--001 Wrist Joint is not allow Wrist Joint is used on the resume motion. TAST--005 WARN An internal software error has occurred. Cause: Remedy: Turn the power on in the control start mode. Cause: Remedy: Turn the power off and on. Cause: Remedy: The process I/O printed circuit board could not be initialized. TAST Error Codes TAST--000 WARN An internal software error has occurred. Cause: Remedy: Check the operation add instruction used together with the continuous rotation instruction. 938 . TAST--001 WARN The arc sensor system variable is not loaded. TAST--006 STOP. CNTR--012 STOP.G An internal software error has occurred. Cause: Remedy: Turn the power off and on. increase the sampling period. Cause: Remedy: Change the schedule number. Wrist Joint is used with the resume motion. Change the setting about the resume motion and do not use wrist joint. Cause: Remedy: Turn the power off and on. Cause: Remedy: Increase the frequency. Cause: Remedy: Decrease the continuous rotation speed.G Axis speed exceeds lim (G:i) The continuous rotation speed exceeds the upper limit.G The weaving frequency is too low. Normally.ALARM CODES B--81464EN--3/01 CNTR--011 STOP. TAST--009 STOP.G The arc sensor schedule number is incorrect. so this error always occurs. TAST--003 STOP. TAST--007 WARN An internal software error has occurred. Cause: Remedy: Turn the power off and on. TAST--002 STOP.G Ending Cont Rot on Rel Motion The continuous rotation speed instruction ended with a relative operation. Cause: Remedy: RTCP does not coexist with Wrist Joint. then initialize motion software parts.G The I/O memory could not be allocated. TAST--004 STOP.G An internal software error has occurred. Cause: Remedy: Decrease the frequency. Cause: Remedy: Turn the power off and on. Alternatively. G An internal software error has occurred. Cause: Remedy: Turn the power off and on. 939 . WEAV--007 STOP.G The weaving schedule number is incorrect. Cause: Remedy: Lower the weaving frequency. Cause: Remedy: Start up in the control start mode.G The weaving frequency is too high. Cause: Remedy: Change the frequency to a value within the correct range. TAST--013 STOP. WEAV Error Codes ( ID = 45 ) WEAV--000 WARN An internal software error has occurred.G The weaving frequency is incorrect.G An internal software error has occurred.G The amplitude is incorrect. WEAV--002 STOP.G The memory space is insufficient. Cause: Remedy: Turn the power off and on. TAST--012 STOP.G An internal software error has occurred. TAST--011 STOP. Cause: Remedy: Turn the power off and on. Cause: Remedy: Delete the line. WEAV--001 WARN An internal software error has occurred. WEAV--006 STOP.G An internal software error has occurred. WEAV--004 STOP. Cause: Remedy: Turn the power off and on. WEAV--005 STOP. then initialize the system variable. Cause: Remedy: Turn the power off and on.G The weaving system variable is not loaded or is not initialized. Cause: Remedy: Erase an unnecessary file. Cause: Remedy: Turn the power off and on. Cause: Remedy: Change the schedule number to a value within the correct range. WEAV--003 STOP. WEAV--008 STOP.ALARM CODES B--81464EN--3/01 TAST--010 STOP. Cause: Remedy: Start up in the control start mode. TAST--014 STOP. then initialize the motion software parts.G An internal software error has occurred.G An internal software error has occurred. Cause: Remedy: Specify a value within the correct range. Cause: Remedy: Set #812--12--1 in the end--point stop field on the weave setup screen. Cause: Remedy: No remedy is required. WEAV--012 WARN A multi--group program cannot use the end--point stop function. WEAV--013 WARN The weaving direction is incorrect.G The value of the end point timer is incorrect.ALARM CODES B--81464EN--3/01 WEAV--009 STOP. 940 . Cause: Remedy: Specify a value within the correct range. change the user coordinate system setting or the direction of the welding path. Cause: Remedy: Turn the power off and on. WEAV--011 WARN An internal software error has occurred. WEAV--010 WARN Multiple weaving instructions were executed in advance. Cause: Remedy: To calculate a correct weaving direction. The weaving direction cannot be calculated. functions.2 System Variables 941 . j Contents of this appendix E. standard settings. and valid ranges of system variables. SYSTEM VARIABLES This part of this manual describes the names.1 Format of a System Variable Table E.SYSTEM VARIABLES B--81464EN--3/01 E. Changeable/unchangeable Whether the power must be turned off then on again Valid range (unit) 942 . $PPABN_ENBL BOOLEAN Variable type Table E--1. RW PU Standard value TRUE TRUE / FALSE Changeable/unchangeable Valid range Format of a system variable table System variable name Standard value * Intrinsic value for each model Variable type BOOLEAN True/false type (TRUE/FALSE) BYTE Integer (0 to 255) SHORT Integer (--32768 to 32767) INTEGER Integer (--1000000 to 1000000) REAL Real number (--10000000000 to 1000000000) CHAR Character string (“abcdefg”) XYZWPR Cartesian coordinates RW Changeable RO Unchangeable PU Indicates that the power must be turned on again.1 Format of a System Variable Table Whether the power must be turned off then on again System variable name $PARAM_GROUP [ group ] .SYSTEM VARIABLES B--81464EN--3/01 E. 3 Press the F1 (TYPE) key.000 OVRDSLCT_T MRR_GRP_T PASSWORD_T SYSTEM Variables $PARAM_GROUP 1 $BELT_ENABLE 2 $CART_ACCEL1 3 $CART_ACCEL2 4 $CIRC_RATE 5 $CONTAXISNUM 6 $EXP_ENBL JOINT 10% 49/98 FALSE 192 0 1 0 TRUE [TYPE] 7 After changing the setting of the system variable for which PU is specified.) NOTE The setting of a system variable for which RO (unchangeable) is specified cannot be changed. the system variable screen is displayed.NEXT -- SYSTEM Variables 1 2 3 4 5 6 7 8 9 10 MENUS 5 POSITION 6 SYSTEM 7 JOINT 10% 1/98 $AP_MAXAX $AP_PLUGGED $AP_TOTALAX $AP_USENUM $AUTOINIT $BLT $CRT_DEFPROG $CSTOP $DEFPULSE $DEVICE 536870912 4 16777216 [12] of Byte 2 19920216 *uninit* TRUE 4 ’P3:’ [TYPE] Variables TYPE F1 5 To change the value of a system variable. then turn it on again. the low--order system variables are displayed. (PU is specified for all $PARAM_GROUP system variables. 943 . Then. move the cursor to a desired item. 2 Select 0 (NEXT). 4 Select Variables. then press the ENTER key or select a desired item by pressing the corresponding function key. then select 6 (SYSTEM). turn off the power.SYSTEM VARIABLES B--81464EN--3/01 Procedure E--1 Step Setting a system variable 1 Press the MENUS key. SYSTEM Variables ENTER 47 48 49 50 JOINT 10% 49/98 $ORIENTTOL $OVRDSLCT $PARAM_GROUP $PASSWORD 10. move the cursor to a desired item and press the ENTER key. 9 USER 0 -. Then. 6 When a system variable contains multiple system variables. enter a new value. $MASTER_COUN[ 9 ] * INTEGER [Function] RW 0 to 100000000 ( pulse ) Store mastering pulse counts [Description] Pulse coder count at zero degree position is stored. $SV_OFF_ALL BOOLEAN RW PU TRUE / FALSE [Function] TRUE Enables or disables the brake control function [Description] Specifies how the brakes are applied. This value is calculated from current count at mastering and current position. $MASTER_COUN[ 4 ] * $DMR_GRP[ group ]. [Setting] On the positioning screen [6 (SYSTEM).SYSTEM VARIABLES B--81464EN--3/01 E. it does not put on all brakes until all axes finish moving and it shuts off all brakes when one axis starts to move. 0: Positioning screen not displayed. $MASTER_COUN[ 5 ] * $DMR_GRP[ group ]. TRUE: It sets on/off brakes for all axes at the same time. FALSE: It allows the brakes to engage after the conditions specified in $SV_OFF_ENB and $SV_OFF_TIME are satisfied. $MASTER_POS[ 2 ] * $PARAM_GROUP[ group ].Master/Cal] $DMR_GRP[ group ]. 1: Positioning screen displayed.Master/Cal] is displayed on the teach pendant. $MASTER_POS[ 7 ] * $PARAM_GROUP[ group ].2 System Variables Power failure recovery $PARAM_GROUP[ group ] . $MASTER_COUN[ 7 ] * $DMR_GRP[ group ]. $MASTER_POS[ 5 ] * $PARAM_GROUP[ group ]. $MASTER_COUN[ 6 ] * $DMR_GRP[ group ]. $MASTER_POS[ 1 ] * $PARAM_GROUP[ group ]. $MASTER_POS[ 3 ] * $PARAM_GROUP[ group ]. $MASTER_DONE BOOLEAN [Function] RW TRUE TRUE / FALSE Indicates if mastering is completed. $MASTER_COUN[ 3 ] * $DMR_GRP[ group ]. $MASTER_POS[ 9 ] * REAL [Function] RW PU --100000 to 100000 ( deg ) Store jig position for jig mastering [Description] Jig position for jig mastering is stored. $MASTER_POS[ 6 ] * $PARAM_GROUP[ group ]. $MASTER_COUN[ 8 ] * $DMR_GRP[ group ]. $MASTER_COUN[ 1 ] * $DMR_GRP[ group ]. $DMR_GRP[ group ]. $MASTER_COUN[ 2 ] * $DMR_GRP[ group ]. 944 . i. Mastering pulse count is calculated from this data. $PARAM_GROUP[ group ]. [Description] Indicates if mastering has been completed. Mastering $MASTER_ENB 0 ULONG [Function] RW 1/0 Displays positioning screen [Description] When this variable is enabled.e. $MASTER_POS[ 4 ] * $PARAM_GROUP[ group ]. $MASTER_POS[ 8 ] * $PARAM_GROUP[ group ]. the positioning screen [6 (SYSTEM). the pulse coder count and coordinate values of the reference position are stored. [Setting] On the positioning screen [6 (SYSTEM). $REF_COUNT[ 1 ] 0 $DMR_GRP[ group ]. $REF_POS[ 2 ] 0 $DMR_GRP[ group ]. $REF_POS[ 6 ] 0 $DMR_GRP[ group ]. $REF_COUNT[ 8 ] 0 $DMR_GRP[ group ].Master/Cal] $DMR_GRP[ group ]. $REF_COUNT[ 2 ] 0 $DMR_GRP[ group ]. [Description] When the reference point of simple mastering is set. This check is usually performed when the power is turned on. $REF_POS[ 9 ] 0 REAL [Function] RW --100000 to 100000 ( deg ) Store reference point to be set during quick mastering [Description] Store the reference point to be set during quick mastering. $REF_DONE BOOLEAN [Function] RW FALSE TRUE / FALSE Indicates if setting of the reference point for quick mastering is completed. $REF_POS[ 8 ] 0 $DMR_GRP[ group ]. Positioning $MOR_GRP[ group ]. [Setting] On the positioning screen [6 (SYSTEM). $REF_COUNT[ 4 ] 0 $DMR_GRP[ group ]. $REF_COUNT[ 9 ] 0 INTEGER [Function] RW 0 to 100000000 ( pulse ) Store reference point mastering count [Description] Store the count of the pulse coder when the robot is positioned at the reference point. $CAL_DONE BOOLEAN [Function] RW TRUE TRUE / FALSE Indicates if calibration is completed.Master/Cal] 945 . $REF_POS[ 3 ] 0 $DMR_GRP[ group ]. $REF_POS[ 4 ] 0 $DMR_GRP[ group ]. $REF_COUNT[ 5 ] 0 $DMR_GRP[ group ]. $REF_COUNT[ 7 ] 0 $DMR_GRP[ group ]. $REF_POS[ 7 ] 0 $DMR_GRP[ group ]. $REF_POS[ 1 ] 0 $DMR_GRP[ group ]. [Description] To check the current position of the robot. $REF_COUNT[ 3 ] 0 $DMR_GRP[ group ]. the count of the pulse coder issued and the current position is calculated using mastering count. $REF_POS[ 5 ] 0 $DMR_GRP[ group ]. $REF_COUNT[ 6 ] 0 $DMR_GRP[ group ].SYSTEM VARIABLES B--81464EN--3/01 Quick mastering $DMR_GRP[ group ]. $DMR_GRP[ group ]. 5 ] XYZWPR $MNUTOOL[ group.Tool] $MNUTOOL[ group. 8 ] XYZWPR $MNUTOOL[ group.SYSTEM VARIABLES B--81464EN--3/01 Specifying coordinate systems $MNUFRAMENUM[ group ] BYTE [Function] RW 0 0 to 9 Specifies user coordinate system number [Description] Specifies the number of the user coordinate system currently used. $MNUTOOLNUM[ group ] BYTE [Function] RW 0 0 to 9 Specifies tool coordinate system number [Description] Specifies the number of the tool coordinate system currently used. [Setting] On the jog coordinate system setting screen [6 SYSTEM. 1 ] XYZWPR $MNUFRAME[ group. 2 ] XYZWPR $MNUTOOL[ group. 6 ] XYZWPR $MNUTOOL[ group. 1 ] XYZWPR $MNUTOOL[ group. 3 ] XYZWPR $MNUFRAME[ group. 8 ] XYZWPR $MNUFRAME[ group. 0: 1 to 9: [Setting] Mechanical interface coordinate system Tool coordinate system On the tool coordinate system setting screen [6 SYSTEM. jog] 946 . $JOG_GROUP[ group ]. 4 ] XYZWPR $MNUFRAME[ gropu.Coordinate. 6 ] XYZWPR $MNUFRAME[ group. 7 ] XYZWPR $MNUFRAME[ group. User] $MNUFRAME[ group. Coordinate. $JOG_FRAME POSITION [Function] RW XYZWPR XYZWPR Specifies the jog coordinate system [Description] Specifies the Cartesian coordinates in the jog coordinate system. Up to nine user coordinate systems can be registered. 9 ] POSITION [Function] XYZWPR RW XYZWPR Specifies the tool coordinate system [Description] Specify the Cartesian coordinates in the tool coordinate system. 7 ] XYZWPR $MNUTOOL[ group. 3 ] XYZWPR $MNUTOOL[ group. Nine tool coordinate systems can be registered. 0: 1 to 9: [Setting] World coordinate system User coordinate system On the tool coordinate system setting & screen [6 SYSTEM. 2 ] XYZWPR $MNUFRAME[ group. Coordinate. 4 ] XYZWPR $MNUTOOL[ group. 9 ] XYZWPR POSITION [Function] RW XYZWPR Specifies user coordinates system number [Description] Specifies the Cartesian coordinates in the user coordinate system. 5 ] XYZWPR $MNUFRAME[ group. $AXISORDER[ 4 ] 4 $SCR_GRP[ group ]. $AXISORDER[ 9 ] 0 BYTE [Function] RW 0 to 16 Specify axis order [Description] Specifies the order of axes by assigning the physical number of a servo motor controlled by the servo amplifier (servo register) to the logical number of a robot joint axis specified in software (Jx--axis). When $AXISORDER[1] = 0. TRUE: Rotational FALSE: Linear $PARAM_GROUP[ group ]. $MOSIGN[ 3 ] * $PARAM_GROUP[ group ]. $MOSIGN[ 2 ] * $PARAM_GROUP[ group ]. For instance.SYSTEM VARIABLES B--81464EN--3/01 Setting motors $SCR_GRP[ group ]. FALSE: The robot moves in a negative direction when the motor rotates positively. $MOSIGN[ 4 ] * $PARAM_GROUP[ group ]. $MOSIGN[ 5 ] * $PARAM_GROUP[ group ]. $MOSIGN[ 7 ] * $PARAM_GROUP[ group ]. $ROTARY_AXS[ 2 ] * $SCR_GRP[ group ]. $AXISORDER[ 5 ] 5 $SCR_GRP[ group ]. $AXISORDER[ 8 ] 0 $SCR_GRP[ group ]. 947 . $AXISORDER[ 7 ] 0 $SCR_GRP[ group ]. $AXISORDER[ 1 ] 1 $SCR_GRP[ group ]. $ROTARY_AXS[ 1 ] * $SCR_GRP[ group ]. $AXISORDER[ 3 ] 3 $SCR_GRP[ group ]. $AXISORDER[ 2 ] 2 $SCR_GRP[ group ]. $AXISORDER[ 6 ] 6 $SCR_GRP[ group ]. $MOSIGN[ 1 ] * $PARAM_GROUP[ group ]. $ROTARY_AXS[ 6 ] * $SCR_GRP[ group ]. $ROTARY_AXS[ 3 ] * $SCR_GRP[ group ]. when $AXISORDER[1] = 2. $MOSIGN[ 6 ] * $PARAM_GROUP[ group ]. $ROTARY_AXS[ 7 ] * $SCR_GRP[ group ]. no servo motor is assigned as the J1--axis. $ROTARY_AXS[ 5 ] * $SCR_GRP[ group ]. $ROTARY_AXS[ 8 ] * $SCR_GRP[ group ]. servo motor 2 is assigned to the J1--axis. $ROTARY_AXS[ 4 ] * $SCR_GRP[ group ]. $SCR_GRP[ group ]. $MOSIGN[ 8 ] * $PARAM_GROUP[ group ]. $MOSIGN[ 9 ] * BOOLEAN [Function] RW PU TRUE / FALSE Specify direction of rotation around axes [Description] Specify whether the robot moves in the positive or negative direction when the motor rotates positively for each axis. TRUE: The robot moves in a positive direction when the motor rotates positively. $ROTARY_AXS[ 9 ] * BOOLEAN [Function] RO TRUE / FALSE Specify axis type [Description] Specifies whether joint axes of the robot are rotational or linear. 1: Enables shift override. Then. $MCR. $ENCSCALES[ 2 ] * $PARAM_GROUP[ group ]. From 0% to 100% it changes in 5% increments. The feedrate changes in this order: FINE → VFINE → 0% → 50% → 100%. 948 . $MOT_SPD_LIM[ 9 ] * INTEGER [Function] RW PU 0 to 100000 ( rpm ) Specify maximum motor speed [Description] Specifies the maximum speed of each servo motor for the robot for each axis.SYSTEM VARIABLES B--81464EN--3/01 $PARAM_GROUP[ group ]. $ENCSCALES[ 5 ] * $PARAM_GROUP[ group ]. In this case. [Setting] Use the override keys on the teach pendant. a warning is issued. $ENCSCALES[ 8 ] * $PARAM_GROUP[ group ]. $MOT_SPD_LIM[ 1 ] * $PARAM_GROUP[ group ]. the robot decelerates and moves at a speed not exceeding the maximum speed. $MOT_SPD_LIM[ 6 ] * $PARAM_GROUP[ group ]. then press the override key: The feedrate override changes in the order: VFINE → FINE → 5% → 50% → 100%. $MOT_SPD_LIM[ 3 ] * $PARAM_GROUP[ group ]. Press and hold down the SHIFT key. Override $SHIFTOV_ENB 0 ULONG [Function] RW 0/1 Enables or disables shift override [Description] The shift override function changes the feedrate override in five steps. $ENCSCALES[ 7 ] * $PARAM_GROUP[ group ]. $ENCSCALES[ 3 ] * $PARAM_GROUP[ group ]. pulse/mm ) Specify unit of pulse coder count [Description] Specify how many pulses are required for the pulse coder when the robot moves around a joint axis one degree or the robot moves along a joint axis 1 mm. $ENCSCALES[ 9 ] * REAL [Function] RW PU --10000000000 to 10000000000 ( pulse/deg. $MOT_SPD_LIM[ 5 ] * $PARAM_GROUP[ group ]. When the robot moves around or along a certain axis at a speed exceeding the maximum speed. then press the override key as many times as necessary to select the desired override. $MOT_SPD_LIM[ 7 ] * $PARAM_GROUP[ group ]. 0: Disables shift override. the robot may not trace the specified path. $ENCSCALES[ 1 ] * $PARAM_GROUP[ group ]. $ENCSCALES[ 6 ] * $PARAM_GROUP[ group ]. $MOT_SPD_LIM[ 8 ] * $PARAM_GROUP[ group ]. $MOT_SPD_LIM[ 4 ] * $PARAM_GROUP[ group ]. $GENOVERRIDE INTEGER [Function] 10 RW 0 to 100 ( % ) Specifies the rate of change in feedrate override [Description] Specifies the rate of changes in the robot feedrate in percentage. press and hold down the SHIFT key. $ENCSCALES[ 4 ] * $PARAM_GROUP[ group ]. $MOT_SPD_LIM[ 2 ] * $PARAM_GROUP[ group ]. To change the feedrate override. Rotation axis: $ENCSCALES = 2E19 x deceleration ratio/360 $PARAM_GROUP[ group ]. y. $SCR. $SCR_GRP[ group ]. $JOGLIM_JNT[ 3 ] * $SCR_GRP[ group ]. $PROGOVERRIDE INTEGER [Function] 100 RW 0 to 100 ( % ) Specifies program override [Description] Specifies the percentage of the robot feedrate while the program is being played back. $JOGLIM_JNT[ 4 ] * $SCR_GRP[ group ].SYSTEM VARIABLES B--81464EN--3/01 $MCR. $TPENBLEOVRD INTEGER [Function] 10 RO 0 to 100 ( % ) Specifies the maximum feedrate override when the teach pendant is enabled [Description] The feedrate override is set to this value when the teach pendant is enabled. Specify a low jog override because it is generally unnecessary to move the robot at high speed. $JOGLIM_JNT[ 7 ] * $SCR_GRP[ group ]. The maximum speed at orientation motion is specified in $PARAM_GROUP[group]. $JOGLIM INTEGER [Function] 12 RO 0 to 100% Maximum speed scale for coordinate jogging [Description] Percentage of the maximum speed when jogging the robot in the x. $JOGOVLIM INTEGER [Function] 100 RO 0 to 100 ( % ) Specifies the maximum feedrate override during jog feed [Description] The feedrate override is set to this value or less during jog feed. $SCR_GRP . The maximum speed at linear motion is specified in $PARAM_GROUP[group]. $SCR . $JOGLIM_JNT[ 5 ] * $SCR_GRP[ group ]. $JOGLIM_JNT[ 1 ] * $SCR_GRP[ group ]. $SCR. $JOGLIM_JNT[ 8 ] * $SCR_GRP[ group ]. 949 . or z directions using XYZ or TOOL frame. y. $SCR. $SCR.$ROTSPEEDLIM. $JOGLIM_JNT[ 6 ] * $SCR_GRP[ group ]. and because it is always prudent to avoid danger. $COLDOVRD INTEGER [Function] 10 RO 0 to 100 ( % ) Specifies maximum feedrate override after a cold start [Description] The feedrate override is set to this value after a cold start. $JOGLIM_JNT[ 2 ] * $SCR_GRP[ group ]. $JOGLIMROT INTEGER [Function] 12 RO 0 to 100% Maximum speed scale for orientation jogging [Description] Percentage of the maximum speed when jogging the robot about the x. $JOGLIM_JNT[ 9 ] * INTEGER [Function] RO 0 to 100 ( % ) Specify joint jog override [Description] The joint jog override function specifies the percentage of the robot feedrate for each axis during jog feed.$SPEEDLIM. or z axes using XYZ or TOOL frame. $COORDOVRD INTEGER [Function] 10 RO 0 to 100 ( % ) Specifies maximum feedrate override when the manual--feed coordinate system is changed [Description] The feedrate override is set to this value or less when the manual--feed coordinate system is changed. 950 . Then. $SCR. the robot decelerates and moves at a speed not exceeding the maximum joint speed. $RUNOVLIM INTEGER [Function] 50 RO 0 to 100 ( % ) Specifies the maximum feedrate override when the program is executed [Description] The feedrate override is set to this value or less when the program is executed. If the safety fence is closed while the above conditions are not satisfied. the previous override cannot be restored. Then. $JNTVELLIM[ 6 ] * $PARAM_GROUP[ group ]. the feedrate override is set to this value or below. $JNTVELLIM[ 7 ] * $PARAM_GROUP[ group ]. [Setting] General item setting screen [6 SETTING. $RECOV_OVRD BOOLEAN [Function] FALSE RW TRUE/FALSE Function to restore feedrate override when the safety fence is closed [Description] When the safety fence is closed (*SFSPD input set on). $JNTVELLIM[ 1 ] * $PARAM_GROUP[ group ]. the feedrate override is set to this value or below. 2 The system is in the remote state. $FENCEOVRD INTEGER [Function] RO 0 to 100(%) Maximum feedrate override when the safety fence is open [Description] When the safety fence is opened (*SFSPD input is turned off).$RECOV_OVRD is set to TRUE. This function is enabled when the following conditions are satisfied: 1 $SCR. $JNTVELLIM[ 8 ] * $PARAM_GROUP[ group ]. 3 The feedrate override is not changed while the safety fence is open. $SFJOGOVLIM INTEGER [Function] 50 RO 0 to 100(%) Maximum feedrate override of jog feed when the safety fence is open [Description] If jog feed is performed while the safety fence is open. $SCR. mm/sec ) Specify the maximum joint speed [Description] Specify the maximum joint speed for each axis. $JNTVELLIM[ 5 ] * $PARAM_GROUP[ group ]. a warning is issued. the previous feedrate override is restored. $JNTVELLIM[ 3 ] * $PARAM_GROUP[ group ]. $JNTVELLIM[ 2 ] * $PARAM_GROUP[ group ]. automatic operation can be started immediately. $SCR. $JNTVELLIM[ 4 ] * $PARAM_GROUP[ group ]. $JNTVELLIM[ 9 ] * REAL [Function] RW PU 0 to 100000 ( deg/sec. the feedrate override is set to this value or below. $SFRUNOVLIM INTEGER [Function] 30 RO 0 to 100(%) Maximum feedrate override of program execution while the safety fence is open [Description] When a program is executed with the safety fence open (*SFSPD input set off). When the robot moves around or along a certain axis at a speed exceeding the maximum joint speed. $SCR. GENERAL] Feedrate $PARAM_GROUP[ group ].SYSTEM VARIABLES B--81464EN--3/01 $SCR. $JNTVELLIM Maximum linear feedrate $PARAM_GROUP . $SPEEDLIM ( mm/sec ) Maximum circular feedrate $PARAM_GROUP . Jog feedrate (joint feed) = Joint jog override × Maximum joint speed Feedrate override × 100 100 Jog feedrate (linear feed) ( mm/sec ) = Jog override × Maximum linear feedrate Feedrate override × 100 100 Jog feedrate (circular feed) ( mm/sec ) = × Maximum circular feedrate Jog override × Feedrate override 100 100 Joint jog override $SCR_GRP . $JOGLIM ( % ) Maximum joint speed $PARAM_GROUP . $ROTSPEEDLIM REAL [Function] RW PU 90 0 to 1440 ( deg/sec ) Specifies the maximum circular feedrate [Description] Specifies the maximum feedrate during circular motion under attitude control. $ROTSPEEDLIM ( deg/sec ) Operation speed (joint motion) = Maximum joint speed × Coefficient of joint speed × 2000 × Programmed override Programmed speed 100 × 100 Feedrate override 100 Operation speed ( linear motion ) ( mm/sec ) = Programmed override Programmed speed × × 100 Feedrate override Operation speed ( circular motion ) ( deg/sec ) = Programmed override Programmed speed × × 100 Feedrate override Programmed override $MCR_GRP . $SPEEDLIM REAL [Function] RW PU 2000 0 to 3000 ( mm/sec ) Specifies the maximum linear feedrate [Description] Specifies the maximum feedrate during linear or circular motion under path control. $SPEEDLIMJNT 951 100 100 . $PROGOVERRIDE ( % ) Coefficient of joint speed $PARAM_GROUP . $PARAM_GROUP[ group ].SYSTEM VARIABLES B--81464EN--3/01 $PARAM_GROUP[ group ]. $JOGLIM_JNT [ i ] ( % ) Jog override $SCR . mm ) Specify the lower limit of the joint operating area [Description] Specify the lower limit of the joint operating area which is the limit of the motion in the negative direction.Joint Area] $PARAM_GROUP[ group ]. $LOWERLIMS[ 4 ] * $PARAM_GROUP[ group ]. $UPPERLIMS[ 4 ] * $PARAM_GROUP[ group ].$PAYLOAD F $PARAM_GROUP[group].$PAYLOAD_IZ F $PARAM_GROUP[group].$PAYLOAD_IY F $PARAM_GROUP[group].$PAYLOAD_IX F $PARAM_GROUP[group].$AXISINTERTIA[1 to 9] F $PARAM_GROUP[group]. $UPPERLIMS[ 2 ] * $PARAM_GROUP[ group ]. $UPPERLIMS[ 5 ] * $PARAM_GROUP[ group ].$PAYLOAD F $PARAM_GROUP[group].$AXISMOMENT[1 to 9] F $PARAM_GROUP[group]. $UPPERLIMS[ 1 ] * $PARAM_GROUP[ group ]. specify the maximum value. $UPPERLIMS[ 7 ] * $PARAM_GROUP[ group ].$ARMLOAD[1 to 3] $GROUP [ group ] . which is the limit of the motion in the positive direction. 952 . $UPPERLIMS[ 8 ] * $PARAM_GROUP[ group ]. $UPPERLIMS[ 6 ] * $PARAM_GROUP[ group ]. $UPPERLIMS[ 9 ] * REAL [Function] RW PU --100000 to 100000 ( deg. $UPPERLIMS[ 3 ] * $PARAM_GROUP[ group ].$PAYLOAD_Y F $PARAM_GROUP[group]. Therefore. F $GROUP[group].Joint Area] Payload specification The following payload--related information must be entered. $LOWERLIMS[ 6 ] * $PARAM_GROUP[ group ]. mm ) Specify the upper limit of the joint operating area [Description] Specify the upper limit of the joint operating area. $PAYLOAD REAL [Function] RW * 0 to 10000(kgf) Payload [Description] Specify a payload.$PAYLOAD_X F $PARAM_GROUP[group]. $LOWERLIMS[ 1 ] * $PARAM_GROUP[ group ]. $LOWERLIMS[ 7 ] * $PARAM_GROUP[ group ]. These values are used whenever the robot operates. [Setting] Joint operating area screen [6 (SETTING). $LOWERLIMS[ 2 ] * $PARAM_GROUP[ group ]. $LOWERLIMS[ 9 ] * REAL [Function] RW PU --100000 to 100000 ( deg. $LOWERLIMS[ 3 ] * $PARAM_GROUP[ group ]. $LOWERLIMS[ 8 ] * $PARAM_GROUP[ group ]. [Setting] Joint operating area screen [6 (SETTING). be particularly careful when setting these values. $LOWERLIMS[ 5 ] * $PARAM_GROUP[ group ].SYSTEM VARIABLES B--81464EN--3/01 $PARAM_GROUP[ group ].$AXIS_IM_SCL F $PARAM_GROUP[group].$PAYLOAD_Z F $PARAM_GROUP[group]. If the load varies during an operation. and Z--axis of the mechanical interface coordinate system. $PAYLOAD REAL [Function] RW PU * 0 to 10000(kgf) Payload [Description] Specify a payload.SYSTEM VARIABLES B--81464EN--3/01 $PARAM_GROUP [ group ] . $PARAM_GROUP[ group ].$PAYLOAD_X : PARAM_GROUP[group]. The inertia of a heavy load is calculated around the X--axis. $PAYLOAD_X * $PARAM_GROUP[ group ]. $PAYLOAD_IX * $PARAM_GROUP[ group ]. $PAYLOAD_IY * $PARAM_GROUP[ group ].10P/01 or above. Y--axis. Avoid setting this variable for software of an earlier edition.$PAYLOAD_IX : PARAM_GROUP[group].$PAYLOAD_IZ This variable is valid for software of edition V4.$PAYLOAD_IY : PARAM_GROUP[group]. $PAYLOAD_Y * $PARAM_GROUP[ group ]. $PARAM_GROUP[ group ]. Y--axis. The center of gravity of a load is measured along the X--axis. NOTE This variable is valid for software of edition V4. specify the maximum value. $PAYLOAD_Z * REAL [Function] RW PU --100000 to 10000(cm) Load gravity center distance [Description] Center of gravity of load viewed on the mechanical interface coordinate system (default tool coordinate system). and Z--axis of the mechanical interface coordinate system. If the load varies during an operation.$PAYLOAD_Y : PARAM_GROUP[group]. $PAYLOAD_IZ * REAL [Function] RW 0 to 10000(kg ¯ cm2) PU Load gravity center inertia [Description] Inertia around the center of gravity of load.$PAYLOAD_Z : PARAM_GROUP[group].$PAYLOAD_* is as illustrated below: x x Center of robot flange y z Mass m (kg) xg (cm) Iy (kg¯cm2 ) Center of gravity Center of gravity 2 Iz (kg¯cm ) Ix (kg¯cm2 ) zg (cm) xg (cm) yg (cm) zg (cm) Ix (kg¯cm2) Iy (kg¯cm2) Iz (kg¯cm2) NOTE yg (cm) : PARAM_GROUP[group].10P/01 or above. 953 . Avoid setting this variable for software of an earlier edition. The meaning of $PARAM_GROUP[group]. $AXISINERTIA[ 1 ] * $PARAM_GROUP [ group ]. specify an integer as the moment value resulting from the applied payload. $AXISINERTIA[ 2 ] * $PARAM_GROUP [ group ].) The inertia for each axis is calculated using the following expression: $AXISINERTIA [ i ] = payload ¢ ( I_max [ i ] )2 (kgf ⋅ cm ⋅ sec2) g payload : Payload [kgf] l_max[i]: Maximum distance from the rotation center of the axis (axis i) to the mass center of the load on the robot [cm] For the 4th and 5th axes.) The moment value for each axis is calculated using the following expression: 954 . $AXISMOMENT[ 4 ] * $PARAM_GROUP [ group ]. $AXISINERTIA[ 8 ] * $PARAM_GROUP [ group ]. (Set a value for each of the 4th. $PARAM_GROUP [ group ]. $AXISMOMENT[ 8 ] * $PARAM_GROUP [ group ]. g: Gravity acceleration (= 980 [cm/sec2]) NOTE When specifying or changing this variable. and 6th axes.SYSTEM VARIABLES B--81464EN--3/01 $PARAM_GROUP [ group ]. therefore. $AXISMOMENT[ 9 ] * SHORT [Function] RW PU 0 to 32767 ( kgf ⋅ cm ) Axis moment [Description] For each axis. $AXISMOMENT[ 3 ] * $PARAM_GROUP [ group ]. $AXISINERTIA[ 7 ] * $PARAM_GROUP [ group ]. The values for the 1st to 3rd axes are calculated automatically. (Set a value for each of the each of 4th. 5th.$AXIS_IM_SCL. $AXISINERTIA[ 5 ] * $PARAM_GROUP [ group ]. $AXISINERTIA[ 9 ] * SHORT [Function] RW PU 0 to 32767 ( kgf ⋅ cm ⋅ sec2 ) Payload inertia [Description] For each axis. 5th. and 6th axes. the distance may vary depending on the angle of the other axes. The values for the 1st to 3rd axes are calculated automatically. $AXISMOMENT[ 6 ] * $PARAM_GROUP [ group ]. they need not be specified. $AXISINERTIA[ 6 ] * $PARAM_GROUP [ group ]. $AXISINERTIA[ 3 ] * $PARAM_GROUP [ group ]. they need not be specified. $AXISINERTIA[ 4 ] * $PARAM_GROUP [ group ]. below. In such a case. refer to the explanation of $PARAM_GROUP[]. specify an integer as the value of the inertia resulting from the applied payload. $AXISMOMENT[ 2 ] * $PARAM_GROUP [ group ]. therefore. $AXISMOMENT[ 1 ] * $PARAM_GROUP [ group ]. set the maximum distance than can be achieved. $AXISMOMENT[ 5 ] * $PARAM_GROUP [ group ]. $AXISMOMENT[ 7 ] * $PARAM_GROUP [ group ]. $PARAM_GROUP [ group ]. the following values are used as the inertia and moment.SYSTEM VARIABLES B--81464EN--3/01 (kgf ⋅ cm) $AXISMOMENT [ i ] = payload ¢ I_max [ i ] payload : Payload [kgf] l_max[i]: Maximum distance from the rotation center of the axis (axis i) to the mass center of the load on the robot [cm] For the 4th and 5th axes. 955 .$AXIS_IM_SCL to 100. F Set $PARAM_GROUP[group].$AXISINERTIA[4] to 123. $ARMLOAD[2]: Specify the weight of the equipment installed on the 2nd--axis base. below.$AXIS_IM_SCL.23.$AXISINERTIA[i] $PARAM_GROUP[group]. this variable setting need not be changed. $ARMLOAD[1]: Specify the weight of the equipment installed on the 3rd--axis arm. NOTE Normally. $ARMLOAD[ 1 ] * $PARAM_GROUP [ group ]. F Set $PARAM_GROUP[group]. (Inertia) = (Moment ) = $PARAM_GROUP[group]. specify the payload incurred by that equipment.$AXISMOMENT[i] $PARAM_GROUP[group]. $ARMLOAD[ 3 ] * REAL [Function] RW PU 0 to 10000 ( kgf ) Equipment weight [Description] When equipment such as welding equipment is installed on a robot axis.$AXIS_IM_SCL Accordingly. Actually.$AXIS_IM_SCL $PARAM_GROUP[group]. $AXIS_IM_SCL SHORT [Function] RW PU 0 to 32767 Inertia/moment value adjustment scale [Description] This variable is used to set the fractional value of an axis inertia or moment described above. $AXISINERTIA[i] and $AXISMOMENT[i] must be correctly specified in accordance with this variable setting. to set the inertia of the fourth axis of a robot to 1. Executing a program $DEFPULSE 4 SHORT [Function] RW 0 to 10000 ( 100 msec ) Specifies the standard DO output pulse width [Description] This value is used when the pulse width is not specified for the output of a DO signal pulse. $ARMLOAD[3]: Not used. F Change the inertia and moment values of the other axes in accordance with the value of $AXIS_IM_SCL. the distance may vary depending on the angle of the other axes. set the maximum distance than can be achieved. For instance. $PARAM_GROUP [ group ]. refer to the explanation of $PARAM_GROUP[]. In such a case. $ARMLOAD[ 2 ] * $PARAM_GROUP [ group ]. NOTE When specifying or changing this variable. $ER_CODE6 0 $ER_NO_ALM. the LEDs on the teach pendant and the machine operator’s panel corresponding to the alarms specified with system variable $NOALM_NUM do not light. (All alarms and resets are recorded in the history. $ER_CODE8 0 $ER_NO_ALM. $ER_NO_ALM. 3: Does not record resets. $ER_NO_ALM. Disabling alarm output $ER_NO_ALM. $ER_CODE5 11037 $ER_NO_ALM. $ER_CODE4 11007 $ER_NO_ALM. $ER_CODE10 0 INTEGER [Function] RW 0 to 100000 Specify the alarms not output [Description] Specify the alarms that are not output. 0: 1: 2: 3: Peripheral unit (remote controller) CRT/keyboard Host computer No remote unit Deleting the warning history $ER_NOHIS 0 BYTE [Function] RW 0/3 Warning history delete function [Description] WARN alarms. $ER_CODE9 0 $ER_NO_ALM.SYSTEM VARIABLES B--81464EN--3/01 Automatic operation $RMT_MASTER 0 INTEGER [Function] RW 0 to 3 Specifies which remote unit is used [Description] Specifies which remote unit is used. $NOALM_NUM BYTE [Function] RW 5 0 to 10 Specifies the number of alarms not output [Description] Specifies the number of alarms that are not output. and NONE alarms. NONE alarms and resets can be deleted from the alarm history. $ER_CODE2 11002 $ER_NO_ALM. In addition. the peripheral I/ O alarm signal (FAULT) is not output. $ER_CODE3 11003 $ER_NO_ALM. WARN alarms. $ER_CODE7 0 $ER_NO_ALM. Setting : 11 002 ( Meaning: SERVO--002 alarm ) Alarm ID Alarm number 956 . $ER_CODE1 11001 $ER_NO_ALM.) 1: Does not record WARN and NONE alarms in the history. The specified remote unit has the right to start the robot. $NOALMENBL BYTE [Function] RW 0 0/1 Enables the no--alarm output function [Description] When this function is enabled. 2: Does not record resets. 0: Disables the function. $OUT_NUM. Jogging $JOG_GROUP .0 ( mm ) Move distance for linear step jogging [Description] Specify an amount of travel in low--speed linear step feed by Cartesian/tool manual feed. You can use 16 unknown device. explained above.G 11 ABORT. in binary format. The amount of travel in very low speed step feed is one tenth of the value specified here. I/O link adapter. $IOLNK[ 16 ] . $UALRM_SEV[i] corresponds to the severity of user alarm [i]. sixteen devices can be installed. $FINE_PCNT INTEGER [Function] 10 RO 1 to 100 % Move distance for joint or orientation step jogging [Description] Specify an amount of travel for step feed in attitude rotation by axial manual feed or Cartesian/tool manual feed.L).$OUTPUT_N. using 33 SDOs starting from that having the specified number.0 to 1. An error code is output. 0 WARN 6 STOP. I/O setting $IOLNK[ 16 ] .L 43 ABORT. you must set this variable for the device as follows.$INPUT_N and IOLNK[i]. $RACK INTEGER [Function] * RW Unknown I/O device setting [Description] If you use non the I/O device of process I/O PC board or process I/O unit modelA (ex. $INPUT_N INTEGER [Function] * RW Unknown I/O device input signal number 957 .$SLOT. Set this variable with the following $IOLNK[i]. IOLNK[i].G The initial severity for each user alarm is 6 (STOP. $FINE_DIST REAL [Function] RW 0. $SLOT INTEGER [Function] * RW Unknown I/O device slot number $IOLNK[ 16 ] .L 38 STOP. User alarm $UALRM_SEV[ ] 6 BYTE [Function] RW 0 to 255 User alarm severity [Description] Sets the user alarm severity. $SCR .SYSTEM VARIABLES B--81464EN--3/01 Error code output $ER_OUT_PUT. $ER_OUT_PUT. Specify manual feed with a precentage and an override of 1%. an error code is output to the SDOs specified in $ER_OUTPUT. JEMA PC). no error code is output.5 0. $IN_NUM 0 LONG [Function] RW 0 to 512 SDI number for error code output request [Description] Every time the SDI specified in this variable is set to ON. 90--30 PLC. Max. $OUT_NUM LONG [Function] 0 RW 0 to 512 SDO start number for error code output [Description] Specify the start number for the SDOs used for error code output. If 0 is specified. 0: Generates servo alarm “SRVO--111 Softfloat time out. showing the configuration of the software components installed in the controller can be displayed on the display (order file screen) of the teach pendant. $UOP_DISABLE BYTE [Function] RW * 0/1 Enable/disable UOP I/O [Description] Specify whether the peripheral equipment input signal is enabled or disabled. an error is reset by rising edge of FAULT_RESET input signal. $PARAM_GROUP . TRUE: Enable FALSE: Disable $PARAM_GROUP. $PPABN_ENBL BOOLEAN [Function] RW FALSE TRUE / FALSE Enable/disable pressure abnormal *PPABN input [Description] Specifies if pressure abnormal signal is detected or not. L--1000). this value is automatically set to TRUE. $OUTPUT_N INTEGER [Function] * RW Unknown I/O device output signal number $OPWORK . an error is reset by falling edge is detected. When any peripheral equipment is connected. By disabling the signal with this setting. an alarm cannot be cleared. [Description] When you set this value to “TRUE”. the alarm can be cleared. you should set this variable to TRUE. For a robot utilizing the belt rupture signal (A--510. $SCR . set this variable to 0 before using that equipment. $RESETINVERT FALSE BOOLEAN [Function] RW TRUE / FALSE FAULT_RESET input signal detection. If “FALSE” is set. If the peripheral equipment input signal is enabled when the robot is operated without any peripheral equipment connected.SYSTEM VARIABLES B--81464EN--3/01 $IOLNK[ 16 ] . TRUE: Belt rupture signal enabled FALSE: Belt rupture signal disabled Software version $ODRDSP_ENB 0 ULONG [Function] RW 1/0 Display of an order file [Description] An order listing.” 958 . Soft float function $SFLT_ERRTYP INTEGER [Function] 0 RW 1 to 10 Flag for specifying the alarm to be generated when time--out occurs during follow--up processing of the soft float function [Description] This variable specifies the alarm (a servo alarm or program pause alarm) to be generated if a time--out occurs during follow--up processing of the soft float function. If you want to use *PPABN input. $BELT_ENBLE BOOLEAN [Function] RW FALSE TRUE / FALSE Belt rupture signal enabled/disabled [Description] Specify whether the belt rupture signal (RDI[7]) is detected. FALSE: Check falling edge of reset input signal. TRUE: Check rising edge of reset input signal.” 1: Generates program pause alarm “SRVO--112 Softfloat time out. With some timings. FALSE: Performs follow--up processing at the start of each program motion instruction. a change in the register value may not be reflected in the operation speed. some consideration is needed: The value of a register used for the movement speed during program execution should not be changed. for instance. To enable advanced register speed read. TRUE: Does not perform follow--up processing at the start of each program motion instruction. Register speed specification function $RGSPD_PREXE BOOLEAN [Function] FALSE RO TRUE/FALSE Advanced register speed read enabled or disabled [Description] Specify whether an advanced read of operation statement is performed (enabled) or not (disabled) when the movement speed specified by an operation statement is held in a register. An interlock should be provided. [Description] Specify whether to perform follow--up processing of the soft float function at the start of each program motion instruction. the timing at which the register value is changed is important. 959 . and the register value existing before the change may be applied to the movement.SYSTEM VARIABLES B--81464EN--3/01 $SFLT_DISFUP FALSE BOOLEAN [Function] RW TRUE / FALSE Specifies whether to perform follow--up processing at the start of each motion instruction. TRUE: Advanced read enabled FALSE: Advanced read disabled NOTE When an advanced register speed read is enabled with the setting indicated above. Index B--81464EN--3/01 Note Volume 1 : Up to Page 693 / Volume 2 : Page 695 and later [A] AVC hardware requirements. 769 AVC Tracking. 682 Color Display According to the Alarm Severity. 356 CRT/KB. 213 Conditional branch instructions. 454 Automatic Error Recovery Function. 549 About Reducer Diagnosis. 742 Attention and Limitation. 20 Automatic Backup. 797 Changing a control instruction. 191 Changing a standard motion instruction. 376 i--1 . 353 Coordinated Motion Function. 228 AVC schedule setup. 820 Branch Instructions. 584 Automatic Operation. 682 Controller. 192 Changing a motion instruction. 240 Collision Detection for Auxiliary Axis. 671 [B] Adjustment of gain value. 310 ARC START Synchronization for Arc Multi--equipment Configutarion. 32 Automatic voltage control tracking. 230 Arc welding torch. 566 Creating a Program. 498 Coordinated jogging. 284 Arc instruction. 282 Arc Instructions. 554 Abort instruction. 258 Automatic operation with program number selection (PNS). 549 AVC programming. 739 Changing a Program. 678 Continuous test. 542 Air purge function. 649 Changing conditions for executing the resume program. 236 Controlled start. 477 Assigning touch sensing I/O. 263 Arc Smart High--speed Recovery Function. 600 Continuous Rotation Function. 812. 667 Changing the Operation Target Screen. 375 Comment instruction. 797 Caution and limitations. 409 Configuration. 546 Additional motion instructions. 546 Current Position. 569 Automatic operation (operation execution). 292 Arc end instruction. 345 Asynchronous operation group instruction. 733 ASCII file. 683 Background Editing. 315 Alarm Codes. 17 Coordinated motion in a program. 588 Automatic operation by robot start request (RSR). 206 [C] Angle--input shift function. 81 Analog I/O instructions. 513 Arc start instruction. 449 Calibration Procedure (for 6--Axis Robots). 645 Arc welding instruction. 641 Appearance and Operationsappearance and Operations. 191 Changing program information. 487 Appearance and Switches. 729 Adjustment of Analog Output Conversation Factor by Multiple Points. 464 Assigning Welder Program Select Output Signals. 209 Analog I/O. 810 Arc Welding Status. 220 ASCII save. 210. 19 Communication. 180. 424 Coordinate System Change Shift Functions. 399 Conditional wait instructions. 16 Cold start . 32 Arguments. 354 Coordinated motion with RPM and multipass. 802 Arc Tool Software. 744 Arc welding. 176 File Input/Output. 435 Halt instruction. 227 Diagnosis Screen. 327 Executing a Program. 228 Execution History. 791 Factors that affect tast tracking. 490 Halt by an emergency stop and recovery. 737 Digital I/O. 682 Frame Instructions. 358 I/O Instructions. 386 Data file. 385 [D] File Input/Output Units. 329 Executing macro instructions. 382 Handy file. 813 Format of a System Variable Table. 207 [E] Group mask. 534 INITIAL SETTING. 399 File manipulation. 325. 674. 33 Enabling or Disabling the Function. 398 Flowchart for resuming a suspended program. 808 Feedrate. 510 Defining a resume program. 73 Function Overview. 542 Data monitor setup. 388 I/O Connection Function. 501 Forced output. 549 Independent Additional Axis Board (Nobot) Startup Procedure. 590 Files. 332 Halt caused by an alarm. 203 Extreme changes in workpiece temperature. 203 Direct Setting. 27 General Safety Precautions. 407 Data Monitor. 6 Distance before operations. 163 Each item. 645 i--2 . 99 I/O Link Screen. 942 Detail of Servo Torch control function. 795 Current Position Display. 692 [G] Display screen of the teach pendant. 678 Digital I/O instructions. 348 Description of an Alarm Code Table. 33 Extended Axis Setup. 389 Default logic file. 485 Halt by a hold and recovery. 678 [H] Entering Distance Before. 545 I/O Link list screen. 102 External override selection function. 99 I/O Module Setting. 596 Fine adjusting. 769 Frame setup instruction. 78 Group I/O instruction. 771 Emergency Stop devices. 328 Error Codes. 398 Data monitor schedule. 513 Hot start. 775 [F] Factors that affect avc tracking. 647 Group I/O. 391 Execution of the resume program from the teach pendant and test mode. 592 Floppy Cassette adapter.Index B--81464EN--3/01 Note Volume 1 : Up to Page 693 / Volume 2 : Page 695 and later Fanuc i Pendant. 477 Gravity Compensation. 786 [I] External memory unit. 745 Extended axis. 166 [N] List of Menus. 741 Input/output. 234 LEDs on the Teach Pendant. 100 Jog feed of the robot. 737 LEDs on the teach pendant. 236 Macro instruction. 543 Load Estimation Procedure (for 6--Axis Robots). 163 Maximum speed instructions. 352 Instruction. 348 Operator’s panel. 67 Manually Operating Welding Equipment. 470 Macro Instruction. 725 Load Estimation. 225 Loading using program selection screen. 412 Offset Condition Instruction. 429 Operation Group Instructions. 674 Load Setting. 33 Keys on the teach pendant. 387 Memory Use Status Display. 360 Operating Procedure. 209 Multiaxis Control Instructions. 638 Operation at Recovery from Alarm. 558 Line Number. 168 [K] Motion instructions. 231 Mirror shift function. 413 Online Position Modification. 249 [L] Multi Equipment Control for Arc Welding. 635 MOTION Screen.Index B--81464EN--3/01 Note Volume 1 : Up to Page 693 / Volume 2 : Page 695 and later Manual operation screen of the automatic error recovery function. 445 Jig mastering. 663 Label instruction. 750 Interruption disable. 738 Motion Instructions. 803 Mastering at the zero--degree positions. 746 Internet Browser Screen. 729 Key Switches. Program End Symbol. 169 Joint Operating Area. 798 Motion of the robot. 23 Motion Performance Screens. 414 [O] Loading Files. 511 Initial start. 239. 808 Manual I/O Control. 737 Operation procedure. 1 Memory card. 384 [J] Message instruction. 635 Loading a specified program file using the file screen. 16 Motion format. 589 Operator Panel Status Display. 748 MODEL B unit list screen. 2 Input/Output Signals. 32 Manual Plan. 477 Mastering. 26 Multipass. and Argument. 638 Notes on Use. 233 Introduction. 676 [M] Operation Group DO Output Function. 638 No compensation with high vertical or lateral gain setting. 139 Motion group instructions. 647 Moving the robot by jog feed. 369 Multiaxis control instructions. 31 i--3 . 698 List of Program Instructions. 671 Main alarm codes. 161 Program number selection (PNS).Index B--81464EN--3/01 Note Volume 1 : Up to Page 693 / Volume 2 : Page 695 and later Program execution instruction. 200 Position Register Look--Ahead Execution Function. 513 Outline of Servo Torch control function. 204 Robot motion. 752 Perform Automatic backup. 763 Robot I/O. 18 Robot arms. 731 Register Instructions. 16 Program comment. 780 Positioning path. 811 Resuming a program. 472 Predefined position. 86 Robot I/O instructions. 9 i--4 . 421 Procedure. 239 Printer. 229 Position register axis instructions. 230 Overview of Automatic Backup. 636. 555 Root Pass Memorization and Multipass. 735 Other Related Matters. 440 Program Structure. 371 Related alarms. 468 Position register look--ahead execution instruction. 32. 333 Robot service request (RSR). 599 Operator’s Panel I/O. 162 Program Control Instructions. 770 Process Conditions. 198 Register instructions. 379 Programming. 229 Other instructions. 652 Remote controller. 424 [P] [Q] Parameter instruction. 498 Override instruction. 335 Robot. 398 Program Halt and Recovery. 158 Program Timer. 426 Peripheral I/O. 372 Positioner Setup. 543 [R] Position data. 58 Program. 157 Other specifications and restrictions. 259 Registers. 729 Program look/monitor. 555 RSR instruction. 738 Position Registers. 427 Restrictions. 32 Restore the backup. 544 Root pass memorization. 231 Quick mastering. 161 [S] Program edit instructions. 682 Outline of the automatic error recovery function. 105 Robot wanders from path. 96 Other Instructions. 209 Safety Precautions. 310 Program shift function. 235 Program file. 347 Program name. 198 Registering a program. 419 Printing files. 201 Position register instructions. 108 Program Operation. 171 Register and I/O instructions. 419 Printing Files. 179 Pre--Execution Instruction Function. 735 Program Detail Information. 237. 18 Robot Axis Status. 643 Other Settings. 295 Program end instruction. 326 Program Instructions. 89 Poor tracking performance. 228 Program control instructions. 540 Setting a Communication Port. 342 Setting of Automatic Backup. 28 Single axis mastering. 809 Setup in Weld equipment setup screen. 349 Screen menu and function menu. 381 Setup. 575 Specification . 101 Saving with a function menu. 144 Standby release. 394 Specification. 351 Status Subwindow. 683 i--5 . 738 Servo Torch Fine Adjustment Function of Wire Velocity Commands. 234 Slow response. 104 State Monitoring Function. 602 System Timer. 674 System Variables. 324 Selecting a program. 400 Signal count setting screen. 941. 223 Semaphore instruction. 136 Specifying test execution. 545 Saving with the program selection screen. 741 Setting Arc Welding Conditions. 503 System Config Menu. 736 Selecting welder power supply. 669. 686 Special functions. 234 Soft Float Function. 491 Setting coordinate systems. 671 Setting the Arc Welding System.B--81464EN--3/01 Index Note Volume 1 : Up to Page 693 / Volume 2 : Page 695 and later Safety Signal Status Display. 332 Setting Automatic Operation. 378. 685 Sample Application. 282 Skip and Offset condition instruction. 405 Significant changes in joint gap. 439 Saving Files. 122 Start Up Methods. 667. 400 Simulated I/O. 236 Setting the automatic error recovery function. 61 Status monitoring instructions. 807 Setting macro instructions. 44 Skip Condition Instruction. 682 Soft float instruction. 760 Servo Torch setup screen. 741 Setting a user coordinate system. 755 Screen Selection Menu and Screen Menus on the Edit Screen. 944 Setup for Servo Torch. 688 Software Version. 399 Setting Up the ARC System. 430 Status Window. 668 Setting a Reference Position. 758 Step test. 155 System file. 677 Setup Servo Torch axes. 684 Saving all the program files using the file screen. 131 Specification & Limitation. 52 Starting a program. 688 Special Area Function. 738 Six--Points Touchup. 799 Setting mastering data. 368 Setting for Weaving. 340 Setting a reference value range and command value range for specifying an analog input/output signal. 477 Setting a jog coordinate system. 544 Semaphore wait instruction. 42 Splitting the Screen. 45 Synchronous operation group instruction. 113 Start Mode. 162 Setting the Arc Welding Equipment. 49 Summary. 402 Shift Functions. 16 Setting up touch sensing. 806 Singularity Point Check Function. 425 Subtype. 34 System setting. 800 Setting a tool coordinate system. 111 Status Display. 647. 148 Setting Up General Items. 459 Servo Torch Control Function. 649 Setting a coordinated motion system. 488. 220 Timer instruction. 600 Welder Program Select Function. 366 TUNING PROCEDURE. 141 TAST schedule. 64 Torch guard function. 530 Using the Welding Fine--Tune Function Concurrently. 178 Touch Sensing. 17 Vertical plane (Z--plane) tracking. 531 Using the Arc Sensor Concurrently. 54 Torch recovery function. 230 Wait instruction. 220 Weave plane (XY--plane) lateral tracking. 280 Welding output signals. 142 Teaching the RETURN_PATH_DSBL instruction. 532 Tool Offset Condition Instructions. 533 Testing. 543 Utility. 273 [V] Teaching a motion instruction. 37 Touch sensing programming. 268 Variable Axis Areas. 682 Turning on the Power and Jog Feed. 734 Tast hardware requirements. 241 Workers. 545 Torch Posture Conversion. 618 Welding Input/Output Signals. 645 Wire inching. 226 Weave Schedule. 243 [W] Time--specified wait instruction. 545 Torch Posture Adjustment. 627 Welding input signals. 702 Write protection. 35 TP start prohibition. 229 Tast schedule setup. 266 Teaching a supplementary motion instruction. 370 Tast tracking. 208 Touch sensing mastering. 163 i--6 . 676 Tast troubleshooting. 424 Tast programming. 241 World Frame Origin. 535 Usable Memory Cards.Index B--81464EN--3/01 Note Volume 1 : Up to Page 693 / Volume 2 : Page 695 and later [T] [U] Tast application guidelines. 340 Three--Mode Switch. 649 Weld Path has Changed at a Specific Position. 542 Welding Tuning. 535 Unconditional branch instructions. 428 Teach pendant. 536 User Alarm. 21 Teaching a control instruction. 210. 502 Version management. 5 Turning on the power and turning off the power. 426 Test operation (test execution). 678 Touch sensing hardware. 625 Welding I/O instructions. 525 Weld path is snaking. 652 Weld speed statement. 515 Weld Schedule Advise Screen. 676 Tast Tracking Function. 774 Types of Screens. 536 User Screen. 197 Welding Parameter Grade Function. 734 Tips on Effective Programming. 674 Tracking failure conditions. 38 TRACK{Sensor} instruction. 544 User alarm instruction. 239 Wait Instructions. 2002 Edition Date Contents Edition Date Contents .Revision Record FANUC Robot series ARC TOOL (With R--J3iB CONTROLLER) OPERATOR’S MANUAL (B--81464EN--3) 01 Feb..