OWNER'S MANUAL
Before using the QRCX controller (be sure to read the following notes) At this time, our thanks for your purchase of this YAMAHA QRCX series controller. Please be sure to perform the following tasks before using the QRCX controller. Failing to perform the tasks below will require absolute reset for origin position setting each time the power is turned on or may cause robot malfunctions (vibration, noise).
[1] When connecting the power to the QRCX controller Always make a secure connection to the ground terminal while referring to “4. Connections” of “Chapter 3 Installation” in the robot controller instruction manual to ensure safety and prevent malfunction of the QRCX controller due to noise. [2] When connecting the robot cable to the QRCX controller The absolute battery is fully charged when the QRCX Controller is shipped to the customer. However, it is left unconnected in order to prevent battery discharge. After installing the controller, always be sure to connect the absolute battery while referring to “9. Connecting the Absolute Battery” of “Chapter 3 Installation” in the robot controller instruction manual, before connecting the robot cable. An error (relating to absolute settings) is always issued if the QRCX controller power is turned on without making the absolute battery connections, so the origin position is not detected. This means the robot connected to this controller cannot use absolute specifications. Absolute reset is always required when the QRCX controller power is first turned on after connecting the robot cable to the QRCX controller. Perform absolute reset while referring to “11-9 Absolute Reset” of “Chapter 4 Operation” in the robot controller instruction manual. Absolute reset is also required after the robot cable was disconnected from the QRCX controller and then reconnected.
Before using the SCARA robot (be sure to read the following notes) At this time, our thanks for your purchase of this YAMAHA YK-X series SCARA robot. The YK-X series robots use absolute specifications motors and do not require origin position settings by absolute reset after turning on the controller power. However, when the controller power is first turned on in the following cases, absolute reset is required to set the origin position. At this point, an error is issued immediately after turning on the controller power but this is not a malfunction. (1) When robot cable was first connected after delivery from YAMAHA. (2) When robot cable was disconnected from the controller and then reconnected. (3) When no absolute battery is connected. (4) When a motor or cable was replaced. First perform the following tasks before using the robot. Failing to perform the tasks below will require re-teaching of the robot since the origin position cannot be set to the same previous position. Robot malfunctions (vibration, noise) may also occur. On the YK-X series robots, an origin position sticker is attached to the robot arm extended position and the standard coordinates set at the factory prior to shipment. The customer should set the origin position before any other job. There are 2 methods of origin position settings as shown below.
[1] Setting the robot arm extended position (origin position sticker attached to joint prior to shipment from factory) as origin position. 1. Perform absolute reset to set the origin position [2] Setting OTHER than robot arm extended position (origin position sticker attached to joint prior to shipment from factory) as origin position. 1. Perform absolute reset to set the origin position 2. Affix the origin position sticker 3. Set the standard coordinates. Key points for each case are described in the introductory section “Before using the robot” in the YK-X series instruction manual. Be sure to make the above settings before using the robot while referring to the YK-X series instruction manual.
Before using the “X” series single-axis robot or XY robot (be sure to read the following notes) At this time, our thanks for your purchase of this YAMAHA “X” series robot. The “X” series robots use absolute specifications motors and do not require origin position settings by absolute reset after turning on the controller power. However, when the controller power is turned on in the following cases, absolute reset is required to set the origin position just the very first time. At this point, an error is issued immediately after turning on the controller power but this is not a malfunction. (1) When robot cable was first connected after delivery from YAMAHA. (2) When robot cable was disconnected from the controller and then reconnected. (3) When no absolute battery is connected. (4) When a motor or cable was replaced.
[1] When using a linear movement robot Applicable robots: All “X” series single-axis robots except single-axis rotary movement robots (see [2]) Linear movement axes (X, Y, Z axes) of “X” series Cartesian robots. The above robots use the stroke end origin detection method. The motor side stroke end is set as the origin at the factory prior to shipping. Set the origin position while referring to the instruction manual for the robot controller you are using. Avoid changing the origin position to the non-motor side. Changing the origin position to the non-motor side may cause a positional shift or robot breakdowns, and is also dangerous in some cases. If the origin position must be changed, please consult our sales office or dealer.
[2] When using a rotary movement robot Applicable robots: R5/R10/R20 (“X” series single-axis robots) RF (R axis of “X” series Cartesian robots SXYx/MXYx) RL/RH (R axis of “X” series Cartesian robots HXYx) RM/RS (R axis of “X” series Cartesian robots ZRM/ZRS) On the above robots, the customer should set the origin at the desired position. After moving the tool to the position where you want to set as the origin, affix the stickers (triangular stickers supplied with the robot) to the tool side and workpiece side so that they can be used as the alignment marks. Set the origin position while referring to the instruction manual for the robot controller you are using. Key points for each case are described in the introductory section “Before using the robot” in the “X” series instruction manual. Be sure to make the above settings before using the robot while referring to the “X” series instruction manual.
MEMO
Introduction The YAMAHA QRCX series controllers were developed based on years of YAMAHA experience and achievements in mechanics and electronics. These controllers are specifically designed to operate YAMAHA industrial robots efficiently and accurately. Despite its compact size, the QRCX controllers serve as multi-axis controllers with a variety of functions. Major features and functions are:
1. Multi-task function Up to 8 tasks can be run simultaneously in a specified priority. (Low priority tasks are halted while high priority tasks are run.) I/O parallel processing and interrupt processing are also available, so that operational efficiency of the total robot system including peripheral units is greatly improved. (Refer to the Programming Manual for more details on multi-tasking.)
2. Robot language The QRCX series controllers come with a BASIC-like high-level robot language that conforms to SLIM*1. This robot language allows easy programming even of complex movements such as multi-task operations and uses a compiling method*2 for rapid execution of programs. *1: Standard Language for Industrial Manipulators *2: This compiling method checks the syntax in a robot language program, converts it into intermediate codes, and creates an execution file (object file) before actually performing the program.
3. Movement command • Arch motion Spatial movement during pick-and-place work can be freely set according to the work environment. This is effective in reducing cycle time. • Three-dimensional CP control and two-dimensional circular arc interpolation control Three-dimensional CP control such as linear interpolation and free curve control, as well as two-dimensional circular arc interpolation on the X and Y planes are provided.
4. Maintenance Software servo control provides unit standardization. This means compatibility with most YAMAHA robot models, thus simplifying maintenance and adjustment. This manual explains how to handle and operate the YAMAHA robot controllers correctly and effectively, as well as I/O interface connections. Read this manual carefully before installing and using the robot controller. Also refer to the separate “Programming Manual” and “Robot User's Manual” as needed.
MEMO
Contents CHAPTER 1 1
Safety Safety Items ..................................................... 1-1 1-1 1-2 1-3 1-4
2 3
CHAPTER 2 1
Outline of System Outline of System ............................................ 2-1
1
Crate and Unpacking ....................................... 3-1
Installation ............................................................................. 3-2
Connectors....................................................... 3-3 Power Connections .......................................... 3-5 4-1 4-2 4-3 4-4 4-5 4-6
5 6 7
Crate ...................................................................................... 3-1 Unpacking ............................................................................. 3-1
Installing the Robot Controller......................... 3-2 2-1
3 4
MPB programming unit .......................................................... 2-8 I/O Extension ......................................................................... 2-9 3.5-inch FD Drive Unit .......................................................... 2-9
Installation 1-1 1-2
2
QRCX (Maximum number of axes: 4 axes) ............................. 2-6
The Robot Controller System ........................... 2-7 Description of Optional Equipment ................. 2-8 4-1 4-2 4-3
CHAPTER 3
Main System Configuration .................................................... 2-2 Axis Definition for the QRCX ................................................. 2-4
Part Names and Functions ............................... 2-6 2-1
3 4
1-2 1-2 1-2 1-3
WARRANTY ..................................................... 1-4 Operating Environment.................................... 1-6
1-1 1-2
2
Safety precautions during robot operation .............................. Safety precautions during maintenance.................................. Precautions for motor overload .............................................. Warning labels ......................................................................
Plug for AC200 to 230V, Single Phase Specifications ............. 3-5 Power Source Capacity .......................................................... 3-6 Protective Ground ................................................................. 3-6 Main Power Switch ................................................................ 3-7 Leakage Current and External Leakage Current Breaker Installation ... 3-7 Circuit Protector Installation .................................................. 3-7
Robot Cable Connections................................. 3-8 Connecting an MPB Programming Device ....... 3-9 I/O Connections ............................................ 3-10
8 9 10 11
CHAPTER 4 1 2
Connecting a Host Computer......................... 3-10 Connecting the Absolute Battery.................... 3-11 Replacing the Absolute Battery ...................... 3-13 Precautions for Cable Connections ................ 3-16
Operation Overview ......................................................... 4-1 Robot Controller .............................................. 4-2 2-1 2-2
3
MPB Programming Device ............................... 4-4 3-1 3-2 3-3
4 5
Emergency Stop Reset .......................................................... 4-18
Mode Hierarchy ............................................. 4-20 Mode Configuration ....................................... 4-26 8-1 8-2
9
Screen Configuration ............................................................. 4-9 Layout of Operation Keys ..................................................... 4-10 Overview of Key Operation ................................................. 4-11 Function Key Description .................................................... 4-12 Control Key Description ...................................................... 4-13 Data Key Description ........................................................... 4-16 Other Keys ........................................................................... 4-16
Emergency Stop ............................................. 4-17 6-1
7 8
Part Names ............................................................................ 4-4 Main Function ....................................................................... 4-5 Connection to the Robot Controller ....................................... 4-6
Turning Power Supply ON and OFF ................. 4-7 Operation Keys ................................................ 4-9 5-1 5-2 5-3 5-4 5-5 5-6 5-7
6
Part Names ............................................................................ 4-2 Main Functions ...................................................................... 4-3
Basic Mode Configuration ................................................... 4-26 Other Operation Modes ....................................................... 4-27
“AUTO” Mode ............................................... 4-28 9-1 9-2 9-3 9-4 9-5 9-6 9-7
Automatic Operation ........................................................... Stop ..................................................................................... Program Reset ...................................................................... Switching Task Displays ....................................................... Switching Execution Programs ............................................. Changing the Automatic Movement Speed .......................... Executing the Point Trace ..................................................... 9-7-1 PTP Motion Mode .................................................. 9-7-2 Arch Motion Mode ................................................. 9-7-3 Linear Interpolation (LINE) Motion Mode ...............
4-30 4-31 4-32 4-34 4-35 4-35 4-36 4-38 4-40 4-42
9-8 9-9
Direct Command Execution ................................................. Break Point .......................................................................... 9-9-1 Break Point Setting ................................................. 9-9-2 Break Point Deletion .............................................. 9-10 STEP Execution .................................................................... 9-11 SKIP ..................................................................................... 9-12 NEXT Execution ...................................................................
4-44 4-45 4-45 4-46 4-47 4-47 4-48
10 “PROGRAM” mode ....................................... 4-49 10-1 Program List Scroll ............................................................... 4-50 10-2 Program Editing ................................................................... 4-50 10-2-1 Cursor Movement ................................................... 4-51
10-3
10-4 10-5 10-6 10-7
10-2-2 Insert Mode and Overtype Mode Switching ............ 10-2-3 Inserting a Single Line ............................................ 10-2-4 Deleting a Single Character .................................... 10-2-5 Deleting a Line ....................................................... 10-2-6 User Function Key Display ..................................... 10-2-7 Quitting Edit ........................................................... 10-2-8 Specifying the Copy/Cut Line .................................. 10-2-9 Enter Copy Line ...................................................... 10-2-10 Enter Cut Line ......................................................... 10-2-11 Paste ....................................................................... 10-2-12 Backspace .............................................................. 10-2-13 Line Jump ............................................................... 10-2-14 Character String Finding ......................................... Directory ............................................................................. 10-3-1 Cursor Movement ................................................... 10-3-2 Registering a New Program Name .......................... 10-3-3 Display of Directory Data ....................................... 10-3-4 Copying a Program ................................................. 10-3-5 Erasing a Program ................................................... 10-3-6 Changing a Program Name .................................... 10-3-7 Changing the Program Attribute .............................. 10-3-8 Displaying the Object Data .................................... 10-3-9 Making a Sample Program Automatically ............... Compiling ............................................................................ Line Jump and Finding Character Strings .............................. Registering User Function Keys ............................................ Resetting an Error in the Selected Program ...........................
4-52 4-52 4-53 4-53 4-53 4-54 4-54 4-55 4-55 4-55 4-56 4-56 4-57 4-58 4-59 4-59 4-60 4-60 4-61 4-62 4-63 4-63 4-64 4-66 4-67 4-67 4-70
11 “MANUAL” Mode .......................................... 4-71 11-1 Manual Movement .............................................................. 4-73 11-2 Input and Edit Point Data ..................................................... 4-75 11-2-1 Point Data Input and Editing ................................... 4-76 11-2-1-1 Restoring Point Data ....................................... 4-77
11-2-2 Input by Teaching Point Data .................................. 4-78
11-2-3 Input Point Data by Direct Teaching ....................... 11-2-4 Point Display Jump ................................................. 11-2-5 Copying Point Data ................................................ 11-2-6 Erasing Point Data .................................................. 11-2-7 Executing Trace of Point Data ................................. 11-2-8 Resetting an Error in the Point Data ........................ 11-3 Display/Edit/Set of palette definition .................................... 11-3-1 Palette Definition Editing ........................................
4-82 4-83 4-83 4-84 4-85 4-86 4-87 4-88
11-3-1-1 Point Edit in the Palette Definition ................... 4-89
11-3-2 Input Palette Definition by Teach ............................ 11-3-3 Copy of Palette Definition ....................................... 11-3-4 Deletion of Palette Definition ................................. 11-4 Return to Origin ................................................................... 11-4-1 Return to Origin Procedure .................................... 11-5 Changing the Manual Movement Speed .............................. 11-6 Display/Edit/Set of Shift Coordinates .................................... 11-6-1 Editing Shift Coordinates ........................................
4-90 4-92 4-93 4-93 4-94 4-96 4-96 4-99
11-6-1-1 Restoring Shift Coordinates ............................. 4-99
11-6-2 Editing Shift Coordinate Range ............................. 4-100 11-6-2-1 Restoring Shift Coordinate Range .................. 4-102
11-6-3 Shift Coordinate Setting Method 1 ........................ 11-6-4 Shift Coordinate Setting Method 2 ........................ 11-7 Hand Definition Display/Edit/Set Procedures ..................... 11-7-1 Hand Definition Editing .......................................
4-102 4-105 4-107 4-113
11-7-1-1 Restoring Hand Definition ............................ 4-114
11-7-2 Hand definition Setting Method 1 ......................... 11-8 Changing the Units Display ............................................... 11-9 Absolute Reset ................................................................... 11-9-1 Checking Absolute Reset ...................................... 11-9-2 Axis Absolute Reset .............................................. 11-9-3 Absolute Reset on All Axes ................................... 11-10 Z-Axis Slant Manual Movement Setting ............................. 11-10-1 Z-Axis Slant Manual Movement Direction ............ 11-10-2 Z-Axis Slant Manual Movement Angle .................. 11-11 Setting the Standard Coordinates ....................................... 11-11-1 Setting of the Standard Coordinate by Four Points Teach Method ..................................... 11-11-2 Setting of the Standard Coordinate by Three Points Teach Method ...................................
4-115 4-117 4-118 4-119 4-120 4-125 4-129 4-130 4-131 4-131 4-135 4-136
12 “SYSTEM” Mode .......................................... 4-139 12-1 Parameter .......................................................................... 12-1-1 Robot Parameter ................................................... 12-1-2 Axis Parameter ...................................................... 12-2 Communication Parameter ................................................
4-140 4-142 4-148 4-164
12-3 Backup .............................................................................. 4-170 12-3-1 Floppy Disk .......................................................... 4-170 12-3-1-1 Loading a File ............................................... 4-172 12-3-1-2 Saving a File .................................................. 4-174 12-3-1-3 Displaying the Directory ............................... 4-175 12-3-1-4 Displaying Disk Data .................................... 4-177 12-3-1-5 Erasing Files (ERASE) ..................................... 4-177 12-3-1-6 Renaming Files ............................................. 4-179 12-3-1-7 Initializing the Disk ....................................... 4-180
12-3-2 Communication ................................................... 4-182 12-3-2-1 Receiving a File ............................................. 4-183 12-3-2-2 Transmitting a File ......................................... 4-184 12-3-2-3 Initializing the Communications Port ............ 4-185
12-4 Initializing ......................................................................... 12-4-1 Initializing the Parameter ...................................... 12-4-2 Initializing the Memory ........................................ 12-4-3 Initializing the Communication Parameter ............ 12-4-4 Clock Setting ........................................................ 12-4-5 System Generation ...............................................
4-185 4-186 4-187 4-188 4-188 4-189
12-4-5-1 Robot Settings ............................................... 4-190 12-4-5-2 Axis Setting ................................................... 4-192 12-4-5-3 Initialization .................................................. 4-193 12-4-5-4 Help ............................................................. 4-194 12-4-5-4-1 Referring to the robot number ........................... 4-195 12-4-5-4-2 Referring to the single-axis number ................... 4-195
12-4-5-5 Auxiliary Axis Setting .................................... 4-196 12-4-5-6 Axis Assignment ............................................ 4-197
12-5 Self diagnosis ..................................................................... 12-5-1 Hardware check ................................................... 12-5-2 Error log display ................................................... 12-5-3 Absolute battery voltage display ...........................
4-199 4-199 4-200 4-200
13 “DI/DO monitor” Mode .............................. 4-202 14 “UTILITY” Mode .......................................... 4-207 14-1 Cancelling Emergency Stop/ Motor Power and Servo ON/OFF ..... 14-1-1 Cancelling Emergency Stop .................................. 14-1-2 Motor Power and Servo ON/OFF .......................... 14-2 Setting the Sequencer Execution Enable/Disable Flag ......... 14-3 Changing the Access Level (Operation Level) ..................... 14-3-1 Password Input ..................................................... 14-3-2 Changing the Access Level ................................... 14-3-3 Displaying the Help Message ............................... 14-4 Changing the Arm Type ...................................................... 14-5 Reset of External Output and Internal Auxiliary Output ......
4-208 4-208 4-209 4-210 4-210 4-211 4-212 4-212 4-214 4-215
14-6 Changing the Execute Level ............................................... 4-215 14-6-1 Changing the Execute Level .................................. 4-216 14-6-2 Displaying Help Message ..................................... 4-216
CHAPTER 5 1 2
I/O Interface Overview of I/O Functions .............................. 5-1 STD. DIO (Standard Equipment) ...................... 5-2 2-1 2-2 2-3 2-4 2-5 2-6 2-7 2-8
Power supply setting .............................................................. 5-2 STD. DIO Connector Input/Output Signals ............................ 5-3 STD. DIO Pin Numbers ......................................................... 5-4 STD. DIO I/O CN1 Input Signal Connections ........................ 5-5 STD. DIO Output Signal Connections .................................... 5-7 Dedicated Input Signal .......................................................... 5-9 Dedicated Output Signal ..................................................... 5-13 Dedicated Input/Output Timing Chart .................................. 5-16 2-8-1 Power ON/OFF and Emergency Stop; Servo On/OFF ....... 5-16 2-8-2 Origin Return ......................................................... 5-17 2-8-3 Mode Selection ...................................................... 5-18 2-8-4 Program Operation ................................................. 5-19 2-8-5 Sequence Program ................................................. 5-20 2-8-6 Major Error and CPU Stop ...................................... 5-20 2-9 General-purpose Input Signal .............................................. 5-21 2-10 General-purpose Output Signal ........................................... 5-21 2-10-1 Reset (OFF) of General-purpose Output Signal ....... 5-21
3
OP. DI (Option) ............................................. 5-23 3-1 3-2 3-3
4
OP. DO (Option)............................................ 5-26 4-1 4-2 4-3
5
OP. DO Connector Input/Output Signals ............................. 5-26 OP. DO Pin Numbers .......................................................... 5-27 OP. DO Output Signal Connection Example ........................ 5-28
EXT. DIO ........................................................ 5-29 5-1 5-2 5-3
6 7
OP. DI Connector Input/Output Signals ............................... 5-23 OP. DI Pin Numbers ............................................................ 5-24 OP. DI Input Signal Connection Examples ........................... 5-25
EXT. DIO CN Connector Input/Output Signals ..................... 5-29 EXT. DIO Input Signal Connection Examples ....................... 5-30 EXT. DIO Output Signal Connection Examples .................... 5-30
Rating............................................................. 5-31 Cautionary Points ........................................... 5-32
CHAPTER 6 1
RS-232C Interface Overview ......................................................... 6-1 1-1
2 3
Outline of Communication Function ............... 6-3 Communication Specifications......................... 6-5 3-1 3-2 3-3 3-4
3-5
3-6
4 5
3-5-2 Transmission (Robot controller ↔ External Unit) .... 6-12 3-5-3 Receive (Robot controller ↔ External Unit) ............ 6-13 Other Cautionary Points ...................................................... 6-14
“ONLINE” Mode and “OFFLINE” Mode .............................. Online Commands .............................................................. Online Commands Table ..................................................... Online Command and Access Level .................................... Execution Flow Chart for Online Commands ....................... Online Command Description ............................................. 5-6-1 Key Operation ........................................................ 5-6-2 Utility ..................................................................... 5-6-3 Data Handling ........................................................ 5-6-4 Individual Execution of Robot Language ................. 5-6-5 Control Code ..........................................................
6-16 6-17 6-18 6-19 6-20 6-21 6-21 6-23 6-27 6-35 6-36
RS-232C Related Error Messages.................... 6-37 Connection to the External Unit and Program Example ........................................... 6-39 7-1 7-2
8
Connector .............................................................................. 6-5 Sample Connections .............................................................. 6-6 Transmission Methods and Communication Parameters ......... 6-8 Flow control .......................................................................... 6-9 3-4-1 Flow control during transmit ..................................... 6-9 3-4-2 Flow control during receive .................................... 6-10 Timing Chart ........................................................................ 6-11 3-5-1 Power ON .............................................................. 6-11
Communication Using the SEND Statement .. 6-15 Communication with the Online Command .. 6-16 5-1 5-2 5-3 5-4 5-5 5-6
6 7
Application Example .............................................................. 6-2
Example Using the Controller's Point Data Format ............... 6-39 Example Using Character Strings ......................................... 6-40
Character Code List ....................................... 6-42
CHAPTER 7 1 2 3
Specifications Robot Controller Standard Specifications ........ 7-1 Robot Controller Standard Functions ............... 7-2 Robot Controller External View ........................ 7-3 3-1
4 5 6
CHAPTER 8 1 2
MPB Standard Specifications ........................... 7-4 MPB External View ........................................... 7-4 3.5 inch floppy disk unit standard specifications (option)...................................... 7-5
Troubleshooting LED Display Table............................................. 8-1 Error Messages ................................................. 8-2 2-1
2-2
3
QRCX External View .............................................................. 7-3
Error Message Relating to the Robot Controller ...................... 8-2 [00] Various warnings and messages ...................................... 8-4 [02] Errors relating to robot operating area ............................. 8-6 [03] Errors relating to a program file operation ....................... 8-9 [04] Operation errors relating to input/edit data ................... 8-11 [05] Errors relating to robot programming language (compiling) ..... 8-11 [06] Errors during execution of robot programming ............. 8-19 [09] Memory related errors .................................................. 8-23 [10] Errors relating to environmental settings or hardware ... 8-26 [12] Errors relating to custom or all purpose I/O .................. 8-28 [13] MPB errors ................................................................... 8-28 [14] Communications errors ................................................ 8-29 [15] Error relating to a FDD ................................................. 8-31 [17] Errors relating to motor control (D?=Driver No.) ........... 8-33 [21] Critical software errors ................................................. 8-42 [22] Critical hardware errors ................................................ 8-43 Error Message Relating to the MPB ...................................... 8-48
Troubleshooting ............................................. 8-50
CHAPTER 1
Safety 1
Safety Items .............................................. 1-1 1-1 1-2 1-3 1-4
2 3
Safety precautions during robot operation ..................... 1-2 Safety precautions during maintenance ......................... 1-2 Precautions for motor overload ..................................... 1-2 Warning labels .............................................................. 1-3
WARRANTY .............................................. 1-4 Operating Environment ............................ 1-6
MEMO
CHAPTER 1 Safety
1
Safety Items It is assumed that the operator has sufficient knowledge of basic industrial procedures not discussed in this manual. Note that certain illustrations and diagrams may not include renditions of safety equipment (guards, etc.) which should be used with your Yamaha robot. Remember:
FOLLOW THE WARNINGS, CAUTIONS AND ADVICE INCLUDED IN THIS MANUAL; TAKE ANY AND ALL PRECAUTIONS REQUIRED BY GOOD JUDGEMENT WHEN USING MECHANICAL EQUIPMENT. FAILURE TO DO SO MAY RESULT IN DAMAGE OR INJURY.
Safety Information in this Manual Particularly important information is distinguished in this manual by the following pictograms: NOTE
A “NOTE” provides key information to make procedures easier or clearer. CAUTION
A “CAUTION” indicates essential information that must be followed to avoid a malfunction or damage to the robot. !
WARNING
A “WARNING” indicates special information that must be followed to avoid injury to the robot operator or service personnel.
1-1
CHAPTER 1 Safety
1-1
Safety precautions during robot operation a. The robot must be operated by a person who has received Robot Training from YAMAHA or an authorized YAMAHA sales representative. b. During operation of the robot, be sure to stay out of the working area of the manipulator. Install a safety enclosure to keep anyone away from the working area or provide a gate interlock using an area sensor that triggers emergency stop when anyone enters the working area. c. Do not use the robot in locations subject to inflammable gases, gasoline, solvent, etc. Both YAMAHA robots and controllers are not designed for explosion-proof, so there is danger of explosion or file if used in such environments.
1-2
Safety precautions during maintenance a. Never disassemble the robot or controller. In cases where you have to replace or repair parts used in the robot or controller, first consult with us and follow the instruction we provide. b. Before beginning maintenance for the robot or controller, be sure to turn off the power to the controller. Even after turning off the controller, there are some parts in the controller which are still hot or at a high voltage. Always wait for at least 30 minutes after the controller is turned off.
1-3
Precautions for motor overload Since abnormal operation of the motor such as "overload" is detected by software, the controller parameters must be set correctly to match the motor type used in the robot which is connected to the controller. Prior to shipping, the controller parameters are preset to match the robot model to be used. When connecting to the robot to the controller, check the robot model again. If any abnormality is found during operation, stop the controller and contact us for corrective action.
1-2
CHAPTER 1 Safety
1-4
Warning labels The following warning labels are affixed to the robot to alert the operator or service personnel to danger or a potential hazard. a. Do not remove cover or any part !
WARNING
!
Do not remove. Electrical shock hazard.
b. Do not touch to avoid electrical shock !
CAUTION
ELECTRIC
HAZARD
C. Connect the MPB correctly ! CAUTION
!
Insert connector correctly to avoid equipment damage.
1-3
CHAPTER 1 Safety
2
WARRANTY The YAMAHA robot and/or related product you have purchased are warranted against the defects or malfunctions as described below.
Warranty description: If a failure or breakdown occurs due to defects in materials or workmanship in the genuine parts constituting this YAMAHA robot and/or related product within the warranty period, then YAMAHA will repair or replace those parts free of charge (hereafter called "warranty repair"). Warranty Period: The warranty period ends when any of the following applies: (1) After 18 months (one and a half year) have elapsed from the date of ship ment (2) After one year has elapsed from the date of installation (3) After 2,400 hours of operation Exceptions to the Warranty: This warranty will not apply in the following cases: (1) Fatigue arising due to the passage of time, natural wear and tear occur ring during operation (natural fading of painted or plated surfaces, dete rioration of parts subject to wear, etc.) (2) Minor natural phenomena that do not affect the capabilities of the robot and/or related product (noise from computers, motors, etc.). (3) Programs, point data and other internal data that were changed or cre ated by the user. Failures resulting from the following causes are not covered by warranty repair. 1) Damage due to earthquakes, storms, floods, thunderbolt, fire or any other natural or man-made disasters. 2) Troubles caused by procedures prohibited in this manual. 3) Modifications to the robot and/or related product not approved by YAMAHA or YAMAHA sales representatives. 4) Use of any other than genuine parts and specified grease and lubricants. 5) Incorrect or inadequate maintenance and inspection. 6) Repairs by other than authorized dealers.
1-4
CHAPTER 1 Safety
YAMAHA MOTOR CO., LTD. MAKES NO OTHER EXPRESS OR IMPLIED WARRANTIES, INCLUDING ANY IMPLIED WARRANTY OF MERCHANTABILITY OR FITNESS FOR ANY PARTICULAR PURPOSE. THE WARRANTY SET FORTH ABOVE IS EXCLUSIVE AND IS IN LIEU OF ALL EXPRESSED OR IMPLIED WARRANTIES, INCLUDING WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, OR WARRANTIES ARISING FROM A COURSE OF DEALING OR USAGE OF TRADE. YAMAHA MOTOR CO., LTD. SOLE LIABILITY SHALL BE FOR THE DELIVERY OF THE EQUIPMENT AND YAMAHA MOTOR CO., LTD. SHALL NOT BE LIABLE FOR ANY CONSEQUENTIAL DAMAGES (WHETHER ARISING FROM CONTRACT, WARRANTY, NEGLIGENCE OR STRICT LIABILITY). YAMAHA MOTOR CO., LTD. MAKES NO WARRANTY WHATSOEVER WITH REGARD TO ACCESSORIES OR PARTS NOT SUPPLIED BY YAMAHA MOTOR CO., LTD.
1-5
CHAPTER 1 Safety
3
Operating Environment Operating temperature The ambient temperature should be maintained within a range of 0 to 40°C during operation. This is the range in which continuous operation of the robot controller is guaranteed according to the initial specifications. If the robot controller is installed in a narrow space, heat generated from the controller itself and from peripheral equipment may drive the temperature above the allowable operating temperature range. This may result in thermal runaway or faulty operation and may lower component performance along with shortening their useful service life. So be sure to install the controller in locations with a vent having a natural air flow. If this proves insufficient provide forced air-cooling. Storage temperature The controller should be stored in a location having an ambient temperature range from -10 to +65°C when not being used. If the robot controller is stored in a location at high temperatures for extended periods, deterioration of the electronic components may occur and the memory backup time may decrease. Operating humidity The ambient humidity of the robot controller should be kept below 35% to 85% RH (no condensation) in order to guarantee continuous operation within the initial specifications. Installing the robot controller inside an air-conditioned housing is recommended when an ambient humidity is higher than 85% or condensation occurs. Storage humidity The controller should be stored in a location having an ambient humidity below 95% RH when not being used. If the robot controller is stored in a location with high humidity for an extended period of time, rust may form on the electronic components. Vibration and shock Do not apply excessive shocks or constant vibrations to the robot controller. Install the robot controller in a location not subject to vibrations. Atmosphere (gas etc.) Do not install the robot controller in locations where conductive dust particles, hydrogen sulfide gas or sulfurous acid gas are present. Such an atmosphere may cause the components to erode. If harmful dust particle occur at the current location, then installing the robot controller in an air-conditioned housing is recommended. Installation location Install the robot controller indoors, at a height of less than 1000 meters above sea level. 1-6
CHAPTER 2
Outline of System 1
Outline of System ..................................... 2-1 1-1 1-2
2
Part Names and Functions ........................ 2-6 2-1
3 4
Main System Configuration ........................................... 2-2 Axis Definition for the QRCX ........................................ 2-4
QRCX (Maximum number of axes: 4 axes) .................... 2-6
The Robot Controller System .................... 2-7 Description of Optional Equipment .......... 2-8 4-1 4-2 4-3
MPB programming unit ................................................. 2-8 I/O Extension ................................................................2-9 3.5-inch FD Drive Unit ................................................. 2-9
MEMO
CHAPTER 2 Outline of System
1
Outline of System The QRCX series controllers are designed for use with a SCARA robot or XY Cartesian robot, mainly for assembly and pick-and-place applications. Applications also include various inspection instruments, sealers and spray equipment utilizing linear and circular ark interpolation.
2-1
CHAPTER 2 Outline of System
1-1
Main System Configuration Configuration 1
System controlling one robot
Example : YK400X All the axes on the QRCX controller are used as the main robot axes.
YAMAHA robot
MPB PLC
3.5"FD
YAMAHA
Q R C X
POWER CPU OK SERVO ALARM
SYSTEM>PARAM Robot
Personal computer
V7.01X
= YK400X
M1= YK400X
M5= no axis
M2= YK400X
M6= no axis
M3= YK400X M4= YK400X ROBOT
AXIS
Fig.2-1-1 Outline of System
2-2
CHAPTER 2 Outline of System
Configuration 2
System controlling one robot and auxiliary axes
Example : SXYx+T9+T9 Axes 1 and 2 on the QRCX controller are used as the main robot axes and axes 3 and 4 are used as the main auxiliary axes.
YAMAHA robot
MPB PLC
3.5"FD YAMAHA
Q R C X
Personal computer
POWER CPU OK SERVO ALARM
SYSTEM>PARAM Robot
V7.01X
= SXYx_A
M1= Sx-F14H-20
M5= no axis
M2= Sy-F14-A20
M6= no axis
m3= T9-12 m4= T9-12 ROBOT
AXIS
Fig.2-1-2 Outline of System
2-3
CHAPTER 2 Outline of System
1-2
Axis Definition for the QRCX Axis definitions for the YAMAHA robot controller QRCX series are shown below. QRCX (RC)
Main group (MG)
Main robot (MR)
Sub group (SG)
Sub robot (SR)
Main robot axis (M?) Main auxiliary axis (m?) Sub robot axis (S?) Sub auxiliary axis (s?)
QRCX
Indicates the entire robot controller and has a maximum of 4 axes. The letters “RC” are displayed on the MPB.
Main group
Indicates the main robot and main auxiliary axes and has a maximum of 4 axes. The letters “MG” are displayed on the MPB.
Main robot
Indicates the robot name which is set as a main robot, and is the center housing for the main robot axes. The letters “MR” are displayed on the MPB.
Main robot axes
Indicate the axes composing the main robot. These can be moved with the robot language MOVE command. The letters “M?” are displayed on the MPB. (?=1 to 4)
Main auxiliary axes
Are the single axes composing the main group. These cannot be moved with robot language MOVE command. Use the DRIVE command to move them. The letters “m?” are displayed on the MPB. (?=1 to 4)
Sub group
Indicates the sub robot and sub auxiliary axes, and has a maximum of 2 axes. The letters “SG” are displayed on the MPB.
Sub robot
Indicates the robot name which is set as a sub robot, and is the center housing for the sub robot axes. The letters “SR” are displayed on the MPB.
Sub robot axes
Indicate the axes composing the sub robot. These can be moved with the robot language MOVE2 command. The letters “S?” are displayed on the MPB. (?=1 to 2) 2-4
CHAPTER 2 Outline of System
Sub auxiliary axes
Are the single axes composing the sub group. These cannot be moved with robot language MOVE2 command. Use the DRIVE2 command to move them. The letters “s?” are displayed on the MPB. (?=1 to 2)
Normally, only main robot axes can be set. Auxiliary axes and sub group settings are for options made at the time of shipment.
2-5
CHAPTER 2 Outline of System
2
Part Names and Functions
2-1
QRCX (Maximum number of axes: 4 axes)
3.5" floppy disk drive (option)
Monitor panel
Emergency stop button
YAMAHA Q R C X
POWER CPU OK SERVO ALARM
Power ON/OFF switch
HOST connector
MPB connector
Warning label to make correct connection to MPB
Front panel
AC power input connector Standard I/O unit
Expanded I/O unit (option)
1
Cooling fan
Warning label to prohibit removing or disassembly
2
Driver unit Rear panel
2-6
CHAPTER 2 Outline of System
3
The Robot Controller System The basic block diagram of the robot control system is shown below.
robot controller
Emergency stop button
Power unit DC 5V, ±12V, 24V DC280V
Robot manipulator
LED display Mother board
Programming device MPB
AC IN
M
CPU unit
P/E
Driver unit Origin signal. etc.
RS-232C communication
IF unit
FDD unit
2-7
Custom input/output All purpose input/output
CHAPTER 2 Outline of System
4
Description of Optional Equipment
4-1
MPB programming unit The MPB allows all instructions necessary to operate the robot, including manual operation, programming input and editing, teaching and parameter setting.
MPB
F7
F 1
F8
F 2
F11
MODE
F9
F 3
F12
USER
INS
ROBOT ROBOT
F10
F 4
F13
DEL
L.INS L.INS
L.DEL L.DEL
<< <<
F6
<< <<
F 5
F14
F15
ESC UTILITY UTILITY
<<<<
DISPLAY DISPLAY
B B
( FF
C C
)
K K
>
&
LL
[ P P
]
7
/
0
UPPER UPPER
5
X
#1-
9
#2+
Y
#2-
6
#3+
Z
#3-
3
#4+
R
#4-
#5+
A
#5-
#6+
B
#6-
Y Y
2 {{
""
#1+
TT
X X
1
''
ZZ
8
4 W W
V V
STOP STOP
START START
O O
S S
R R
;
: U U
! JJ
N N
M M
Q Q
E E
$ II
H H
G G
<
D D
%
--
A A
<<<<
##
,
.
??
}}
LOWER LOWER
SPACE SPACE
@ @
Fig.2-4-1 MPB programming device
2-8
CHAPTER 2 Outline of System
4-2
I/O Extension The number of standard general-purpose input/output terminals is 16 for input and 8 for output. With this option, they can be extended to 80 for input and 64 for output.
4-3
3.5-inch FD Drive Unit A 3.5-inch FD drive unit can be accommodated into the front panel of the robot controller. This drive unit is compatible with four modes of the MS-DOS format: 1.44MB, 1.2MB, 720KB, and 640KB. This allows easy backup of the program or loading of the data entered with a personal computer.
2-9
MEMO
2-10
CHAPTER 3
Installation 1
Crate and Unpacking ................................ 3-1 1-1 1-2
2
Installing the Robot Controller ................. 3-2 2-1
3 4
Installation .................................................................... 3-2
Connectors ............................................... 3-3 Power Connections ................................... 3-5 4-1 4-2 4-3 4-4 4-5 4-6
5 6 7 8 9 10 11
Crate ............................................................................. 3-1 Unpacking .................................................................... 3-1
Plug for AC200 to 230V, Single Phase Specifications ..... 3-5 Power Source Capacity ................................................. 3-6 Protective Ground ......................................................... 3-6 Main Power Switch ....................................................... 3-7 Leakage Current and External Leakage Current Breaker Installation .... 3-7 Circuit Protector Installation ......................................... 3-7
Robot Cable Connections ......................... 3-8 Connecting an MPB Programming Device .... 3-9 I/O Connections ..................................... 3-10 Connecting a Host Computer ................. 3-10 Connecting the Absolute Battery............. 3-11 Replacing the Absolute Battery ............... 3-13 Precautions for Cable Connections ......... 3-16
MEMO
CHAPTER 3 Installation
1
Crate and Unpacking
1-1
Crate The robot controller is high precision equipment and is carefully packed in a cardboard crate to avoid shocks and vibrations. If there is any serious damage or dent to the crate due to transportation, please notify your YAMAHA sales representative without unpacking.
1-2
Unpacking The robot controller is packed with accessories as shown below, according to the order specifications. Take sufficient care not to apply shocks to the equipment when unpacking.
Accessories
MPB
Q R C X POWER CPU OK SERVO ALARM
Accessories
Standard
Option
STD. DIO connector
1
MPB terminator
1
Power plug
1
MPB programming device
1
OP. DI connector
1
OP. DO connector
1
EXT. DIO connector
1
Fig. 3-1-1 Unpacking CAUTION
The robot manipulator and controller are rather heavy. Take sufficient care not to drop them during unpacking as this may damage to the equipment or result in personal injury. 3-1
CHAPTER 3 Installation
2
Installing the Robot Controller When installing, choose a proper place for your robot controller taking into account your system layout, accessibility for maintenance, etc. CAUTION
1. To avoid dropping the controller and resultant damage during transportation, use a dolly or other such equipment to carry it safely and gently. 2. Take care not to allow the connectors at the rear of the controller to be hit or bumped. Shocks received by the connectors may damage the PC boards in the controller. 3. Be sure to give the cables used to connect the controller enough extra length to avoid strain and pulling at the connectors. 4. Keep the controller away from oil and water. If the controller is to be used under such adverse conditions, place it in a watertight box equipped with a cooling device. 5. Keep the controller level. Do not stand the controller on its side or end and do not install in an inverted position. 6. Do not install the controller in a place where ambient temperature may rise high.
2-1
Installation
50mm or more
YAMAHA Q R C X
POWER CPU OK SERVO ALARM
50mm or more
50mm or more
When installing the robot controller, follow the precautions below. q Provide a clearance of at least 50mm between the top or side panel of the robot controller and the wall. w Do not block the air vent slits on the side panel. e Do not block the fan on the rear panel of the controller
3-2
CHAPTER 3 Installation
3
Connectors Note the names, locations and functions of the connectors.
HOST
YAMAHA Q R C X
POWER CPU OK SERVO ALARM
MPB
Front panel
STD. DIO
EXT. DIO OP. DO
AC IN
OP. DI
Connector for maintenance 1
2
MOTOR1
PI1
MOTOR2
Rear panel
Fig. 3-3-1 QRCX connector
3-3
PI2
CHAPTER 3 Installation
Connector name
AC IN
STD. DIO
EXT. DIO (option)
Function
Using the supplied cable, connect this connector to the AC power source. This connector is used for custom or standard all purpose input/output. This is used for extension of general-purpose input/output.
OP. DI (option)
This connector is used for extension of general-purpose input.
OP. DO (option)
This connector is used for extension of general-purpose output.
HOST
MOTOR1/MOTOR2
PI1/PI2
MPB
Connector for maintenance
This is the connector for an RS-232C interface. These connectors are used to drive the servo motors. This is the connectors used for feedback of the servo motor and for sensor signals. This connector is used for connection to an MPB programming device. This connector is for maintenance of the driver unit. Do not make any connection to this connector in normal operation.
3-4
CHAPTER 3 Installation
4
Power Connections Using the supplied power cable, connect the AC IN connector on the rear of the robot controller to the AC power source. The plug name and pin No. of each power cable are explained below. CAUTION
Before connecting the power cable, be sure to check that the power specifications of your controller is matched with the power source. !
WARNING
To prevent faulty operation caused by noise, etc. and to keep safety, be sure to ground the earth terminal.
4-1
Plug for AC200 to 230V, Single Phase Specifications Pin No.
Remarks
Wiring
1
Earth
2
AC IN
Hot
3
AC IN
Neutral
4
–
Ground side
4
3
1
2
2.0sq. or larger
Fig. 3-4-1 Plug for AC200 to 230V, single phase specifications
3-5
CHAPTER 3 Installation
4-2
Power Source Capacity Required power source capacity depends on robot model and the number of robot axes. Refer to the table below when preparing the power source. Robot model
Number of axes
Power source capacity (VA)
YK400X
4
1000
YK600X
4
1500
YK1000X
4
2000
SXY-X
4
900
MXY-X
4
1400
HXY-X
4
2000
CAUTION
The power supply voltage for the robot controller must always be regulated within ±10%. If the voltage drops, the robot controller may issue an abnormal voltage alarm causing the robot to set to emergency stop. In contrast, operation at a voltage higher than specified may also damage the robot controller or cause emergency stop of the robot due to detection of an excessive motor power supply voltage.
4-3
Protective Ground To use the robot controller safely, provide a terminal marked “PE” for the protective conductor of the entire system and connect it to an external protective conductor. In addition, securely connect the ground terminal of the robot controller to the same protective conductor.
Ground terminal symbol
3-6
CHAPTER 3 Installation
4-4
Main Power Switch The robot controller power switch does not serve as a power supply disconnecting (isolating) device. Therefore, implement an appropriate power supply disconnecting (isolating) device for the entire external equipment of the robot controller as necessary.
4-5
Leakage Current and External Leakage Current Breaker Installation The robot controller drives the motor with IGBT PWM control, so a higher frequency leakage current may flow and cause the externally installed leakage breaker to malfunction. Thus, when installing an external leakage breaker, caution must be taken during the selection of the rated sensitivity current (I∆n) (Refer to the leakage breaker manufacturer's catalog, and select a leakage breaker that is compatible with the inverter, etc. Generally, the rated sensitivity current is approx. 10 times the leakage current.) Recommended rated sensitivity current I
Leakage Current QRCX
10mA
n
100mA
CAUTION
1. The leakage current value is the value measured with a leak tester with the low path filter ON (100Hz). Leak tester HIOKI E. E. 3283 2. When installing multiple controllers, increase the leakage current per controller. 3. Always accurately and correctly ground the unit. 4. Depending on the cable installation state, the suspended capacity between the cable and FG could change causing the leakage current to fluctuate.
4-6
Circuit Protector Installation An inrush current which is 5 to 15 times higher than the rated current flows at the instant that the controller is turned on or the robot motors start to operate. When installing an external circuit protector for the robot controller, select a circuit protector that provides optimum operating characteristics. To ensure proper operation, we recommend using a medium to slow response circuit protector with an inertial delay function. (For details, see the circuit protector specifications available from the manufacturer.) Examples Rated Current Operating Characteristics QRCX
15A or more Slow response type with inertial delay
3-7
CHAPTER 3 Installation
5
Robot Cable Connections Connect the robot cables to the mating connectors on the rear of the controller as show below. The “PI1” and “MOTOR 1” connectors are for axes 1 and 2, while the “PI2” and “MOTOR 2” connectors are for axes 3 and 4. The robot cable specifications depend on the robot model, so refer to the robot user’s manual for details. NOTE
Check robot cables for bent pins, kinks, and other damage before connecting. !
WARNING
• The power to the controller must be off when connecting the robot cables. • The robot cable connectors have an identical shape. Do not confuse these cable connectors when making connections. Misconnection will cause malfunctions in the robot.
1
2
Connecting to the YAMAHA robot manipulator
Fig. 3-5-1 Robot cable connections to the QRCX CAUTION
The robot cables are essential to the operation of the robot. If they are not securely connected and fail to make good contact, the manipulator may malfunction. Before turning on the power to the controller, make sure again that the cables are securely connected. Be sure that the robot is properly grounded. For details on the grounding method, refer to the Robot User's Manual. 3-8
CHAPTER 3 Installation
6
Connecting an MPB Programming Device Connect the cable from the MPB to the controller, as shown below. When not connecting the MPB, insert the supplied terminator into the MPB connector on the robot controller.
YAMAHA
Q R C X
POWER CPU OK SERVO ALARM
MPB programming device
YAMAHA
Q R C X
POWER CPU OK SERVO ALARM
Terminator When not connecting the MPB
Fig. 3-6-1 MPB programming device connection CAUTION
The MPB connector must be plugged in the correct orientation into the MPB connector on the robot controller. Incorrect connection will cause operation troubles with the MPB. When not connecting the MPB to the robot controller, be sure to plug the terminator (supplied with the controller) into the MPB connector on the robot controller. This is to cancel emergency stop that triggers when the MPB is disconnected from the robot controller since the MPB has a "B contact" emergency button. 3-9
CHAPTER 3 Installation
7
I/O Connections This is the input/output (I/O) port used for connection to peripheral equipment. Respective numbers are assigned to each of the input/output pins. The I/O connector to be used differs depending on the assignment of these numbers. For more details, refer to “I/O Interface” in Chapter 5. CAUTION
The normally-closed terminals (emergency stop and interlock) in the STD. DIO connector are shorted when shipping. If you try test operation of the robot before connecting the I/O cable, plug in the STD. DIO connector to cancel emergency stop and interlock.
8
Connecting a Host Computer As a standard feature, the robot controller is equipped with an RS-232C interface port for data communication with a host computer. Almost all models of computers can be interfaced if they are equipped with an RS-232C port. For more information on this RS-232C interface port, see “RS-232C Interface” in Chapter 6.
YAMAHA Q R C X
POWER CPU OK SERVO ALARM
D-SUB25P
HOST connector
HOST computer
Fig. 3-8-1 Host computer connection NOTE
JIS Standard D-SUB 25P This is the connector for the RS-232C interface port. 3-10
CHAPTER 3 Installation
9
Connecting the Absolute Battery The absolute batteries are fully charged at factory prior to shipping. However, the battery connectors are left disconnected to prevent discharge. After installing the controller, always be sure to connect the absolute battery as shown in this manual, before connecting the robot cable.
To connect the battery: 1) Remove the panel printed "ABS BATTERY", located on the left side as seen from the front of the controller. (See Fig. 1.)
Fig. 3-9-1 2) Connect the absolute battery connectors 1, 2, 3 and 4 (for axes 1, 2, 3 and 4) to the CN1, CN2, CN3 and CN4 connectors on the connection board (KS4M4520). Arrange the absolute battery wiring in the lower groove. (See Fig. 2.)
CONNECTION BOARD CCCC NNNN 4 3 2 1
Axis 4
Absolute battery
Axis 3
To CN4 To CN3
Axis 2
Axis 1
To CN2 To CN1
Fig. 3-9-2 Left side of controller 3-11
CHAPTER 3 Installation
3) Reattach the panel printed "ABS BATTERY". * An alarm is issued when the absolute battery is disconnected from the connection board. When shipped to the customer, the absolute battery is not connected to the connection board so an alarm is always issued when the power is first turned on. Please note beforehand that this is not a malfunction. * The battery must be charged if the controller is being used for the first time or the backup time was exceeded while the controller power was off. The battery is automatically charged when power is supplied to the controller. Keep power supplied for longer than needed to charge the battery. Battery type (B3) *1)
Hours until full charge *2)
Backup time *3)
48h
340h
3.6V/2000mAh (KS4-M53G0-100)
Yamaha exclusive battery name At ambient temperature of 20°C *3) After power is off with the absolute battery fully charged. *1) *2)
CAUTION
Do not modify the wiring or attempt to extend it. This could cause equipment malfunctions and breakdowns. NOTE
• The absolute battery is used to update the motor position information when the controller power is OFF. • If the system is used with the absolute battery's connector disconnected, an alarm will always occur when the controller power is turned ON. Normal operation is possible by carrying out absolute reset. Note that this may not apply if the mark method exists in the origin return method.
3-12
CHAPTER 3 Installation
10
Replacing the Absolute Battery The absolute battery will wear down and must be replaced. Replace the battery when its service life has expired or when problems with backing up data occur even when the battery charge time was long enough. Though battery wear depends on the number of charges and the ambient temperature, the battery should generally be replaced one and a half years after being connected to the controller. Always charge the new battery after it is installed. The battery is automatically charged when power is supplied to the controller. Keep power supplied for a time longer than necessary for charging by referring to the table below. Battery type (B3) *1)
Hours until full charge *2)
Backup time *3)
48h
340h
3.6V/2000mAh (KS4-M53G0-100)
Yamaha exclusive battery name At ambient temperature of 20°C *3) After power is off with the absolute battery fully charged. *1) *2)
To replace the absolute battery: 1) Remove the panel printed "ABS BATTERY", located on the left side as seen from the front of the controller. (See Fig. 1.)
Fig. 3-10-1
3-13
CHAPTER 3 Installation
2)
Remove the CN1, CN2, CN3 and CN4 connectors from the connection board (KS4-M4520). (See Fig. 2.)
CONNECTION BOARD CCCC NNNN 4 3 2 1
Axis 4
Absolute battery
Axis 3
Axis 2
Axis 1
Fig. 3-10-2 3) Remove the plate attached to the absolute battery. (See Fig. 3)
Fig. 3-10-3 4) Cut the snap bands on the absolute battery and replace it with new battery. (See Fig. 4.)
Fig. 3-10-4 3-14
CHAPTER 3 Installation
5) Fasten the absolute battery to the plate with the snap bands.
Fig. 3-10-5 6) Reinstall the plate. 7) Connect the absolute battery connectors 1, 2, 3 and 4 (for axes 1, 2, 3 and 4) to the CN1, CN2, CN3 and CN4 connectors on the connection board (KS4M4520). Arrange the absolute battery wiring in the lower groove.
CONNECTION BOARD CCCC NNNN 4 3 2 1
Axis 4
Absolute battery
Axis 3
Axis 2
To CN4 To CN3
Axis 1
To CN2 To CN1
Fig. 3-10-6 Left side of controller 8) Reattach the panel printed "ABS BATTERY". * An alarm is issued when the absolute battery is disconnected from the connection board. So an alarm is always issued when the absolute battery is replaced. Please note beforehand that this is not a malfunction.
3-15
CHAPTER 3 Installation
11
Precautions for Cable Connections Various cables are used to connect the robot controller to peripheral devices. Follow the precautions below when making cable connections. q Keep the I/O cable, robot cable and power cable as far apart as possible when installing. Never bundle them together. w Keep the communication cable, robot cable and power cable as far apart as possible when installing. Never bundle them together. e Keep the robot cable and power cable as far apart as possible when installing. Never bundle them together.
3-16
CHAPTER 4
Operation 1 2
Overview .................................................. 4-1 Robot Controller ....................................... 4-2 2-1 2-2
3
MPB Programming Device ........................ 4-4 3-1 3-2 3-3
4 5
Emergency Stop Reset ................................................. 4-18
Mode Hierarchy ...................................... 4-20 Mode Configuration ................................ 4-26 8-1 8-2
9
Screen Configuration .................................................... 4-9 Layout of Operation Keys ............................................ 4-10 Overview of Key Operation ........................................ 4-11 Function Key Description............................................ 4-12 Control Key Description .............................................. 4-13 Data Key Description .................................................. 4-16 Other Keys .................................................................. 4-16
Emergency Stop ...................................... 4-17 6-1
7 8
Part Names ................................................................... 4-4 Main Function .............................................................. 4-5 Connection to the Robot Controller .............................. 4-6
Turning Power Supply ON and OFF .......... 4-7 Operation Keys ......................................... 4-9 5-1 5-2 5-3 5-4 5-5 5-6 5-7
6
Part Names ................................................................... 4-2 Main Functions ............................................................. 4-3
Basic Mode Configuration .......................................... 4-26 Other Operation Modes .............................................. 4-27
“AUTO” Mode ........................................ 4-28 9-1 9-2 9-3 9-4 9-5 9-6 9-7
Automatic Operation .................................................. 4-30 Stop ............................................................................ 4-31 Program Reset ............................................................. 4-32 Switching Task Displays .............................................. 4-34 Switching Execution Programs .................................... 4-35 Changing the Automatic Movement Speed.................. 4-35 Executing the Point Trace ............................................ 4-36 9-7-1 PTP Motion Mode ........................................ 4-38 9-7-2 Arch Motion Mode ....................................... 4-40 9-7-3 Linear Interpolation (LINE) Motion Mode ...... 4-42
9-8 9-9
Direct Command Execution ........................................ 4-44 Break Point ................................................................. 4-45 9-9-1 Break Point Setting ........................................ 4-45 9-9-2 Break Point Deletion .................................... 4-46 9-10 STEP Execution ........................................................... 4-47 9-11 SKIP ............................................................................ 4-47 9-12 NEXT Execution .......................................................... 4-48
10 “PROGRAM” mode ................................ 4-49 10-1 Program List Scroll ...................................................... 4-50 10-2 Program Editing .......................................................... 4-50 10-2-1 Cursor Movement ......................................... 4-51 10-2-2 Insert Mode and Overtype Mode Switching .. 4-52 10-2-3 Inserting a Single Line ................................... 4-52 10-2-4 Deleting a Single Character .......................... 4-53 10-2-5 Deleting a Line ............................................. 4-53 10-2-6 User Function Key Display ........................... 4-53 10-2-7 Quitting Edit ................................................. 4-54 10-2-8 Specifying the Copy/Cut Line ........................ 4-54 10-2-9 Enter Copy Line ............................................ 4-55 10-2-10 Enter Cut Line ............................................... 4-55 10-2-11 Paste ............................................................. 4-55 10-2-12 Backspace .................................................... 4-56 10-2-13 Line Jump ..................................................... 4-56 10-2-14 Character String Finding ............................... 4-57 10-3 Directory .................................................................... 4-58 10-3-1 Cursor Movement ......................................... 4-59 10-3-2 Registering a New Program Name ................ 4-59 10-3-3 Display of Directory Data ............................. 4-60 10-3-4 Copying a Program ....................................... 4-60 10-3-5 Erasing a Program ......................................... 4-61 10-3-6 Changing a Program Name ........................... 4-62 10-3-7 Changing the Program Attribute .................... 4-63 10-3-8 Displaying the Object Data .......................... 4-63 10-3-9 Making a Sample Program Automatically ..... 4-64 10-4 Compiling ................................................................... 4-66 10-5 Line Jump and Finding Character Strings ..................... 4-67 10-6 Registering User Function Keys ................................... 4-67 10-7 Resetting an Error in the Selected Program .................. 4-70
11 “MANUAL” Mode ................................... 4-71 11-1 Manual Movement ...................................................... 4-73 11-2 Input and Edit Point Data ............................................ 4-75 11-2-1 Point Data Input and Editing ......................... 4-76 11-2-1-1
11-2-2 11-2-3 11-2-4 11-2-5
Restoring Point Data ................................... 4-77
Input by Teaching Point Data ........................ 4-78 Input Point Data by Direct Teaching ............. 4-82 Point Display Jump ....................................... 4-83 Copying Point Data ...................................... 4-83
11-2-6 Erasing Point Data ........................................ 4-84 11-2-7 Executing Trace of Point Data ....................... 4-85 11-2-8 Resetting an Error in the Point Data .............. 4-86 11-3 Display/Edit/Set of palette definition............................ 4-87 11-3-1 Palette Definition Editing .............................. 4-88 11-3-1-1
Point Edit in the Palette Definition ............... 4-89
11-3-2 Input Palette Definition by Teach .................. 4-90 11-3-3 Copy of Palette Definition ............................. 4-92 11-3-4 Deletion of Palette Definition ....................... 4-93 11-4 Return to Origin .......................................................... 4-93 11-4-1 Return to Origin Procedure ........................... 4-94 11-5 Changing the Manual Movement Speed...................... 4-96 11-6 Display/Edit/Set of Shift Coordinates ........................... 4-96 11-6-1 Editing Shift Coordinates ............................... 4-99 11-6-1-1
11-6-2
Restoring Shift Coordinates ......................... 4-99
Editing Shift Coordinate Range ................... 4-100 11-6-2-1
Restoring Shift Coordinate Range .............. 4-102
11-6-3 Shift Coordinate Setting Method 1 .............. 4-102 11-6-4 Shift Coordinate Setting Method 2 .............. 4-105 11-7 Hand Definition Display/Edit/Set Procedures ............ 4-107 11-7-1 Hand Definition Editing ............................. 4-113 11-7-1-1
Restoring Hand Definition ........................ 4-114
11-7-2 Hand definition Setting Method 1 ............... 4-115 11-8 Changing the Units Display ...................................... 4-117 11-9 Absolute Reset .......................................................... 4-118 11-9-1 Checking Absolute Reset ............................ 4-119 11-9-2 Axis Absolute Reset .................................... 4-120 11-9-3 Absolute Reset on All Axes ......................... 4-125 11-10Z-Axis Slant Manual Movement Setting ..................... 4-129 11-10-1 Z-Axis Slant Manual Movement Direction .. 4-130 11-10-2 Z-Axis Slant Manual Movement Angle ........ 4-131 11-11Setting the Standard Coordinates .............................. 4-131 11-11-1 Setting of the Standard Coordinate by Four Points Teach Method ...................... 4-135 11-11-2 Setting of the Standard Coordinate by Three Points Teach Method ................................... 4-136
12 “SYSTEM” Mode ................................... 4-139 12-1 Parameter .................................................................. 4-140 12-1-1 Robot Parameter ......................................... 4-142 12-1-2 Axis Parameter ............................................ 4-148 12-2 Communication Parameter ........................................ 4-164 12-3 Backup ..................................................................... 4-170 12-3-1 Floppy Disk ................................................ 4-170 12-3-1-1
Loading a File ........................................... 4-172
12-3-1-2
Saving a File ............................................. 4-174
12-3-1-3
Displaying the Directory ........................... 4-175
12-3-1-4
Displaying Disk Data ................................ 4-177
12-3-1-5
Erasing Files (ERASE) ................................. 4-177
12-3-2
12-3-1-6
Renaming Files ......................................... 4-179
12-3-1-7
Initializing the Disk ................................... 4-180
Communication .......................................... 4-182 12-3-2-1
Receiving a File ........................................ 4-183
12-3-2-2
Transmitting a File ..................................... 4-184
12-3-2-3
Initializing the Communications Port ........ 4-185
12-4 Initializing ................................................................ 4-185 12-4-1 Initializing the Parameter ............................ 4-186 12-4-2 Initializing the Memory .............................. 4-187 12-4-3 Initializing the Communication Parameter .. 4-188 12-4-4 Clock Setting .............................................. 4-188 12-4-5 System Generation ..................................... 4-189 12-4-5-1
Robot Settings ........................................... 4-190
12-4-5-2
Axis Setting ............................................... 4-192
12-4-5-3
Initialization ............................................. 4-193
12-4-5-4
Help ......................................................... 4-194 12-4-5-4-1 Referring to the robot number ........... 4-195 12-4-5-4-2 Referring to the single-axis number ... 4-195
12-4-5-5
Auxiliary Axis Setting ................................ 4-196
12-4-5-6
Axis Assignment ........................................ 4-197
12-5 Self diagnosis ............................................................ 4-199 12-5-1 Hardware check ......................................... 4-199 12-5-2 Error log display ......................................... 4-200 12-5-3 Absolute battery voltage display ................. 4-200
13 “DI/DO monitor” Mode ....................... 4-202 14 “UTILITY” Mode ................................... 4-207 14-1 Cancelling Emergency Stop/ Motor Power and Servo ON/OFF ...... 4-208 14-1-1 Cancelling Emergency Stop ........................ 4-208 14-1-2 Motor Power and Servo ON/OFF ................ 4-209 14-2 Setting the Sequencer Execution Enable/Disable Flag ... 4-210 14-3 Changing the Access Level (Operation Level) ............ 4-210 14-3-1 Password Input ........................................... 4-211 14-3-2 Changing the Access Level ......................... 4-212 14-3-3 Displaying the Help Message ..................... 4-212 14-4 Changing the Arm Type ............................................. 4-214 14-5 Reset of External Output and Internal Auxiliary Output ... 4-215 14-6 Changing the Execute Level ...................................... 4-215 14-6-1 Changing the Execute Level ........................ 4-216 14-6-2 Displaying Help Message ........................... 4-216
CHAPTER 4 Operation
1
Overview The robot controller configuration and main functions are shown below. Set up the equipment needed according to the operation to be performed.
Robot
Controller
Power supply switch
• Power supply ON/OFF
Programming device MPB
• Operation • Programming • Teaching • Parameter input
Custom I/O interface
• Basic operation
3.5"floppy disk drive (option)
RS-232C interface
• Storing or loading data
• Communication
Fig. 4-1-1 Overview of operation This chapter mainly explains how to operate the MPB programming device. NOTE
• Refer to “I/O interface” in Chapter 5 for custom I/O interface. • Refer to “RS-232C interface” in Chapter 6.
4-1
CHAPTER 4 Operation
2
Robot Controller
2-1
Part Names ■ QRCX controller front panel !0 3.5" floppy disk drive (option)
w Emergency stop button
YAMAHA Q R C X
POWER CPU OK SERVO ALARM
i MPB Connector
q Power switch
u 7 SEG LED o HOST connector
POWER
e "POWER" LED
CPU OK
r "CPU OK" LED
SERVO
t "SERVO" LED
ALARM
y "ALARM" LED
Fig. 4-2-1 Part names and layout
4-2
CHAPTER 4 Operation
2-2
Main Functions q Power switch:
This switch turns the controller ON and OFF.
w Emergency stop button: This button triggers emergency stop. e “POWER” LED:
Lights when the power supply is ON.
r “CPU OK” LED:
Lights when controller operation is normal and turns off when a critical error occurs.
t “SERVO” LED:
Lights when the robot servo is ON and turns off when the servo power is off.
y “ALARM” LED:
Lights when an error occurs.
u “7SEG” LED:
This LED gives a detailed error message when the above “ALARM” LED is lit.
i MPB connector:
Connects the MPB programming device.
o HOST connector:
Connects to external device by means of the RS232C interface.
!0 3.5" floppy disk drive: Loads and saves data from the robot controller onto the floppy disk.
4-3
CHAPTER 4 Operation
3
MPB Programming Device The MPB is connected to the robot controller and allows you to perform program editing and execution.
3-1
Part Names q Display (liquid crystal screen)
t UPPER button y LOWER button
e Emergency stop button
u Display contrast adjustment trimmer (side of MPB)
w Sheet key r MPB connector
Fig. 4-3-1 MPB programming device
4-4
CHAPTER 4 Operation
3-2
Main Function q Display (liquid crystal screen) This is a liquid crystal display (LCD) with 40 characters × 8 lines , showing various types of information. Contrast is adjustable. w Sheet keys These keys are used to operate a robot or input programs. The sheet keys are classified into 3 main types: function keys, control keys and data keys. e Emergency stop button When this button is pressed during robot operation, the robot stops immediately. This button is a B contact type switch. r MPB connector This is used for connection to the robot controller. t UPPER button Same as the UPPER key on the sheet. y LOWER button Same as the LOWER key on the sheet. u Display contrast adjustment trimmer (side of MPB) This knob adjusts the contrast of the liquid crystal display. Turning it to the right increases the darkness of the displayed characters.
4-5
CHAPTER 4 Operation
3-3
Connection to the Robot Controller Connect the MPB programming device to the MPB connector on the robot controller. Connect the cable securely since poor connection can cause faulty operation. MPB programming device
YAMAHA Q R C X
POWER CPU OK SERVO ALARM
MPB connector
Fig. 4-3-2 Connection to the robot controller CAUTION
Emergency stop is triggered when the MPB is connected to the robot controller while the power to the robot controller is ON. If this happens, cancel emergency stop to continue the operation. (Refer to "6-1 Emergency Stop Reset" in Chapter 4.)
4-6
CHAPTER 4 Operation
4
Turning Power Supply ON and OFF 1) Connect the MPB to the MPB connector on the front panel of the robot controller. 2) Turn ON the power switch on the front panel of the robot controller. The “POWER” LED lights up. A buzzer sounds for about 1 second and “MANUAL” mode screen appears. (After the "POWER" LED is lit, it will take a maximum of 3 seconds for the "CPU OK" LED to light up.) 3) Perform return to origin and then begin robot operation. Refer to “11-4 Return to Origin” in Chapter 4 explaining the procedure for return to origin. MANUAL
100%[MR][S0H0]
––––––––––––––––––––––––––––––––––––––––––––––––––––– Current position M1=
0 *M2=
POINT
0
ORIGIN
VEL+
VEL-
Fig. 4-4-1 “MANUAL” mode screen NOTE
If an error message of “Parameter destroyed” or “Memory destroyed” is displayed on the screen when the control power supply is turned ON, be sure to perform initialization of the parameter or memory in “SYSTEM” mode before turning the servo ON. Refer to “12 SYSTEM Mode” in Chapter 4 for details. NOTE
If an error message of “W! battery degradation” is displayed while the power supply is turned ON, replace the lithium battery (5 years service life) in the robot controller. Please note that the state of California USA has legal restrictions on the handling of manganese dioxide lithium batteries. See the following website for more information:
http://www.dtsc.ca.gov/hazardouswaste/perchlorate CAUTION
Always use the cable and connector attached to the MPB for connections to the robot controller. Do not alter the cable or do not connect any relay unit.
4-7
CHAPTER 4 Operation CAUTION
1. After turning off the power to the QRCX Controller, wait at least 5 seconds before turning the power back on again. If power is turned on again too quickly after the power was turned off, the controller might not start up correctly. 2. After turning on the power to the QRCX Controller, wait at least 5 seconds before turning it off. If the power is turned off again too quickly after being turned on, you may be unable to set the origin position the next time the controller starts up. 3. If the control power supply is turned OFF during program execution, this causes errors in the internal system data and normal program restart may not be possible when the power is again set to ON. Always quit or stop the program before turning the power OFF.
4-8
CHAPTER 4 Operation
5
Operation Keys
5-1
Screen Configuration The MPB screen display is composed of 4 areas as shown below. 1) System line (1st line) The current mode and the hierarchy are displayed on the 1st line at the top left of the screen. Fig. 4-5-1 shows that you are in the “EDIT” mode of the “PROGRAM” mode. When the mode name is highlighted, it shows that the servo power is ON. Therefore, if turning the servo power OFF such as with the emergency stop button, then the reversed background indication is cancelled. 2) Message line (2nd line) An error message is displayed on the 2nd line. Meanings of the other displays are as follows: • A dashed line ................................ Return to origin incomplete. • A solid line ................................... Return to origin complete. • 2 solid lines .................................. During program run. • “@” mark of the 2nd column....... Online command executing through RS232C interface. • “s” mark of the 1st column .......... During sequence program execution. 3) Data area (3rd to 7th lines) Various types of data or edit contents are displayed on the 3rd to 7th lines. They scroll to the right and left to display up to 80 characters/line. 4) Guideline (8th line) The contents mainly assigned to function keys are displayed on the lowest line (8th line). 5) Pointer The line number and item selected are highlighted (reversed background). Use the cursor keys (↑/↓) to move the pointer up and down. Use the cursor keys (←/→) to move the pointer right and left. 1st line 2nd line 3rd line 4th line 5th line 6th line 7th line 8th line
PROGRAM>EDIT
Data area
...Guideline
CHAPTER 4 Operation
5-2
Layout of Operation Keys The operation keys are sheet type. A plastic sheet covers the keys to prevent dust. There are 3 main kinds of keys. 1) Function keys 2) Control keys 3) Data keys
Functin key
Control key Data key
Fig. 4-5-2 Sheet key layout
4-10
CHAPTER 4 Operation
5-3
Overview of Key Operation 1) Each operation key has 3 different functions as shown in the following diagram. Use the UPPER or LOWER key, or the UPPER or LOWER button on the side as necessary. Shift 1 # , @
Shift 3
Shift 2
Fig. 4-5-3 Key configuration 2) Each key is input as shown below. Example of key input
Shift
Input data
# UPPER
+
, @
1
“#” Shift 1: Used with
UPPER
key.
# , @
2
“,” UPPER
Shift 1: Not used with
or
LOWER
key.
# LOWER
+
3
, @
“@” Shift 1: Used with
LOWER
4-11
key.
CHAPTER 4 Operation
5-4
Function Key Description Select the menu by pressing the MPB function keys. For example, the relation between the function keys and the menus in “MANUAL” mode is shown below. Function key
F 6
F 7
F 8
F 9
F 10
F 1
F 2
F 3
F 4
F 5
F 11
(F 1)
POINT
F 10
(F 2)
PALETTE
F 13
(F 3)
ORIGIN
F 14
(F 4)
VEL +
F 15
(F 5)
VEL -
(F 6)
SHIFT
(F 7)
HAND
(F 8)
MM/PULS
(F 9)
VEL ++
(F10)
VEL --
(F13)
ABS.RST
(F14)
Z.ANGLE
(F15)
COORDI
+
F 6
+
F 7
+
F 8
+
F 9
+
F 10
+
F8
LOWER
+
F9
LOWER
+
F 10
LOWER
UPPER
UPPER
UPPER
UPPER
UPPER
Selected menu
4-12
F 1
F 2
F 3
F 4
F 5
F 3
F 4
F 5
F 11
F 12
F 13
F 14
F 15
F 13
F 14
F 15
CHAPTER 4 Operation
Relation between function keys and menus MANUAL
50%[MR][S0H0]
Current position M1=
POINT
0
0
PALETTE
ORIGIN
↓ [F2]
↓ [F3]
↓ [F1] ∧ SHIFT
M2=
HAND
↓ [F6]
↓ [F7]
∨ ↓ [F11]
↓ [F12]
MM/PULS
VEL+
VEL-
↓ [F4]
↓ [F5]
VEL++
VEL—
↓ [F8]
↓ [F9]
↓ [F10]
ABS.RST
Z.ANGLE
COORDI
↓ [F13]
↓ [F14]
↓ [F15]
...UPPER
...LOWER
Fig. 4-5-4 Correspondence of function keys and menus F 6
Starting from the left, the function keys F 1 to tive function keys. Pressing the UPPER key switches to function keys Pressing the LOWER key switches to function keys F 11
F 10
F 5
F 15
F 6 F 11
correspond to the respecto to
F 10 F 15
. .
NOTE
From hereon, when the F 6 to F 10 keys are mentioned, it means press the F 1 to F 5 keys while pressing the UPPER key or UPPER button on the side. When the F 11 to F 15 keys are mentioned, it means to press the F 1 to F 5 keys while pressing the LOWER key or LOWER button on the side. F 6
F 10
F 11
F 15
F 6
F 11
F 10
F 15
5-5
Control Key Description There are 6 kinds of control keys: (1) Mode selection keys, (2) Extended function keys, (3) Cursor keys, (4) Page keys, (5) Edit keys, (6) Jog keys. The functions of each key are shown below. (1) Mode selection key MODE
DISPLAY
UTILITY
: displays the menu (highest hierarchy) for each mode. : selects the robot DI/DO/MO monitor screens. : selects the “UTILITY” mode. 4-13
CHAPTER 4 Operation
2) Extended function key : calls up the function key entered by the user.
USER
ROBOT
: switches robots. : returns to the previous screen (upper hierarchy).
ESC
(3) Cursor key ↑
: moves the cursor upwards. Moves the pointer up when not editing on the screen. Scrolls down in “MANUAL” mode.
↓
: moves the cursor down. Moves the pointer down when not editing on the screen. Scrolls up in “MANUAL” mode.
←
: moves the cursor to the left. Scrolls to the right when the cursor moves to the left end. Scrolls to the right when not editing on the screen.
→
: cursor moves to the right. Scrolls to the left when the cursor moves to the right end. Scrolls to the left when not editing on the screen.
<<
>>
(4) Page key
<<
>>
: returns to the previous screen. : switches to the next screen. : switches to the left side of the screen. : switches to the right side of the screen.
(5) Edit key These keys are valid when the cursor is displayed. INS
: switches between Insert and Overwrite modes. The cursor “■” is displayed in Overwrite mode and “_” is displayed in Insert mode.
DEL
: One character position is erased at the cursor position.
L.INS
L.DEL
: One line is inserted at the cursor position. : One line is erased at the cursor position. 4-14
CHAPTER 4 Operation
(6) Jog key START
:
starts operation. Effective in “AUTO” mode or point trace.
STOP
:
stops operation. After pressing the START key in “AUTO” mode, this key is effective during command statement execution, direct command execution, point trace execution and return to origin operation.
#1+
:
moves the X-axis to +.
#1-
:
moves the X-axis to –.
#2+
:
moves the Y-axis to +.
#2-
:
moves the Y-axis to –.
#3+
:
moves the Z-axis to +.
#3-
:
moves the Z-axis to –.
#4+
:
moves the R-axis to +.
#4-
:
moves the R-axis to –.
#5+
:
moves the A-axis to +.
#5-
:
moves the A-axis to –.
#6+
:
moves the B-axis to +.
#6-
:
moves the B-axis to –.
NOTE
• The #1+ to #6- keys are called the Jog keys. • The Jog keys are valid in “MANUAL” mode.
4-15
CHAPTER 4 Operation
5-6
Data Key Description The data keys are used for the input, programming and editing of data. There are 2 kinds of data keys. (1) Alphanumeric keys 0
to
: numeric input.
9
A
Z
to
: alphabetic input.
: character space input.
SPACE
(2) Symbol keys A
B ( J
Z
K
' ?
P ]
G
Q :
{ =
F <
L
^ –
E $
[
+
5-7
D %
--
I
C )
H >
U ;
& V
*
/
# .
, }
@
Other Keys (1) Enter key :
This key executes the direct command in “AUTO>DIRECT” mode. When the cursor is displayed, serial key inputs to the cursor line are completed.
(2) Shift key UPPER
:
Shift 1 is selected.
LOWER
:
Shift 3 is selected.
4-16
CHAPTER 4 Operation
6
Emergency Stop To stop the robot suddenly for any reason during operation, press the emergency stop button on the monitor panel of the controller or the programming device. When the emergency stop button is pressed, the robot immediately stops and the movement command signal to the robot is cut off. A message is displayed on the MPB as follows. The highlighted display (in reversed background) of mode name is cancelled during emergency stop. MANUAL
50%[MG][S0H0]
———— 12.1:Emg.stop on ————————————————— Current position M1=
POINT
0
PALETTE
M2=
0
ORIGIN
VEL+
VEL-
Fig. 4-6-1 Emergency stop display QRCX controller YAMAHA Q R C X
POWER CPU OK SERVO ALARM
MPB programming device Emergency stop button
NOTE
Besides the emergency stop button mentioned above, an external dedicated input DI00 (emergency stop) is provided in the STD. DIO connector. Refer to “I/O Interface” in Chapter 5 for details on STD. DIO. 4-17
CHAPTER 4 Operation
6-1
Emergency Stop Reset To return to normal operation after emergency stop, emergency stop must be reset. 1) Cancel the emergency stop button on the monitor panel of the controller or the MPB. Emergency stop is released by turning the emergency stop button clockwise. 2) Press the UTILITY key while pressing the LOWER key. “UTILITY” mode appears on the screen. Cancel emergency flag?
YES
NO
Fig. 4-6-2 “UTILITY” mode screen 3) Press the F 4 (YES) key. The following screen is displayed. UTILITY Date,Time
: 92/02/20,18:59:37
MOTOR power: Off Sequence
: DISABLE
Armtype
: RIGHTY
MOTOR
SEQUENC ARMTYPE
RST.DO
Fig. 4-6-3 “UTILITY” mode screen At this time, when the ESC key is pressed, the screen returns to initial mode with the motor power supply turned OFF. To perform the following operations. 4) Press the F 1 (MOTOR) key. The following screen is displayed. UTILITY>MOTOR Motor power: Off D1=M1: Brake
D5=M5: no axis
D2=M2: Brake
D6=M6: no axis
D3=M3: Brake D4=M4: Brake ON
OFF
Fig. 4-6-4 Emergency stop reset (1) 4-18
CHAPTER 4 Operation
5) The motor power supply turns ON when the F 1 (ON) key is pressed. At the same time, the servo-motor sets to HOLD status. The message “UTILITY” on the system line is highlighted (reversed background). UTILITY>MOTOR Motor power: On D1=M1: Servo
D5=M5: no axis
D2=M2: Servo
D6=M6: no axis
D3=M3: Servo D4=M4: Servo ON
OFF
Fig. 4-6-5 Emergency stop reset (2) 6) Press the
ESC
key to return to initial mode.
NOTE
• Emergency stop can also be triggered by an external input (DI00: emergency stop). To cancel emergency stop, refer to “I/O Interface” in Chapter 5. • Absolute Reset data does not change even after emergency stop, so the robot can be operated continuously after canceling emergency stop.
4-19
CHAPTER 4 Operation
7
Mode Hierarchy Robot operation is mainly performed by pressing the function keys to select the desired mode from the menu. (Refer to the “Mode Hierarchy Diagram” described in the next section.) When the power supply is turned ON, the “MANUAL” mode menu appears on the screen. When the MODE key is pressed, the 4 basic modes are displayed on the guideline (lowest line of screen). MANUAL
50% [MG][S0H0]
Current position M1=
0 *M2=
AUTO
PROGRAM
0
MANUAL
...Guideline
SYSTEM
Fig. 4-7-1 Mode menu These are the basic modes which correspond to the uppermost hierarchy on the menu. The display position for each mode name corresponds to each function key of F 1 , F 2 , F 3 and F 4 in order, starting from the left. Therefore when the tion can be started.
F 1
(AUTO) key is pressed in this state, automatic opera-
AUTO
[T1] 100%
1 ’***** TEST1 PROGRAM ***** 2 ’ 3 DO2(0)=0 4 WAIT DI3(4,3,2)=3 5 MOVE P,P0 RESET
TASK
DIR
VEL+
VEL-
Fig. 4-7-2 “AUTO” mode menu Then, the sub menu for the “AUTO” mode is displayed on the guideline. The sub menu also corresponds to the function keys from F 1 to F 15 . (Refer to Fig. 4-7-4.)
4-20
CHAPTER 4 Operation
Functions are switched with the while the shift key is pressed. P
Q :
U
R ;
Z
{ 0
?
6
#3+
#3-
3
#4+
#4-
#5+
#5-
#6+
#6-
Y 2
" –
keys. The menu display changes
T
X 1
' +
LOWER
5
W /
and
S 4
V *
UPPER
# .
–
, }
@
^ UPPER LOWER
UPPER key
=
SPACE
LOWER key
Fig. 4-7-3 Shift key
RESET
TASK
↓ [F1] ∧ POINT
DIR
VEL-
↓ [F4]
↓ [F5]
↓ [F3] DIRECT
BREAK
↓ [F6]
↓ [F7]
↓ [F8]
∨ STEP
SKIP
NEXT
↓ [F11]
VEL+
↓ [F12]
VEL++
↓ [F13] ...when
VEL—
↓ [F9]
LOWER
↓ [F10] ...when UPPER key is pressed.
key is pressed.
Fig. 4-7-4 Function switching The “∧” mark of left end on the guideline shows that the The “∨” mark shows that the LOWER key is pressed.
4-21
UPPER
key is pressed.
CHAPTER 4 Operation
Within the sub menu, there is yet another menu for accessing the next hierarchial mode. For example, pressing the F 8 key while the UPPER key is pressed in “AUTO” mode, switches to the “BREAK” mode. The “BREAK” mode related sub menu is then displayed. As can be seen from this example, when items are selected with the function keys, operation can proceed through each hierarchy. The ESC key is pressed to return to the previous mode hierarchy. When switching from the uppermost modes, press the MODE key. The basic mode is displayed on the guideline, select the mode with the corresponding function key. Refer to “Mode Hierarchy Diagram” on the next page for the overall mode hierarchy. CAUTION
When the data is input such as in “EDIT” mode, the MODE key is inoperative. (After pressing the ESC key to return the mode hierarchy, press the MODE key.) NOTE
From here in this user’s manual the mode hierarchy status is stated in the order as shown below. First (uppermost) hierarchy > Second hierarchy > Third hierarchy > Fourth hierarchy. Example :PROGRAM>DIR>ERASE The above example shows that the current mode is entered by selecting F2 (PROGRAM) from the first hierarchy menu, F3 (DIR) from the second hierarchy menu and F7 (ERASE) from the third hierarchy menu.
4-22
CHAPTER 4 Operation
Mode Hierarchy Diagram F1 AUTO
F1 RESET F2 TASK F3 DIR F4 VEL+ F5 VELF6 POINT F7 DIRECT
F8 BREAK F9 VEL++ F10 VEL-F11 STEP F12 SKIP F13 NEXT F2 PROGRAM
F1 EDIT
F3 DIR F5 COMPILE F6 JUMP F7 FIND F8 FIND+ F9 FIND-
F3 JUMP F4 VEL+ F5 VELF8 MM/PULS F9 VEL++ F10 VEL-F11 MODIFY F14 AXIS← F15 AXIS→ F1 SET F2 CANCEL F3 SEARCH F6 JUMP F7 FIND F8 FIND+ F9 FINDF1 SELECT F2 COPY F3 CUT F4 PASTE F5 BS F6 JUMP F7 FIND F8 FIND+ F9 FINDF1 NEW F5 INFO F6 COPY F7 ERASE F8 RENAME F10 ATTRBT F11 OBJECT F15 EXAMPLE
F13 ERR.RST
F3 MANUAL
F1 POINT F3 ORIGIN F4 VEL+ F5 VEL-
F6 SHIFT
F1 EDIT F2 TEACH F3 JUMP F4 VEL+ F5 VELF6 COPY F7 ERASE F8 MM/PULS F9 VEL++ F10 VEL-F11 TRACE F13 ERR.RST F14 AXIS← F15 AXIS→ F1 EDIT F2 RANGE F4 VEL+ F5 VELF6 METHOD1
F7 METHOD2 F9 VEL++ F10 VEL--
4-23
F1 UNDO F3 JUMP
F1 UNDO F1 UNDO
F4 VEL+ F5 VELF9 VEL++ F10 VEL-F4 VEL+ F5 VELF9 VEL++ F10 VEL--
CHAPTER 4 Operation
F4 SYSTEM
F7 HAND F8 MM/PULS F9 VEL++ F10 VEL-F13 RST.ABS
F1 EDIT F4 VEL+ F5 VELF6 METHOD1 F8 MM/PULS F9 VEL++ F10 VEL--
F15 COORDI
F1 4POINTS F2 3POINTS
F2 PALETTE
F1 EDIT F2 TEACH F4 VEL+ F5 VELF6 COPY F7 ERACE F9 VEL++ F10 VEL-F15 PASSWD
F14 Z.ANGLE
F1 NO F2 X F3 Y F4 VEL+ F5 VELF6 EDIT F8 MM/PULS F9 VEL++ F10 VEL--
F1 PARAM
F1 ROBOT F2 AXIS
F1 UNDO
F4 VEL+ F5 VELF9 VEL++ F10 VEL--
F1 POINT
F1 EDIT F2 JUMP F1 EDIT F2 JUMP
F10 PASSWRD F2 CMU
F1 EDIT F2 JUMP
F3 BACKUP
F1 FDD
F1 LOAD F2 SAVE
F3 DIR
4-24
F1 .ALL F2 .PGM F3 .PNT F4 .SFT F5 .HND F6 .PRM F8 .PLT F1 *.ALL F2 *.PGM F3 *.PNT F4 *.SFT F5 *.HND F6 *.PRM F8 *.PLT F10 *.*
CHAPTER 4 Operation
F5 INFO F7 ERASE F8 RENAME
F3 CMU
F11 FORMAT
F1 IBM720 F2 IBM1.44 F3 NEC640 F4 NEC1.2 F5 TOSB1.2
F1 RECEIVE F2 TRNSMIT
F1 .ALL F2 .PGM F3 .PNT F4 .SFT F5 .HND F6 .PRM F8. PLT
F5 CLEAR F4 INIT
F1 PARAM F2 MEMORY
F3 CMU F4 CLOCK
F6 GENERAT F10 PASSWRD F5 DIAGNOS
UTILITY 1
F1 MOTOR F2 SEQUENC F3 ARMTYPE F5 RST.DO
UTILITY 2
F1 EXECUTE F5 RST.DO
F1 CHECK F2 HISTORY F2 BATTERY
DISPLAY
4-25
F1 .ALL F2 .PGM F3 .PNT F4 .SFT F5 .HND F6 .PRM F8 .PLT
F1 PROGRAM F2 POINT F3 SHIFT F4 HAND F5 ALL F6 PALETTE F1 DATE F2 TIME F1 ROBOT F2 AXIS F4 CLEAR F5 HELP F6 AUX F15 LAYOUT
CHAPTER 4 Operation
8
Mode Configuration
8-1
Basic Mode Configuration The robot operation is classified into 4 basic modes as follows. q “AUTO” mode w “PROGRAM” mode e “MANUAL” mode r “SYSTEM” mode These are located in uppermost position of the mode hierarchy. Each mode is selected with the function key. (1) “AUTO” mode This mode is selected to run the robot program. When the pressed after selecting this mode, the robot program starts.
START
key is
(2) “PROGRAM” mode This mode is selected to create or edit robot programs. The program contents can be edited on the MPB screen. (3) “MANUAL” mode This mode is selected for manual operation. While a manual key is pressed, the robot axis corresponding to the key moves. This mode is also used to input and correct point data shared by the various robot programs. “MANUAL” mode is selected automatically when the power is turned on. CAUTION
Return to origin can be performed only in “MANUAL” mode. (4) “SYSTEM” mode This mode is for supervision of the overall robot system.
4-26
CHAPTER 4 Operation
8-2
Other Operation Modes Aside from the basic modes that can be selected with the function keys, there are also the following 2 modes. (1) “DI/DO monitor” mode This mode is used to monitor robot input and output status on the screen by pressing the DISPLAY key. (2) “UTILITY” mode This mode is for resetting after emergency stop or for turning the servo motor ON/OFF. Direct teaching can be performed if the servo for the motor is turned OFF.
4-27
CHAPTER 4 Operation
9
“AUTO” Mode The initial “AUTO” mode screens are shown in Fig. 4-9-1 and Fig. 4-9-2. When setting one robot: q Mode hierarchy
w Task
e Automatic movement speed r Program name
y Online command execute AUTO
[T1] 100%
s@ —————————————————————————————————————
u Sequence program execute
1 ’***** TEST1 PROGRAM *****
t Message line
2 START *SUBTASK,T2 3 DO2(0)=0
i Pointer execute
4 WAIT DI3(4,3,2)=3 5 MOVE P,P0
o Guideline
RESET
TASK
DIR
VEL+
VEL-
Fig. 4-9-1 “AUTO” mode (when setting one robot) When setting two robots: q Mode hierarchy
w Task
e Automatic movement speed r Program name
y Online command execute AUTO
[T1] 50%/100%
s@ —————————————————————————————————————
u Sequence program execute i Pointer execute o Guideline
1 ’***** TEST1 PROGRAM *****
t Message line
2 START *SUBTASK,T2 3 DO2(0)=0 4 WAIT DI3(4,3,2)=3 5 MOVE P,P0 RESET
TASK
DIR
VEL+
VEL-
Fig. 4-9-2 “AUTO” mode (when setting two robots) q Mode hierarchy The current mode hierarchy is displayed. When the highest ranked mode is not highlighted (in reversed background), it shows that the servo power is turned OFF. When the mode is highlighted (reversed background) it shows that the servo power is turned ON. w Task The task number of the program list being displayed is shown. e Automatic movement speed The robot movement speed is displayed during automatic operation. When setting two robots, movement speed is displayed in the order of main group / sub group . Moreover, the target group is highlighted. 4-28
CHAPTER 4 Operation
r Program name The selected program name is displayed. t Message line An error message is displayed. A dashed line means origin return is incomplete. A solid line means origin return is complete. A double solid line means automatic operation is in progress. y Online command execute When an online command is being executed, a “@” mark is displayed in the second column. u Sequence program execute When a sequence program is being executed, an “s” mark is displayed in the first column. i Pointer execute The number of the next program for execution from the program list is shown highlighted. o Guideline The contents per the allotted function are highlighted (in reversed background). On entering the “AUTO” mode, the previous program is compiled and an object file is made to execute automatic operation. When the same object file already exists, the compile is not executed. If an error is found in a command statement during compile, an error message and the program list from the line are displayed. If this ends normally, the program list is displayed from the top line. CAUTION
Usually, return to origin must be completed before starting “AUTO” mode. When return to origin is not complete, the message “Origin incomplete” is displayed. In such a case, refer to “11-4 Absolute Reset” in Chapter 4. However, it is possible to execute the program even if return to origin has not been completed. For further information, refer to “14 UTILITY Mode”.
4-29
CHAPTER 4 Operation
In “AUTO” mode, valid (operable) keys and the sub menu contents are as shown below. Valid keys
Menu
Cursor
Function The program list scrolls.
Page key
Switches the page display.
F1
RESET
The program is reset.
F2
TASK
The program list display changes according to each task.
F3
DIR
Changes the present program for execution.
F4
VEL+
F5
VEL-
F6
POINT
Moves to the specified point number position.
F7
DIRECT
Executes the command statement for 1 line of key input.
F8
BREAK
Designates the break point.
F9
VEL++
F10
VEL- -
F11
STEP
Executes 1 line of command statement.
F12
SKIP
Does not execute command statement, advances to next line.
F13
NEXT
Automatic movement speed for the target group increases in steps. (1→5→20→50→100%) Automatic movement speed for the target group decreases in steps. (100→50→20→5→1%)
Increases automatic movement speed for the target group in units of 1%. Decreases automatic movement speed for the target group in units of 1%.
Executes a command statement for 1 line. (subroutine executes together.)
ROBOT ( LOWER
Switches the target group.
+ MODE )
9-1
Automatic Operation Program commands are executed continuously. Before starting an automatic operation, make sure that return to origin, program debugging, I/O signals connections and point data teaching have already been completed. Automatic operation will function during execution at levels other than level 0 even when return to origin is incomplete. CAUTION
Regardless of the execution level, some commands such as the robot movement command cannot be executed if return to origin is incomplete. When the execution level 5 or 6 is selected, the program is always executed from the beginning.
4-30
CHAPTER 4 Operation
[OPERATION] 1) Press the START key in “AUTO” mode. Command statements are executed in order from the line number where the pointer is displayed. The program list disappears during automatic operation and the message “Running” is displayed on the message line (the 2nd line). During operation, solid lines of a message line change from 1 line to 2 lines. AUTO
[T1] 100%
←2 solid lines
0.2:Running
RESET
TASK
DIR
VEL+
VEL-
Fig. 4-9-3 During automatic operation
9-2
Stop [OPERATION] 1) When pressing the STOP key while the program is running, program execution is temporarily halted. AUTO
[T1] 100%
VEL-
Fig. 4-9-4 Program stop 2) Press the ESC key to display a program list. The pointer indicates the line number of the next program to be executed. 3) Press the
START
key to restart.
CAUTION
If the power supply is turned OFF during program execution, it causes an error in the internal system data and normal program restart may not be possible when the power is again turned ON. Always be sure to stop the program before turning the power OFF.
4-31
CHAPTER 4 Operation
9-3
Program Reset To restart the program halted with the program.
START
key from the beginning, reset the
[OPERATION] AUTO
[T1] 100%
1 ’***** TEST1 PROGRAM ***** 2 START *SUBTASK,T2 3 DO2(0)=0 4 WAIT DI3(4,3,2)=3 5 MOVE P,P0 RESET
TASK
DIR
VEL+
VEL-
Fig. 4-9-5 Program reset When the program “_SELECT” does not exist: 1) Press the F 1 (RESET) key in “AUTO” mode. 2) Press the F 4 (YES) key. A list is displayed from the first line of the program. (A pointer is displayed on the first line number of the program.) AUTO 1
[T1] 50%
CHAPTER 4 Operation
When the program “_SELECT” exists: 1) Press the F 1 (RESET) key in “AUTO” mode. The following confirmation message appears on the guideline when “_SELECT” exist in the program. Press the F 4 (YES) key to reset the currently selected program by switching it to “_SELECT”, or press the F 5 (NO) key to just reset the selected program. AUTO 1
[T1] 50%
GOTO *ST
Change to _SELECT OK?
YES
NO
Fig. 4-9-7 Program reset 2) When the F 5 (NO) key is pressed in Step 1), the following confirmation message then appears on the guideline. Press the F 4 (YES) key to reset the currently selected program, or press the F 5 (NO) key to cancel reset. AUTO 1
[T1] 50%
MOVE P, P2 GOTO *ST
Reset program OK?
YES
NO
Fig. 4-9-8 Program reset CAUTION
• The output is also reset when the program is reset. However, the output will not be reset when a sequencer program is being executed without selecting “RST.DO” in the sequencer execution “ENABLE/DISABLE” flag setting.
4-33
CHAPTER 4 Operation
9-4
Switching Task Displays When a program running multiple tasks is stopped, the program list for each task is displayed. [OPERATION] 1) Press the STOP key to stop the program in progress. 2) Press the ESC key to display the program list. In main task (T1), a pointer is displayed on the line number of the command statement to be executed next. AUTO
[T1] 100%
5 MOVE P,P0 6 *L1: 7
MOVE P,P1
8
MOVE P,P2
9 RESET
GOTO *L1 TASK
DIR
VEL+
VEL-
Fig. 4-9-9 Main task (T1) display 3) Every time F 2 (TASK) key is pressed, a lower order task program (T2→3→...T8) is displayed. At this time, for each task a pointer is displayed on the line number of the command statement to be executed next. AUTO
[T2] 100%
CHAPTER 4 Operation
9-5
Switching Execution Programs If the program displayed on the screen is not the one you want to execute, it can be switched to another program. [OPERATION] 1) Press the F 3 (DIR) key in “AUTO” mode. Program data is displayed. Then, a pointer is displayed on the line number of the program which is currently selected. 2) Use the cursor keys (↑/↓) to select the desired program and press the ESC key. The selected program will automatically be compiled and an object file made. AUTO >DIR No.
[T1] 100%
RW/RO RW
Fig. 4-9-11 Switching programs during execution CAUTION
When the program is switched, the output is also reset at the same time the program is reset. However, the output will not be reset when a sequencer program is being executed without selecting “RST.DO” in the sequencer execution “ENABLE/DISABLE” flag setting.
9-6
Changing the Automatic Movement Speed The automatic movement speed for the target group can be set within the range of 1 to 100%. CAUTION
When setting two robots, movement speed for the highlighted group can be set. Movement speed is displayed in the order of main group / sub group on the MPB screen. Use the ROBOT key ( LOWER + MODE ) to switch the target group.
4-35
CHAPTER 4 Operation
[OPERATION] 1) Every time the F 4 (VEL+) or the F 5 (VEL-) key is pressed, the operating speed changes gradually in steps of 1←→5←→20←→50←→100%. The maximum motor speed is set at 100%. 2) Every time the F 9 (VEL++) or the F 10 (VEL—) key is pressed, the operating speed changes in units of 1%. Holding the key down changes the speed continuously. NOTE
The automatic movement speed once set, is saved in the internal memory even when the power is turned OFF. If the speed is set with the program command statement (SPEED statement), the movement speed will be the product of that speed and the automatic movement speed. For example, if the automatic movement speed is 80% and the speed designated by the SPEED statement is 50%, then the operating speed is set as follows. Operating speed = 80% × 50% =40%
9-7
Executing the Point Trace The point data positions can be checked during the actual movement of the robot arm. To check the point data position, the following modes can be used. • PTP motion mode • Arch motion mode • Linear interpolation motion mode (main robot only) CAUTION
• When setting two robots, confirm the current target group. If “[MG]” is displayed, the current target is main group. If “[SG]” is displayed, it means sub group. Switch the target group with the ROBOT key ( LOWER + MODE ). • Point trace cannot be executed if return to origin is not complete.
4-36
CHAPTER 4 Operation
[OPERATION] 1) Press the F 6 (POINT) key in “AUTO” mode. The screen switches to “AUTO>POINT” mode and the point data is displayed as follows. AUTO> POINT
[RIGHTY] 50/100% [MG][S0H0]
————————————x———————y———————z———————r——— P3
= 150.50
P4
=
64.53
21.78
-45.14
96.65 -224.89
43.31
P5
= -63432
28.79
19735
6243
P6
= 243.64
22642
132.56
54.64
23.68
[POS]
0
PTP
0
0
JUMP
VEL+
0 VEL-
Fig. 4-9-12 Point trace screen (without additional axis) * The “[RIGHTY]” message is additional shown only for SCARA type robots. In “AUTO>POINT” mode, valid (operable) keys and sub menu contents are as shown below. Valid keys
Menu
Cursor
Specifies the point number and scrolls the screen.
Page key F1
Function Switches the page display.
PTP/ARCH/
Switches the trace movement mode.
LINEAR
F2
A.POS
Specifies the arch position in the ARCH motion mode.
F3
JUMP
Displays the specified point data.
F4
VEL+
Automatic movement speed for the target group increases in steps.
F5
VEL-
Automatic movement speed for the target group decreases in steps.
F6
A.AXIS+
Moves the arch axis to the right in the ARCH motion mode.
F7
A.AXIS-
Moves the arch axis to the left in the ARCH motion mode.
F8
MM/PULS
Changes the type of unit display at the current position.
F9
VEL++
F10
VEL- -
F11
MODIFY
F14
AXIS<-
F15
AXIS->
Increases automatic movement speed for the target group in 1% increments. Decreases automatic movement speed for the target group in 1% increments. Moves to the point data processing screen in “MANUAL” mode. Moves the axis designation to left. (it is valid when setting the auxiliary axis) Moves the axis designation to right. (it is valid when setting the auxiliary axis)
ROBOT ( LOWER
Switches the target group.
+ MODE )
● F 11 (MODIFY) key The point data can be corrected while confirming the point trace position. Pressing the F 11 (MODIFY) key switches to the point data editing screen. To return to the trace mode, press the F 11 (TRACE) key again. 4-37
CHAPTER 4 Operation
9-7-1
PTP Motion Mode 1. Settings with no auxiliary axis installed: [OPERATION] 1) Press the F 1 key in “AUTO>POINT” mode. When the following screen appears, press the F PTP motion mode. AUTO
>POINT
1
(PTP) key to select the
[RIGHTY] 50/100% [MG][S0H0]
————————————x———————y———————z———————r——— P3
= 150.50
P4
=
64.53
21.78
-45.14
96.65 -224.89
43.31
P5
= -63432
28.79
19735
6243
P6
= 243.64
22642
132.56
54.64
23.68
0
0
0
[POS]
0
PTP
ARCH
LINEAR
Fig. 4-9-13 Point trace screen in PTP motion mode (settings with no auxiliary axis installed) 2) Use the cursor keys (↑/↓) to select the point number to be checked. AUTO
>POINT
[RIGHTY] 50/100% [MG][S0H0]
————————————x———————y———————z———————r———— P3
= 150.50
P4
=
P5
= -63432
P6 [POS]
64.53
21.78
-45.14
96.65 -224.89
43.31
28.79
19735
6243
22642
= 243.64
132.56
54.64
23.68
0
0
0
JUMP
VEL+
PTP
0 VEL-
Fig. 4-9-14 Point trace screen in PTP motion mode (settings with no auxiliary axis installed) 3) Press the START key, and the robot manipulator moves by PTP motion to the specified point position. The trace speed is one tenth of the automatic movement speed. To stop the trace, press the STOP key.
4-38
CHAPTER 4 Operation
2. Settings with the auxiliary axis installed: [OPERATION] 1) Press the F 1 key in “AUTO>POINT” mode. When the following screen appears, press the F PTP motion mode. AUTO
>POINT
1
(PTP) key to select the
[RIGHTY] 50/100% [MG][S0H0]
————————————x———————y———————z———————r——— P3
= 150.50
P4
=
64.53
21.78
-45.14
96.65 -224.89
43.31
P5
= -63432
28.79
19735
6243
P6
= 243.64
22642
132.56
54.64
23.68
0
0
0
[POS]
0
PTP
ARCH
LINEAR
Fig. 4-9-15 Point trace screen in PTP motion mode (settings with the auxiliary axis installed) 2) Use the cursor keys (↑/↓) and F 14 (AXIS←) or F 15 (AXIS→) key so that the point values of the robot axis number to be checked are highlighted (in reversed background). To perform trace for the robot main axis: AUTO>POINT
[RIGHTY] 50/100% [MG][S0H0]
————————————x———————y———————z———————r——— P3
= 150.50
64.53
21.78
-45.14
P4
=
P5
= -63432
96.65 -224.89 19735
43.31
28.79
6243
P6
= 243.64
22642
132.56
54.64
0
23.68
0
0
0
JUMP
VEL+
[POS] PTP
VEL-
Fig. 4-9-16 Point trace screen in PTP motion mode (settings with the auxiliary axis installed) To perform trace for the auxiliary axis: AUTO>POINT
[RIGHTY] 50/100% [MG][S0H0]
————————————x———————y———————z———————r——— P3
= 150.50
P4
=
P5
= -63432
P6 [POS]
64.53
21.78
-45.14
96.65 -224.89
43.31
28.79
19735
6243
22642
= 243.64
132.56
54.64
23.68
0
0
0
JUMP
VEL+
PTP
0 VEL-
Fig. 4-9-17 Point trace screen in PTP motion mode (settings with the auxiliary axis installed) 3) Press the START key, and the robot manipulator moves by PTP motion to the specified point position. The trace speed is one tenth of the automatic movement speed. To stop the trace, press the STOP key. 4-39
CHAPTER 4 Operation
9-7-2
Arch Motion Mode 1. Settings with no auxiliary axis installed: [OPERATION] 1) Press the F 1 key in “AUTO>POINT” mode. When the following screen appears, press the F ARCH motion mode. AUTO>POINT
2
(ARCH) key to select the
[RIGHTY] 50/100% [MG][S0H0]
————————————x———————y———————z———————r——— P3
= 150.50
P4
=
64.53
21.78
-45.14
96.65 -224.89
43.31
28.79
P5
= -63432
P6
= 243.64
19735
6243
22642
132.56
54.64
0
0
23.68
0
0
[POS] PTP
ARCH
LINEAR
Fig. 4-9-18 Point trace screen in ARCH motion mode (settings with no auxiliary axis installed) 2) Press the F 6 (A.AXIS+) or F 7 (A.AXIS -) to select the axis to move. The selected axis is displayed on the message line, for example “ARCH(z)” as shown below. AUTO>POINT
[RIGHTY] 50/100% [MG][S0H0]
————————————x———————y——ARCH(z)——————r——— P3
= 150.50
64.53
21.78
-45.14
P4
=
P5
= -63432
96.65 -224.89 19735
43.31
28.79
6243
P6
= 243.64
22642
132.56
54.64
0
23.68
0
0
0
JUMD
VEL+
[POS] ARCH
A.POS
VEL–
Fig. 4-9-19 Point trace screen in ARCH motion mode (settings with no auxiliary axis installed) 3) Press the
F 2 AUTO
(A.POS) key to set the arch motion position. >POINT
[RIGHTY] 50/100% [MG][S0H0]
————————————x———————y——ARCH(z)——————r——— P3
= 150.50
P4
=
P5
= -63432
P6
= 243.64
[POS]
64.53
21.78
-45.14
96.65 -224.89
43.31
28.79
19735
6243
22642
132.56
54.64
23.68
0
0
0
0
Enter ARCH data>
20000
Fig. 4-9-20 Point trace screen in ARCH motion mode (settings with no auxiliary axis installed) 4) Use the cursor keys ((↑/↓) to select the point values of the axis number to be checked. 4-40
CHAPTER 4 Operation
5) Press the START key, and the robot manipulator moves by ARCH motion to the specified point position. The trace speed is one tenth of the automatic movement speed. To stop the trace, press the STOP key. 2. Settings with the auxiliary axis installed: [OPERATION] 1) Press the F 1 key in “AUTO>POINT” mode. When the following screen appears, press the F ARCH motion mode. AUTO>POINT
2
(ARCH) key to select the
[RIGHTY] 50/100% [MG][S0H0]
————————————x———————y———————z———————r——— P3
= 150.50
P4
=
64.53
21.78
-45.14
96.65 -224.89
43.31
P5
= -63432
28.79
19735
6243
P6
= 243.64
22642
132.56
54.64
23.68
0
0
0
[POS]
0
PTP
ARCH
LINEAR
Fig. 4-9-21 Point trace screen in ARCH motion mode (settings with the auxiliary axis installed) 2) Press the F 6 (A.AXIS+) or F 7 (A.AXIS -) to select the axis to move. The selected axis is displayed on the message line, for example “ARCH(z)” as shown below. AUTO>POINT
[RIGHTY] 50/100% [MG][S0H0]
————————————x———————y——ARCH(z)——————r——— P3
= 150.50
P4
=
64.53
21.78
-45.14
96.65 -224.89
43.31
P5
= -63432
28.79
19735
6243
P6
= 243.64
22642
132.56
54.64
23.68
[POS]
0
ARCH
A.POS
0
0
JUMP
VEL+
0 VEL-
Fig. 4-9-22 Point trace screen in ARCH motion mode (settings with the auxiliary axis installed) 3) Press the
F 2
(A.POS) key to set the arch motion position.
AUTO>POINT
[RIGHTY] 50/100% [MG][S0H0]
————————————x———————y———————z———————r——— P3
= 150.50
P4
=
P5
= -63432
P6
= 243.64
[POS]
64.53
21.78
-45.14
96.65 -224.89
43.31
28.79
19735
6243
22642
132.56
54.64
23.68
0
0
0
0
Enter ARCH data>
20000
Fig. 4-9-23 Point trace screen in ARCH motion mode (settings with the auxiliary axis installed) 4-41
CHAPTER 4 Operation
4) Use the cursor keys (↑/↓) and F 14 (AXIS←) or F 15 (AXIS→) key so that the point values of the robot axis number to be checked are highlighted (in reversed background). 5) Press the START key, and the robot manipulator moves by PTP motion to the specified point position. The trace speed is one tenth of the automatic movement speed. To stop the trace, press the STOP key.
9-7-3
Linear Interpolation (LINE) Motion Mode 1. Settings with no auxiliary axis installed: [OPERATION] 1) Press the F 1 key in “AUTO>POINT” mode. When the following screen appears, press the F linear interpolation (LINE) motion mode. AUTO
>POINT
3
(LINE) key to select the
[RIGHTY] 50/100% [MG][S0H0]
————————————x———————y———————z———————r——— P3
= 150.50
P4
=
64.53
21.78
-45.14
96.65 -224.89
43.31
P5
= -63432
28.79
19735
6243
22642
P6
= 243.64
132.56
54.64
23.68
0
0
0
0
[POS] PTP
ARCH
LINEAR
Fig. 4-9-24 Point trace screen in LINE motion mode (settings with no auxiliary axis installed) 2) Use the cursor keys (↑/↓) to select the point number to be checked. AUTO
>POINT
[RIGHTY] 50/100% [MG][S0H0]
————————————x———————y———————z———————r——— P3
= 150.50
P4
=
64.53
21.78
-45.14
96.65 -224.89
43.31
P5
= -63432
28.79
19735
6243
22642
P6
= 243.64
132.56
54.64
23.68
0
0
0
JUMP
VEL+
[POS] LINEAR
0 VEL-
Fig. 4-9-25 Point trace screen in LINE motion mode (settings with no auxiliary axis installed) 3) Press the START key, and the robot manipulator moves by LINE motion to the specified point position. The trace speed is one tenth of the automatic movement speed. To stop the trace, press the STOP key. CAUTION
The sub robot cannot perform linear interpolation movement. 4-42
CHAPTER 4 Operation
2. Settings with the auxiliary axis installed: [OPERATION] 1) Press the F 1 key in “AUTO>POINT” mode. When the following screen appears, press the F linear interpolation (LINE) motion mode. AUTO>POINT
3
(LINE) key to select the
[RIGHTY] 50/100% [MG][S0H0]
————————————x———————y———————z———————r——— P3
= 150.50
P4
=
64.53
21.78
-45.14
96.65 -224.89
43.31
28.79
P5
= -63432
P6
= 243.64
19735
6243
22642
132.56
54.64
0
0
23.68
0
0
[POS] PTP
ARCH
LINEAR
Fig. 4-9-26 Point trace screen in LINE motion mode (settings with the auxiliary axis installed) 2) Use the cursor keys (↑/↓) and F 14 (AXIS←) or F 15 (AXIS→) key so that the point values of the robot axis number to be checked are highlighted (in reversed background). To perform trace the robot main axis: AUTO>POINT
[RIGHTY] 50/100% [MG][S0H0]
————————————x———————y———————z———————r——— P3
= 150.50
P4
=
64.53
21.78
-45.14
96.65 -224.89
43.31
P5
= -63432
28.79
19735
6243
22642
P6
= 243.64
132.56
54.64
23.68
0
0
0
JUMP
VEL+
[POS] LINEAR
0 VEL-
Fig. 4-9-27 Point trace screen in LINE motion mode (settings with the auxiliary axis installed) To perform trace for the auxiliary axis: AUTO>POINT
[RIGHTY] 50/100% [MG][S0H0]
————————————x———————y———————z———————r——— P3
= 150.50
P4
=
P5
= -63432
P6
= 243.64 0
0
0
JUMP
VEL+
[POS]
64.53
21.78
-45.14
96.65 -224.89
43.31
28.79
19735
6243
22642
132.56
54.64
23.68
LINEAR
0 VEL-
Fig. 4-9-28 Point trace screen in LINE motion mode (settings with the auxiliary axis installed) 3) Press the START key, and the robot manipulator moves by LINE motion to the specified point position. The trace speed is one tenth of the automatic movement speed. The load axis moves by PTP motion. To stop the trace, press the STOP key. 4-43
CHAPTER 4 Operation
9-8
Direct Command Execution Entering one line of command statement allows direct execution the command. By using this function, the step for confirming the axis movement after creating a program can be omitted. [OPERATION] 1) Press the F 7 (DIRECT) key in “AUTO” mode. The screen switches to “AUTO>DIRECT” mode and the prompt (>) and cursor are displayed on the lowest line of the screen. AUTO
[T1] 100%
1 ’***** TEST1 PROGRAM ***** 2 START *SUBTASK,T2 3 DO2(0)=0 4 WAIT DI3(4,3,2)=3 5 MOVE P,P0 >DO(25)=1_
Fig. 4-9-29 Direct command execution 2) Enter one line of command statement. 3) Press the
key to executed the entered command.
NOTE
The following command statements can be executed directly. Assignment statement, MOVE, MOVEI, DRIVE, DRIVEI, SET, RESET, INPUT, PRINT, SEND, SPEED, ACCEL, OUTPOS, TOLE, WEIGHT, ARCH, SHIFT, RIGHTY, LEFTY, Point definition statement, Shift definition statement, ONLINE, OFFLINE. etc. • Before executing the command statements MOVE, MOVEI, DRIVE, DRIVEI return to origin must be completed. • The optional STOPON condition specified for the MOVE P statement cannot be used. • The MOVE P, MOVE L, MOVE C, MOVEI, DRIVE, DRIVEI command statements conclude after positioning is complete. • When setting two robots, the following command statements are added. MOVE2, MOVEI2, DRIVE2, DRIVEI2, SPEED2, ACCEL2, OUTPOS2, TOLE2, WEIGHT2, ARCH2, SHIFT2, RIGHTY2, LEFTY2
4-44
CHAPTER 4 Operation
9-9
Break Point An ongoing program can be halted if a break point is set in the program. This is useful when debugging the program. The program execution pauses on the line just prior to a break point. The program execution will restart from the break point by pressing the START key again. In “AUTO>BREAK” mode, valid keys and the sub menu contents are shown below. Valid keys
Menu
Cursor
Function Specifies the break point and scrolls the screen.
F1
SET
Sets the break point.
F2
CANCEL
Deletes the break point.
F3
SEARCH
Searches for the line set with the break point.
F6
JUMP
Shows the program list from specified line.
F7
FIND
Specifies the character string to be found.
F8
FIND+
F9
FIND-
Finds the specified character string searching backwards from the cursor position. Finds the specified character string searching forwards from the cursor position.
NOTE
The F 6 to F 9 keys have the same functions as edit operation in “PROGRAM” mode. Refer to “10-2-13 Line Jump” and “10-2-14 Character String Finding”.
9-9-1
Break Point Setting The program execution can be stopped on the line where a break point is set. [OPERATION] 1) Press the F 8 (BREAK) key in “AUTO” mode to switch to “AUTO>BREAK” mode. 2) Use the cursor keys to select the line number on which a break point is to be set.
4-45
CHAPTER 4 Operation
3) Press the F 1 (SET) key. A “ B ” mark is displayed to the left of the command statement and a break point is set on that line. AUTO>BREAK
[T1] 100%
1 ’***** TEST1 PROGRAM ***** 2 START *SUBTASK,T2 3 DO2(0)=0 4BWAIT DI3(4,3,2)=3 5 MOVE P,P0 SET
CANCEL
SEARCH
Fig. 4-9-30 Break point setting
9-9-2
Break Point Deletion When the be found.
F 3
(SEARCH) key is pressed, the break point that was set can easily
[OPERATION] 1) Use the cursor keys (↑/↓) to select the line number where the break point is specified. 2) Press the F 2 (CANCEL) key. The “B ” mark disappears and the break point is canceled. 3) To find the line number on which a break point is set, press the (SEARCH) key.
F 3
CAUTION
• Up to 2 break points can be set in one program. However 2 break points cannot set in different programs. However, when there is “COMMON” program, 2 break points can be set including the main program. (For more information on the COMMON program. Refer to the programming owner's manual.) • If the program is compiled or edited, all the break points are deleted. • Break points are ignored during execution of STEP or NEXT. However break points set in sub routines are valid when executing NEXT.
4-46
CHAPTER 4 Operation
9-10
STEP Execution [OPERATION] 1) Press the F
11
(STEP) key in “AUTO” mode.
2) Every time this key is pressed, the command statement of the highlighted line number is executed. After execution, the pointer moves to the next line. If the command statement is a sub routine or sub-procedure, its top line is executed. AUTO
[T1] 100%
1 ’***** TEST1 PROGRAM ***** 2 START *SUBTASK,T2 3 DO2(0)=0 4 WAIT DI3(4,3,2)=3 5 MOVE P,P0 STEP
SKIP
NEXT
Fig. 4-9-31 STEP execution
9-11
SKIP [OPERATION] 1) Press the F
12
(SKIP) key in “AUTO” mode.
2) The program moves (skips) to the next line every time this key is pressed without executing the command statement of the line number where the pointer is displayed.
4-47
CHAPTER 4 Operation
9-12
NEXT Execution [OPERATION] 1) Press the F
13
(NEXT) key in “AUTO” mode.
2) Every time this key is pressed, the command statement of the highlighted line number is executed. After execution the pointer shifts to the next line. If the command statement is a sub routine or sub-procedure, it is executed at one time. AUTO
[T1] 100%
1 ’***** TEST1 PROGRAM ***** 2 GOSUB *SUBPROG 3 DO2(0)=0 4 WAIT DI3(4,3,2)=3 5 MOVE P,P0 STEP
SKIP
NEXT
Fig. 4-9-32 NEXT execution NOTE
During STEP, SKIP and NEXT execution, the message “Running” is displayed on the screen. After execution is complete, the pointer moves to the line number of the next command statement.
4-48
CHAPTER 4 Operation
10
“PROGRAM” mode Programs can be edited and deleted in this mode. The initial “PROGRAM” mode screen is shown in Fig. 4-10-1. On entering “PROGRAM” mode, the currently used program is automatically selected. w Program menu
q Mode hierarchy rOnline command execute PROGRAM
@ —————————————————————————————————————— 1 '***** TEST2 PROGRAM *****
t Line select cursor
e Message line
2 GOSUB *SUBPROG 3 DO2(0)=0
y Guideline
4 WAIT DI3(4,3,2)=3 5 MOVE P,P0 EDIT
‘ORIGIN DIR
COMPILE
Fig. 4-10-1 “PROGRAM” mode q Mode hierarchy The current mode hierarchy is displayed. When the highest ranked mode is not highlighted (in reversed background), it shows that the servo power supply is turned OFF. When the mode is highlighted (in reversed background) it shows that the servo power supply is turned ON. w Program menu The current program name is displayed. e Message line An error message is displayed. r Online command execute When an online command is being executed, a “@” mark is displayed in the second column. t Line select cursor The line number of a program being edited is highlighted (in reversed background). y Guideline The contents per the allotted function are shown in reversed background.
4-49
CHAPTER 4 Operation
In “PROGRAM” mode, valid keys and sub menu contents are as shown below. Valid keys
Menu
Cursor
Function Selects the program and scrolls the screen.
Page key
Switches the page display.
F1
EDIT
Program is edited.
F3
DIR
Program data is displayed.
F5
COMPILE
Compiles the program.
F6
JUMP
Program list is displayed from the specified line.
F7
FIND
Specifies the character string to be found.
F8
FIND+
F9
FIND-
F13
ERR.RST
Finds the specified character string searching backwards from the cursor position. Finds the specified character string searching forwards from the cursor position. Allows editing if the selected program is destroyed.
NOTE
Refer to the separate “Programming Manual” for details on the programming language.
10-1
Program List Scroll
10-2
>>
,
or
>>
2) Pressing the << , length) at a time.
<<
[OPERATION] 1) Pressing the cursor key (↑/↓) in “PROGRAM” mode scrolls through a program list a single line at a time up and down. Pressing the cursor key (←/→) scrolls through a program list a single character at a time, right and left. Holding down the cursor key scrolls the screen continuously. or key scrolls one page (screen
Program Editing [OPERATION] 1) Press the F 1 (EDIT) key in “PROGRAM” mode. In Fig. 4-10-2, a cursor is displayed on the beginning line of a program list, and program editing can begin. 2) Move the cursor to the position to be edited with the cursor keys and input a program with the MPB. A maximum of 75 characters can be input on a single line. PROGRAM>EDIT
—————————————————————————————————————— 1 ’***** TEST2 PROGRAM ***** 2 GOSUB *SUBPROG 3 DO2(0)=0 4 WAIT DI3(4,3,2)=3 5 MOVE P,P0 SELECT
COPY
’ORIGIN CUT
PASTE
BS
Fig. 4-10-2 “PROGRAM>EDIT” mode 4-50
CHAPTER 4 Operation
Pressing the key quits the program input for a single line and the cursor moves to the beginning of the next line. 3) When program editing quits, press the
ESC
key.
In “PROGRAM>EDIT” mode, valid keys and the sub menu contents are shown below. Valid keys
Menu
Cursor INS
Switches between Insert and Overtype modes.
L.INS
Inserts one blank line.
DEL
Deletes a single character.
L.DEL
Deletes a single line.
USER
Displays the user function key.
ESC
Quits program editing. A single line program input is quitted and moves the cursor to the
key
beginning of the next line.
F1
SELECT
F2
COPY
F3
CUT
F4
PASTE
Inserts the buffer data directly prior to the cursor line.
F5
BS
Backspace.
F6
JUMP
Show the program list at the specified line.
F7
FIND
Specifies the character string to be found.
F8
FIND+
F9
FIND-
Specifies the starting line for copy/cut. Copies the specified line and temporarily stores the data in the buffer. Verifies lines to be cut, erases the selected line and stores it temporarily in the buffer.
Finds the specified character string searching backwards from the cursor position. Finds the specified character string searching forwards from the cursor position.
Cursor Movement
2) Pressing the
<<
,
>>
,
or
>>
[OPERATION] 1) Pressing the cursor key (↑/↓) in “PROGRAM>EDIT” mode scrolls through the program list a single line at a time up and down. Pressing the cursor key (←/→) scrolls through a program list a single character at a time right and left. <<
10-2-1
Function Moves the cursor and scrolls the screen.
PROGRAM>EDIT
or key scrolls in the unit of a screen.
CHAPTER 4 Operation
10-2-2
Insert Mode and Overtype Mode Switching [OPERATION] 1) Press the INS key in “PROGRAM>EDIT” mode. A cursor line changes to a thin line (_), and the screen switches to Insert mode. In Insert mode, the input character is inserted just before the cursor position. PROGRAM>EDIT
—————————————————————————————————————— 3 DO2(0)=0 4 WAIT DI3(4,3,2)=3 5 MOVE P,P0 6 _
’ORIGIN
7 MOVE P,P1 SELECT
COPY
CUT
PASTE
BS
Fig. 4-10-4 Insert mode 2) Press the INS key again. The cursor line changes to a thick line (■), and the screen returns to Overtype mode. In Overtype mode the input character replaces the character at the cursor position. PROGRAM>EDIT
—————————————————————————————————————— 3 DO2(0)=0 4 WAIT DI3(4,3,2)=3 5 MOVE P,P0
’ORIGIN
6 MOVE P,P1 7 DO2(1)=1 SELECT
COPY
CUT
PASTE
BS
Fig. 4-10-5 Overtype mode
10-2-3
Inserting a Single Line [OPERATION] When the L.INS (= LOWER + INS ) key is pressed in “PROGRAM>EDIT” mode, a blank line is inserted at the line previous to the cursor position. PROGRAM>EDIT
CHAPTER 4 Operation
10-2-4
Deleting a Single Character [OPERATION] Pressing the DEL key in “PROGRAM>EDIT” mode, a single character at the cursor position is then deleted.
10-2-5
Deleting a Line [OPERATION] Press the L.DEL (= LOWER + DEL ) key in the “PROGRAM>EDIT” mode and a single line at the cursor position is then deleted. Execute line deletion in Fig. 4-10-5, and the following screen is then displayed. PROGRAM>EDIT
—————————————————————————————————————— 3 DO2(0)=0 4 WAIT DI3(4,3,2)=3 5 MOVE P,P1 6 DO2(1)=1 7 DELAY 1000 SELECT
COPY
CUT
PASTE
BS
Fig. 4-10-7 Deleting a line
10-2-6
User Function Key Display User function keys can be used to make it easier to input programs. [OPERATION] 1) When the USER key is pressed in “PROGRAM>EDIT” mode the character string which corresponds to function keys F 1 to F 15 is displayed on the guideline. A character string of up to 7 characters is displayed from the beginning. 2) By pressing the function keys corresponding to the character string, program input can be performed easily.
4-53
CHAPTER 4 Operation
For example by pressing the F 2 (GOTO *) key, a character string of “GOTO *” is input at the cursor position. PROGRAM>EDIT
—————————————————————————————————————— 1 ’***** TEST2 PROGRAM ***** 2 GOTO *_ 3 DO2(0)=0 4 WAIT DI3(4,3,2)=3 5 MOVE P,P0 MOVE P, GOTO *
’ORIGIN DELAY
FOR ?=? SEND ?
Fig. 4-10-8 User function keys CAUTION
When using this function, it is necessary to make the program name “FUNCTION” and then input command statements for registering functions. Refer to “10-3-9 Making a Sample Program Automatically” and “10-6 Registering User Function Keys” for methods for registering the function keys.
10-2-7
Quitting Edit Press the
10-2-8
ESC
key to quit program editing in “PROGRAM>EDIT” mode.
Specifying the Copy/Cut Line [OPERATION] 1) Move a cursor to the line copy or cut in “PROGRAM>EDIT” mode. 2) Press the
F 1
(SELECT) key to switch to “SELECT” mode.
3) Specify range with cursor key (↓). “C ” mark is displayed on the line which was specified. Press the ESC key to interrupt the operation. PROGRAM>EDIT
CHAPTER 4 Operation
10-2-9
Enter Copy Line [OPERATION] After the operation in “10-2-8” when the F 2 (COPY) key is pressed, the data of the specified line is copied into the buffer. At this time, the “C ” mark display disappears. PROGRAM>EDIT
—————————————————————————————————————— 1 ’***** TEST2 PROGRAM ***** 2 ’ 3 DO2(0)=0 4 WAIT DI3(4,3,2)=3 5 MOVE P,P0 SELECT
COPY
‘ORIGIN CUT
PASTE
BS
Fig. 4-10-10 Enter copy line
10-2-10
Enter Cut Line [OPERATION] When the F 3 (CUT) key is pressed after the operation in “10-2-8”, the specified line is deleted and its data shifted to the buffer. At this time the “C ” mark display disappears. PROGRAM>EDIT
—————————————————————————————————————— 1 WAIT DI3(4,3,2)=3 2 MOVE P,P0
’ORIGIN
3 MOVE P,P1 4 DO(20)=1 5 DELAY 1000 SELECT
COPY
CUT
PASTE
BS
Fig. 4-10-11 Enter cut line
10-2-11
Paste [OPERATION] 1) When the F 4 (PASTE) key is pressed in “PROGRAM>EDIT” mode, the data which was stored by copy/cut operation in a buffer is inserted just before the cursor line. 2) The data in a buffer can be pasted continually until “PROGRAM” mode quits. 4-55
CHAPTER 4 Operation
However, if the copy/cut operation is performed again, then the data within the buffer is rewritten. PROGRAM>EDIT
—————————————————————————————————————— 1 ’***** TEST2 PROGRAM ***** 2 ’ 3 DO2(0)=0 4 WAIT DI3(4,3,2)=3 5 MOVE P,P0 SELECT
COPY
’ORIGIN CUT
PASTE
BS
Fig. 4-10-12 Paste
10-2-12
Backspace [OPERATION] When the F 5 (BS) key is pressed in “PROGRAM>EDIT” mode, 1 single character just before the cursor is deleted. When a cursor is at beginning of a line, it connects to the end of the previous line. However, when the number of characters after a connecting line exceeds 75 characters the function is not performed.
10-2-13
Line Jump [OPERATION] 1) Press the F 6 (JUMP) key to switch to “PROGRAM>EDIT>JUMP” in “PROGRAM>EDIT” mode. A message of “Enter line no. >” is displayed on a guideline. PROGRAM>EDIT
45_
Fig. 4-10-13 Line jump
4-56
>
CHAPTER 4 Operation
2) Input the line number of destination to jump and press the The program is displayed from the specified line. PROGRAM>EDIT
—————————————————————————————————————— 45 RESET DO3(4) 46 DELAY 1000 47 A=4 48 GOTO *T4 49 *T5: SELECT
COPY
CUT
PASTE
BS
Fig. 4-10-14 Performing line jump
10-2-14
Character String Finding [OPERATION] 1) Press the F 7 (FIND) key to switch to “PROGRAM>EDIT>FIND” in “PROGRAM>EDIT” mode. A message of “Character string >” is displayed on the guideline. key. A maximum of
2) Input the character string to be found and press the 20 characters may be used. PROGRAM>EDIT
—————————————————————————————————————— 1 ’***** TEST2 PROGRAM ***** 2 GOTO *_’ 3 DO2(0)=0 4 WAIT DI3(4,3,2)=3 5 MOVE P,P0
’ORIGIN
Character string >MOV
Fig. 4-10-15 Character string finding Finding starts from a cursor position and proceeds to the end of the program and it jumps to a matching character string and finding is complete. PROGRAM>EDIT
—————————————————————————————————————— 18 MOVE P,P1 19 A=1 20 TOTO *A 21 *T2 22 WAIT A=1 SELECT
COPY
CUT
PASTE
BS
Fig. 4-10-16 Execute character string finding 3) When continuously finding, press the key. 4-57
F 8
(FIND+) or the
F 9
(FIND-)
CHAPTER 4 Operation
When the F 8 (FIND+) key is pressed, the specified character string is found starting at the cursor position and proceeding to the end of the program. When the F 9 (FIND-) key is pressed, the specified character string is found starting at the cursor position and proceeding to the front of the program. Jumps to the matching character, finding is then complete.
10-3
Directory When the F 3 (DIR) key is pressed in “PROGRAM” mode, each program data item is displayed as shown in Fig. 4-10-17. PROGRAM>DIR No.
LINE
BYTE
TEST1
55
952
2 *TEST2
50
907
RW
3
PARTS100
38
843
RW
4
TEST100
100
1968
RW
1
NAME
RW-RO RW
NEW
INFO.
Fig. 4-10-17 Program data (1) When the (Press the
→ ←
key is pressed, data for the “DATE” and “TIME” are displayed. key to return to the previous display.)
PROGRAM>DIR No. 1
INFO.
Fig. 4-10-18 Program data (2) Contents of each item are shown below. No.
Indicates the serial number of the program. The number of the program which is selected currently is highlighted (reversed background). Indicates the program name.
PROGRAM
The “ * ” mark (reversed background) shows this program is compiled and the object program exists.
LINE
Shows the number of lines in the program.
BYTE
Shows how many bytes of memory the program uses. Indicates the program attribute.
RW/RO
RW: Reading or writing enabled. RO: Reading only enabled; writing inhibited.
DATE
Shows the date when the program was made or edited.
TIME
Shows the time when the program was made or edited.
4-58
CHAPTER 4 Operation
In “PROGRAM>DIR” mode, valid keys and the sub menu contents are shown below. Valid keys
Menu
Function
Cursor key (↑/↓)
Selects the program and scrolls the screen vertically.
Cursor key (←/→)
10-3-1
Switches program data between the date and time displays.
F1
NEW
Registers a new program name.
F5
INFO.
Indicates the number of an usable bytes.
F6
COPY
Copies the program.
F7
ERASE
Erases the program.
F8
RENAME
Renames the program.
F10
ATTRBT
Changes the program attribute.
F11
OBJECT
Indicates object program data.
F15
EXAMPLE
Automatically creates the program name "FUNCTION".
Cursor Movement [OPERATION] Select the program with the cursor key (↑/↓) in “PROGRAM>DIR” mode. The pointer moves to the selected program number. The program name is displayed on the system line (1st line) at the right.
10-3-2
Registering a New Program Name First of all, when making a new program its name must be registered. [OPERATION] 1) Press the F 1 (NEW) key to switch to “PROGRAM>DIR>NEW” in “PROGRAM>DIR” mode. A message of “Enter program name >” is displayed on the guideline. 2) Use the 0 to 9 , A to Z or _ or keys to input a program name. A maximum of 8 characters can be used. Press the ESC key to interrupt data registration. PROGRAM>DIR No.
LINE
BYTE
TEST1
55
952
RW
2 *TEST2
50
907
RW
38
843
RW
100
1968
RW
1
NAME
ABC123_
Fig. 4-10-19 Registering a new program 4-59
>
CHAPTER 4 Operation
3) Press the
key to complete input.
CAUTION
The following program names have special meanings, so refer to “3. Program Name” in the Programming Manual. “FUNCTION” “SEQUENCE” “_SELECT” “COMMON”
10-3-3
Display of Directory Data [OPERATION] Press the F 5 (INFO.) key to switch to “PROGRAM>DIR>INFO.” mode in “PROGRAM>DIR” mode. Data is displayed as shown below. PROGRAM>DIR>INFO
Source(use-total)
=
1316/100075 bytes
Object(use-total)
=
528/ 53248 bytes
Sequence(use-total)=
0/
Number of program
=
5
Number of points
=
124
2048 bytes
Fig. 4-10-20 Program data Source (use/total)
point data.
Object (use/total)
Displays the bytes used and the available bytes of the object program.
Sequence
Displays the bytes used and the available bytes of the sequencer object
(use/total)
program.
Number of program Number of points
10-3-4
Displays the bytes used and the available bytes of the source program and
Displays the number of programs. Displays the number of points which have been set.
Copying a Program A program within a directory is copied under a different name. [OPERATION] 1) Select the program to be copied with the cursor key (↑/↓) in “PROGRAM>DIR” mode.
4-60
CHAPTER 4 Operation
2) Press the F 6 (COPY) key to switch to “PROGRAM>DIR>COPY” mode. A message of “Enter program name>” and a cursor are displayed on the guideline. 3) Input a new program name. Press the ESC key to interrupt a copy operation. PROGRAM>DIR No.
LINE
BYTE
TEST1
55
952
RW
2 *TEST2
50
907
RW
3
PARTS100
38
843
RW
4
TEST100
100
1968
RW
1
NAME
RW/RO
Enter program name >TEST3
Fig. 4-10-21 Copying a program 4) Pressing the
10-3-5
key, a copy is executed.
Erasing a Program Unnecessary programs within the directory can be erased. [OPERATION] 1) Select the program to be erased with the cursor key (↑/↓) in “PROGRAM>DIR” mode. 2) Press the F 7 (ERASE) key to switch to “PROGRAM>DIR>ERASE” mode. A confirmation message is displayed on the guideline. PROGRAM>DIR>ERASE No.
LINE
BYTE
TEST1
55
952
RW
2 *TEST2
50
907
RW
3
PARTS100
38
843
RW
4
TEST100
100
1968
RW
1
NAME
CHAPTER 4 Operation
3) Press the F 4 (YES) key to execute the erase operation. Press the F 5 (NO) key to cancel the erase operation. When the program is erased, the lower program name moves upward. PROGRAM>DIR No.
NAME
RW/RO
NEW
INFO
Fig. 4-10-23 After erasing a program
10-3-6
Changing a Program Name Used for changing (renaming) a program name within the directory. [OPERATION] 1) Select the program to be renamed with the cursor key (↑/↓) in “PROGRAM>DIR” mode. 2) Press the F 8 (RENAME) key to switch “PROGRAM>DIR>RENAME” mode. A message of “Enter program name” and an original program name are displayed on the guideline. PROGRAM>DIR No.
NAME
TEST3
Fig. 4-10-24 Changing a program name 3) Input a new program name. Press the ESC key to stop the rename operation. 4) Press the
key to rename the program.
4-62
>
CHAPTER 4 Operation
10-3-7
Changing the Program Attribute Editing or erasing of registered programs can be prohibited by specifying the program attribute. There are two program attributes. Every time a revision (change) is done a program attribute is switched. 1. RW (Read or Write) Program contents can be edited and erased. This is automatically indicated as a default when a program name is registered. 2. RO (Read only) Program contents cannot be edited or erased. [OPERATION] 1) Select the program with the program attribute to be changed with the cursor key (↑/↓) in “PROGRAM>DIR” mode. 2) Press the F 10 (ATTRBT) key to switch to “PROGRAM>DIR>ATTRBT” mode. A confirmation message is displayed on the guideline. PROGRA>DIR>ATTRBT No.
NAME
1 *TEST2
NO
Fig. 4-10-25 Changing a program attribute 3) Press the Press the
10-3-8
F 4 F 5
(YES) key when changing a program attribute. (NO) key when not changing.
Displaying the Object Data Object data which can be accessed is displayed. [OPERATION] 1) Press the F mode.
11
(OBJECT) key to switch to “PROGRAM>DIR>OBJECT”
4-63
CHAPTER 4 Operation
2) The object data is displayed. PROGRAM>DIR>OBJECT No. 1
NAME TEST2
RW/RO RO
Fig. 4-10-26 Object data
10-3-9
Making a Sample Program Automatically A sample user function program which can be used in “MANUAL” mode and “PROGRAM” mode is made automatically. [OPERATION] 1) Press the F 15 (EXAMPLE) key to switch to “PROGRAM> DIR>EXAMPLE” mode in “PROGRAM>DIR” mode. A confirmation message is displayed on the guideline. PROGRAM>DIR>EXAMPLE No.
LINE
BYTE
TEST1
55
952
RW
2 *TEST2
50
907
RW
3
PARTS100
38
843
RW
4
TEST100
100
1968
RW
1
NAME
RW/RO
YES
NO
Fig. 4-10-27 Loading a sample program 2) Press the F 4 (YES) key to execute operation. A sample program is automatically made under the program name of “FUNCTION”. Press the F 5 (NO) key to stop operation. 3) Rewrite the contents of this program as needed. The user functions can be customized. CAUTION
When making sample programs automatically, use caution since previously defined user function data will be rewritten. NOTE
Refer to “10-2-6 User Function Key Display” for a display of user function keys. Refer to “10-6 Registering User Function Keys” for registering of user functions. 4-64
CHAPTER 4 Operation
Sample program list NAME=FUNCTION ‘*** SAMPLE PROGRAM **** ‘* You can change any statements * ‘*as you like. * ‘* will help you in * ‘*MANUAL and PROGRAM mode. * ‘********************************** *M_F1:’DO(20)ALTERNATE DO(20)=~DO(20) *M_F2:’DO(21)ALTERNATE DO(21)=~DO(21) *M_F3:’DO(22)ALTERNATE DO(22)=~DO(22) *M_F4:’DO(23)ALTERNATE DO(23)=~DO(23) *M_F5:’DO(24)ALTERNATE DO(24)=~DO(24) *M_F6:’DO(25)MOMENTARY DO(25)=1 DO(25)=0 *M_F7:’DO(26)MOMENTARY DO(26)=1 DO(26)=0 *M_F8:’DO(27)MOMENTARY DO(27)=1 DO(27)=0 *M_F9:’DO2( )ON DO2( )=255 *M_F10:’DO2( )OFF DO2( )=0 *M_F11:’ex11 DO3(7,6,5,4)=&B1111 DO3(7,6,5,4)=&B0000 *M_F12:’ex12 DO3(0)=1 & DI4(0) *M_F13:’ex13 DO3(1)=1 & DO3(0) DO3(1)=0 *M_F14:’ex14 DO4( )=DI4( ) | DI5( ) DO4( )=DI6( ) & DI7( ) *M_F15:’ex15 DO5( )=DO5( )+1 ‘********************************** *P_F1: ’MOVE P,P *P_F6: ’MOVE L,P *P_F11:’SPEED *P_F2: ’GOTO * *P_F7: ’GOSUB * *P_F12:’RETURN *P_F3: ’DELAY *P_F8: ’WAIT *P_F13:’IF ? THEN * *P_F4: ’FOR ? = ? TO ? STEP ? *P_F9: ’NEXT ? *P_F14:’HOLD *P_F5: ’SEND ? TO ? *P_F10:’PRINT *P_F15:’HALT.
4-65
CHAPTER 4 Operation
10-4
Compiling The program is compiled and an object program for execution made. After program editing, this can be used for checking input errors etc. [OPERATION] 1) Select the program to compile in “PROGRAM>DIR” mode. Select a program with cursor key, press the ESC key. 2) Press the F 5 (COMPILE) key to switch to “PROGRAM>COMPILE” mode in “PROGRAM” mode. A confirmation message is displayed on the guideline. 3) Press the F 4 (YES) key to execute the compile operation. During compile operation, a message of “Compiling” is displayed. Press the F 5 (NO) key to stop the compile operation. PROGRAM>COMPILE
——————0.4:Compiling————————————————————— 1 ’***** TEST2 PROGRAM ***** 2 GOTO *’ 3 DO2(0)=0 4 WAIT DI3(4,3,2)=3 5 MOVE P,P0
’ORIGIN
Compile program OK?
YES
NO
Fig. 4-10-28 Compiling When a mistake is made in the command statement which was input, a program list of the line and error message are displayed, and the compile operation is stopped. When it ends normally, an object program has been made. The previous object program was deleted. PROGRAM
——————5.1:Syntax error—————————————————— 5 MOVE P,1P1 6 DO2(1)=1 7 DELAY 1000 8 DO2(1)=0 9 HALT EDIT
DIR
COMPILE
Fig. 4-10-29 Compile errors NOTE
Even if the specified program is not compiled, it is compiled automatically when moving to “AUTO” mode.
4-66
CHAPTER 4 Operation
10-5
Line Jump and Finding Character Strings Usage of F 6 (JUMP), F 7 (FIND), F 8 (FIND+) and F 9 (FIND-) keys is the same as in “EDIT” of “PROGRAM” (“PROGRAM>EDIT” mode). Refer to “10-2-13 Line Jump” and “10-2-14 Character String Finding” in Chapter 4.)
10-6
Registering User Function Keys To register the user function keys which are used in “PROGRAM” mode and “MANUAL” mode, make the program name “FUNCTION”, and input the command statement for registering the user function keys. CAUTION
A controller recognizes the program name “FUNCTION” as a special program used for registering user functions. Therefore, do not use this name for normal programs. [OPERATION] 1) Press the F 3 (DIR) key to switch to “PROGRAM>DIR” mode in “PROGRAM” mode. 2) Press the
F 1
(NEW) key.
3) The message of “Enter program name >” appears on the guideline. Input “FUNCTION” following this message and press the key. PROGRAM>DIR No. 1
NAME
Enter program name >FUNCTION
Fig. 4-10-30 Registering the “FUNCTION” program (1)
4-67
CHAPTER 4 Operation
4) Press the ESC key to return to “PROGRAM” mode. At the same time, “FUNCTION” is displayed as a current program on the system line. PROGRAM>DIR No.
LINE
BYTE
TEST1
55
952
RW
2 *TEST2
50
907
RW
3
PARTS100
38
843
RW
4
FUNCTION
1
1
RW
1
NAME
EDIT
RW/RO
DIR
COMPILE
Fig. 4-10-31 Registering the “FUNCTION” program (2) 5) Press the F 1 (EDIT) key to switch to “PROGRAM>EDIT” mode. A cursor is displayed on the 1st line. 6) Input a command statement for registering in the following format. The command statement format differs between the “PROGRAM” mode and “MANUAL” mode. ● When registering function keys for editing in “PROGRAM” mode *P_F:’ .................................. Number of the function key which is registered (n=1 to15) .......... The character string which is registered or displayed on function key (screen). Example) *P_F2:’MOVE, P .......... “MOVE, P” is registered for the *P_F8:’DELAY ............. “DELAY” is registered for the
F 2 F 8
key. key.
● When registering function keys for I/O commands in “MANUAL” mode *M_F:’ .................................. Number of the registered function key (n=1 to15) .......... The character string displayed on function key (screen). ........... When the key is pressed, the command statement is executed. ........... When the key is released, the command statement is executed.
4-68
CHAPTER 4 Operation
Example) *M_F2:’MOMENT ........ Character string “MOMENT” is displayed on key.
F 2
DO (20) =1 ...................... When the
F 2
key is pressed, DO (20) is turned ON.
DO (20) =0 ...................... When the
F 2
key is released, DO (20) is turned OFF.
*M F14:’ALTER ............ Character string “ALTER” is displayed on
F 14
key.
DO (20) =~DO (20) ......... When the F 14 key is pressed, DO (20) is highlighted (reversed background).*M_F2:’MOMENT Character string “MOMENT” is displayed on key. may be omitted. If omitted the will be executed when the key is pressed, but if released will not be executed. In the above example, “ALTER” indicates an “alternate” type function and “MOMENT” indicates a “momentary” type function. A of up to 75 characters can input. However when a “:’” is shown up to 7 characters are displayed on the menu. PROGRAM>EDIT
—————————————————————————————————————— 1 *P_F2:’MOVE,P 2 *P_F8:’DELAY 3 *M_F2:’MOMENT 4 DO(20)=1 5 DO(20)=0 SELECT
COPY
CUT
PASTE
BS
Fig. 4-10-32 Registering user functions 7) When input is complete, press the
ESC
key.
NOTE
1. In one “FUNCTION” program, a function for program edit and an I/0 function for “MANUAL” mode can be used together and defined. 2. Besides the above method, user functions can also be defined with the next method. 1) “FUNCTION” can be made automatically according to the user function-defined sample program registered in the unit. (Refer to “10-3-9 Making a Sample Program Automatically”) 2) Rewrite contents of the “FUNCTION” program in the “PROGRAM>EDIT” mode and write convenient user functions. 3. When identical function names have been registered, the latest name registered is the one that is valid.
4-69
CHAPTER 4 Operation
10-7
Resetting an Error in the Selected Program If an error of “9.1 Program destroyed” occurs in the selected program data, this function resets the error and allows you to continue editing. [OPERATION] 1) Press the F 13 (ERR. RST) key in PROGRAM mode. The message “Enter password >” appears on the guideline. 2) Press the
P
,
G
and
M
keys.
PROGRAM
——————9.1:Program destroyed————————————— 1 ’***** TEST2 PROGRAM ***** 2 GOSUB *SUBPROG 3 DO2(0)=-^23-OFW 4 WAIT DI3(4,3,2)=3 5 MOVE P,P0
’ORIGIN
Enter password > PGM_
Fig. 4-10-33 3) Press the
key and a check message appears on the guideline. PROGRAM
——————9.1:Program destroyed————————————— 1 ’***** TEST2 PROGRAM ***** 2 GOSUB *SUBPROG 3 DO2(0)=-^23-OFW 4 WAIT DI3(4,3,2)=3 5 MOVE P,P0 Error reset OK?
’ORIGIN YES
NO
Fig. 4-10-34 4) Press the F 4 (YES) key to execute reset. Executing reset allows you to edit the program. If not executing reset, press the F 5 (NO) key. CAUTION
• This function resets an error, but does not restore the program data. A problem is probably occurring in the program, so check and correct the program in PROGRAM>EDIT mode. • This function is effective for each program. • If an error of “9.3 Memory destroyed” occurs, this reset function does not work. In this case, initialize the memory.
4-70
CHAPTER 4 Operation
11
“MANUAL” Mode The initial “MANUAL” mode screens are shown in Fig. 4-11-1, Fig. 4-11-2 and Fig. 4-11-3. When setting one robot: q Mode hierarchy
w Manual movement speed e Group selection
y Online command execute
MANUAL
r SHIFT/HAND select
50%[MG][S0H0]
s@ —————————————————————————————————————
u Sequencer program execute
Current position Mx=
0.00
*Mr=
0.00
My=
0.00
*Mz=
0.00
t Message line
i Current position o Guideline
POINT
PALETTE
ORIGIN
VEL+
VEL-
Fig. 4-11-1 “MANUAL” mode (when setting one robot) When setting two robots: q Mode hierarchy y Online command execute
w Manual movement speed
r SHIFT/HAND select
e Group selection
MANUAL
50/50%[MG][S0H0]
s@ —————————————————————————————————————
u Sequencer program execute
Current position
i Current position
Mx=
0.00
*Mr=
0.00
Sx=
o Guideline
POINT
My=
0.00
0.00 *Sy=
0.00
PALETTE
ORIGIN
*Mz=
VEL+
0.00
t Message line
VEL-
Fig. 4-11-2 “MANUAL” mode (when setting two robots) When setting two robots: q Mode hierarchy
r SHIFT/HAND select
w Manual movement speed
e Group selection y Online command execute
MANUAL
50%[MG][S0H0]
s@ —————————————————————————————————————
u Sequencer program execute
Current position Mx=
0.00
My=
0.00
*Mz=
0.00
i Current position
*Mr=
0.00
ma=
0.00
mb=
0.00
o Guideline
POINT
PALETTE
ORIGIN
VEL+
t Message line
VEL-
Fig. 4-11-3 “MANUAL” mode (when setting the auxiliary axis)
4-71
CHAPTER 4 Operation
q Mode hierarchy The current mode hierarchy is displayed. When the highest ranked mode is not highlighted (in reversed background), it shows that the servo power supply is turned OFF. When the mode is displayed in a highlighted (reversed) background it shows that the servo power supply is turned ON. w Manual movement speed The robot movement speed is displayed during manual operation. When setting two robots, movement speed is displayed in the order of main group / sub group . Moreover, the target group is highlighted. e Group selection A group available for manual movement is displayed. When setting one robot, only “[MG]” (main group) is displayed. When setting two robots, “[MG]” (main group) or “[SG]” (sub group) is displayed by switching the target group with the ROBOT key ( LOWER + MODE ). r SHIFT/HAND select The shift coordinate number and the hand definition number are displayed. When setting two robots, the selection number is displayed by switching the target group with the ROBOT key ( LOWER + MODE ). t Message line An error message is displayed. A dashed line means origin return is incomplete. A solid line means origin return is complete. y Online command execute When an online command is being executed, a “@” mark is displayed in the second column. u Sequence program execute When a sequence program is being executed, an “s” mark is displayed in the first column. i Current position The robot current position is displayed. When an “M” or an “S” mark is followed by a number it indicates pulse units (integer display) and when an “x” to “a” mark follows, it indicates mm units (decimal point display). When an asterisk is displayed at the left side of the “M” or the “S” mark it indicates that the home position sensor is on. An “M” mark means the main robot axis, and an “S” mark means the sub robot axis. Moreover, when setting the auxiliary axis, the small characters “m” and “s” on the MPB screen mean each auxiliary axis. o Guideline The contents per the allotted function are shown on a highlighted (reversed) background. 4-72
CHAPTER 4 Operation
In “MANUAL” mode, valid keys and the sub menu contents are as shown below. Valid keys
Menu
Jog key
Function Moves the robot manually.
F1
POINT
Switches to the point data processing screen.
F2
PALETTE
Switches to the palette data processing screen.
F3
ORIGIN
Executes the return to origin.
F4
VEL+
F5
VEL-
F6
SHIFT
Switches to the shift data processing screen.
F7
HAND
Switches to the hand data processing screen.
F8
MM/PULS
Changes the units display at the current position.
F9
VEL++
F10
VEL--
F13
ABS.RST
Resets the absolute encoder.
F14
Z.ANGLE
Set an angle to which the Z-axis is tilted in manual movement.
F15
COORDI
Sets the standard coordinates.
Manual movement speed for the target group increases in steps. (1→5→20→50→100%) Manual movement speed for the target group decreases in steps. (100→50→20→5→1%)
Increases manual movement speed for the target group in units of 1%. Decreases manual movement speed for the target group in units of 1%.
ROBOT ( LOWER
Switches the target group.
+ MODE )
11-1
Manual Movement Robot movement with the Jog key (manual movement) is shown below. CAUTION
When setting two robots, check the target group selection display before performing manual movement. If it shows a wrong target group, press the ROBOT ( LOWER + MODE ) key to change the target group. The current position is always displayed in "pulse" units when the controller is first turned on. 1. Manual movement when return to origin has been completed (1) When the current position is displayed in “pulse” units: As long as a Jog key is pressed, the corresponding arm (axis) moves. Two or more arms can be moved by pressing the two or more Jog keys at the same time. (2) When the current position is displayed in “mm” units: As long as a Jog key is pressed, the corresponding robot arm tip moves in the corresponding direction on the cartesian coordinates. In this case, only one Jog key is valid and two or more Jog keys cannot be used at the same time. 4-73
CHAPTER 4 Operation NOTE
• If the robot movement beyond the soft limit is attempted with the Jog key, a message of “Over soft limit” is displayed, and the robot stops. Refer to “12-1-2 Axis Parameter” for the soft limit. • When the Jog key is pressed once (momentarily) the movement distance (inching distance) is the same as for the manual setting speed value. Example): The manual movement speed is 20%. Inching distance in pulse units = 20 pulse Inching distance in mm units = 0.20 mm 2. When return to origin is not complete (1) When the current position is displayed in “pulse” units Robot movement with the Jog key is possible the same as when return to origin is complete. However, when the Jog key is pressed, a message of “Origin incomplete” is displayed. (2) When the current position is displayed in “mm” units When the Jog key is pressed there is no robot movement, the current position display switches automatically to pulse units and the message “Origin incomplete” is shown. NOTE
When return to origin is not complete, the soft limit does not operate normally. Perform manual movement after completing return to origin, except that the arm is moved to a starting position of return to origin movement.
CAUTION
• When the display of the current position is in pulse units, and some servos are OFF and some servos are ON, the axes set with servo ON can be moved manually. (Refer to “14-1-2 Motor & Servo ON/OFF”.) • When the display of current position is set in “mm” units, manual movement can be done only when the servos of all axes are ON. When a servo of an axis is OFF, manual movement is not possible. • Each axis travels by jog movement towards the plus or minus software limit. The maximum movement time for one movement command is 300 seconds. So if the software limits are set too large and the movement time exceeds 300 seconds at the specified speed, the axis movement will stop in 300 seconds. To move the axis further, use jog movement once again.
4-74
CHAPTER 4 Operation
Input and Edit Point Data Press the F 1 (POINT) key in “MANUAL” mode. On entering “MANUAL>POINT” mode, the point data is displayed on the data area (3rd to 6th line). 1 point is made up from the data of 6 axes (x, y, z, r, a, b). Point numbers are in the range of 0 to 4000. CAUTION
When setting two robots, the point data is shared between the main robot and the sub robot.
→
........... Scrolls through a single character right and left.
<<
Only the data for 4 points corresponding to the 4 axes is displayed on the screen. In order to see the other data, scroll the screen with the cursor key or page key. ........... Scrolls through a single line up and down. ↑ ↓ >>
11-2
←
........... Scrolls through a single screen (4 lines) up and down.
<<
>>
........... Scrolls through a single screen right and left.
The 5 digits on the left side show the point numbers and the number for editing is shown highlighted (reversed background). MANUAL>POINT
50% [MG][S0H0]
————————————x———————y———————z———————r——— P7
= 100.00
250.00
15.00
30.00
P8
=
P9
= 122.62
-24.54
12.35
-23.11
P10
=-102.48
-47.88
-1.50
8.72
0
0
0
0
JUMP
VEL+
[POS] EDIT
TEACH
Fig. 4-11-4 Point data
4-75
VEL-
CHAPTER 4 Operation
In point data mode, valid keys and the sub menu contents are as shown below. Valid keys
Menu
Cursor key
Function Specifies the point data and scrolls the screen.
F1
EDIT
Inputs the point data with the key.
F2
TEACH
Inputs the point data by teaching mode.
F3
JUMP
The specified point data is displayed.
F4
VEL+
Manual movement speed for the target group increases in steps.
F5
VEL-
Manual movement speed for the target group decreases in steps.
F6
COPY
Copies the point data.
F7
ERASE
Erases the point data.
F8
MM/PULS
Changes the unit display at the current position.
F9
VEL++
F10
VEL--
F11
TRACE
Moves the arm to the specified point.
F13
ERR.RST
Allows editing even if the point data is destroyed.
F14
AXIS<-
F15
AXIS->
Increases manual movement speed for the target group in units of 1%. Decreases manual movement speed for the target group in units of 1%.
Moves the axis designation to left. (it is valid when setting the auxiliary axis) Moves the axis designation to right. (it is valid when setting the auxiliary axis)
ROBOT ( LOWER
Switches the target group.
+ MODE )
11-2-1
Point Data Input and Editing [OPERATION] 1) Select the point to edit or input with cursor key (↑/↓) in “MANUAL>POINT” mode. 2) When the F 1 (EDIT) key is pressed, a cursor is displayed at the left edge of the point line data that was specified. MANUAL>POINT>EDIT
50% [MG][S0H0]
————————————x———————y———————z———————r——— P7
= 100.00
P8
=
P9 P10 [POS]
250.00
15.00
30.00
= 122562
-24654
2535
-13711
=-102.48
-47.88
-1.50
8.72
0
0
0
0
UNDO
JUMP
Fig. 4-11-5 Point data edit
4-76
CHAPTER 4 Operation
3) Use the 0 to 9 , + , – and . keys to input the point data. Spaces are used to differentiate x, y, z, r, a, b data. The data input formats are shown below. • Input the data in joint coordinates (Pulse units)) Input an integer up to 6 digits: ± ###### • Input the data in cartesian coordinates (mm units) Input an integer of less than 5 digits, and not more than 2 digits to the right of the decimal point: ± ###.##,± ####.#,± #####. (However the integer portion and decimal portion must together total up to less than 5 digits) 4) Press the cursor key (↑/↓), complete.
key or
ESC
key, and point data input is
CAUTION
Input all the point data for the X-axis to B-axis. Input 0 (zero) in the case of the axis which is not used. An error message of “Digit number error” is displayed when a data format makes a mistake. Input it in the correct format. In “MANUAL>POINT>EDIT” mode, valid keys and the sub menu contents are as shown below. Valid keys
Menu
Cursor
Moves the cursor and scrolls the screen.
INS
Chooses the Insert mode or the Overtype mode.
DEL
11-2-1-1
Function
Deletes a single character of the cursor position.
F1
UNDO
Restores the point data.
F3
JUMP
Jumps to the specified point number.
Restoring Point Data [OPERATION] 1) During correction of point data, when the F 1 (UNDO) key is pressed, the data which was input is canceled, and the display returns to the data before input. This function is valid only for the line the cursor is on before the new line is input with the key.
4-77
CHAPTER 4 Operation
11-2-2
Input by Teaching Point Data The current robot arm position can be input as point data. CAUTION
• When setting two robots, confirm the current target group. • If “[MG]” is displayed, current target is main group. If “[SG]” is displayed, it means sub group. Switch the target group with the ROBOT key ( LOWER + MODE ). When there is no setting for the auxiliary axis: [OPERATION] 1) Specify the point number to be input with the cursor key in “MANUAL> POINT” mode. When input teaching data at P8 MANUAL>POINT
50% [MG][S0H0]
————————————x———————y———————z———————r——— P7
= 100.00
250.00
15.00
30.00 -23.11
P8
=
P9
= 122.62
-24.54
12.35
P10
=-102.48
-47.88
-1.50
8.72
10.00
100.00
5.00
10.00
JUMP
VEL+
[POS] EDIT
Fig. 4-11-6
TEACH
VEL-
Teaching point data (when there is no setting for the auxiliary axis (1))
2) Use the Jog key to move the arm. Following the arm movement, the display of the current position changes at the 7th line on the screen. 3) When the arm moves to the target point, press the F 2 (TEACH) key. Teaching is performed at the point where the current position of the robot was specified. After teaching, point number specification moves to the next line automatically. The input format of the teaching point data is set to the coordinate system which is selected currently.
4-78
CHAPTER 4 Operation
MANUAL>POINT
50% [MG][S0H0]
————————————x———————y———————z———————r——— P7
= 100.00
250.00
15.00
P8
=
50.00
100.00
5.00
10.00
P9
= 122.62
-24.54
12.35
-23.11
P10
=-102.48
-47.88
-1.50
8.72
50.00
100.00
5.00
10.00
JUMP
VEL+
[POS] EDIT
TEACH
Fig. 4-11-7
30.00
VEL-
Teaching point data (when there is no setting for the auxiliary axis (2))
4) When point data is present for the currently specified point number, a confirmation message is displayed on the guideline when the F 2 (TEACH) key is pressed. MANUAL>POINT>TEACH
50%[MG][S0H0]
————————————x———————y———————z———————r——— P7
= 100.00
250.00
15.00
P8
=
50.00
100.00
5.00
10.00
P9
= 122.62
-24.54
12.35
-23.11
P10
=-102.48
-47.88
-1.50
8.72
50.00
100.00
5.00
10.00
YES
NO
[POS]
Overwrite point OK?
Fig. 4-11-8
30.00
Teaching point data (when there is no setting for the auxiliary axis (3))
Press the F 4 (YES) key to execute the teaching operation. The specified point number data is rewritten. Press the F 5 (NO) key to stop the teaching operation. When setting the auxiliary axis: [OPERATION] 1) Specify the point number to be input with the cursor key in “MANUAL>POINT” mode, the target point number to be input is specified with the cursor key. When input teaching data at P8 MANUAL>POINT
100%[MG][S0H0]
————————————x———————y———————z———————r——— P7
= 100.00
250.00
15.00
30.00
P8
= 220.00
150.00
115.00
90.00
P9
= 400.00
200.00
15.00
-30.00
P10
= 400.00
50.15
111.23
JUMP
VEL+
VEL-
[POS] -100.00 EDIT
TEACH
Fig. 4-11-9 Teaching point data (when setting the auxiliary axis (1)) 4-79
CHAPTER 4 Operation
2) Select and show the axis on which to execute the teaching on a highlighted (reversed background) using the cursor key (↑/↓), the F 14 (AXIS←) key or the F 15 (AXIS→) key. Select the point number when executing all the axes. Select the point value of the configuration axis number when executing the robot configuration axis. Select the point value of the axis number when executing the auxiliary axis. However, an undefined point cannot be specified, only point numbers can be specified. When executing all axes MANUAL>POINT
100%[MG][S0H0]
————————————x———————y———————z———————r——— P7
= 100.00
250.00
15.00
30.00
P8
= 220.00
150.00
115.00
90.00
P9
= 400.00
200.00
15.00
-30.00
P10
= 42460
20051
23453
JUMP
VEL+
VEL-
[POS]
-10450
EDIT
TEACH
Fig. 4-11-10 Teaching point data (when setting the auxiliary axis (2)) When executing the robot configuration axis MANUAL>POINT
100%[MG][S0H0]
————————————x———————y———————z———————r——— P7
= 100.00
250.00
15.00
P8
= 220.00
150.00
115.00
90.00
P9
= 400.00
200.00
15.00
-30.00
P10
= 42460
20051
23453
JUMP
VEL+
VEL-
[POS]
-10450
EDIT
TEACH
30.00
Fig. 4-11-11 Teaching point data (when setting the auxiliary axis (3)) When executing the auxiliary axis MANUAL>POINT
100%[MG][S0H0]
————————————x———————y———————z———————r——— P7
=00
250.00
15.00
30.00
0.00
P8
=00
150.00
115.00
90.00
80.00
P9
=00
200.00
15.00
-30.00
50.00
P10
=
[POS] 50 EDIT
42460 TEACH
20051 JUMP
23453 VEL+
38301 VEL-
Fig. 4-11-12 Teaching point data (when setting the auxiliary axis (4)) 3) Use the Jog key to move the arm. Following the arm movement, the display of the current position changes on the 7th line on the screen.
4-80
CHAPTER 4 Operation
4) When the arm moves to the target point, press the F 2 (TEACH) key. Teaching is performed at the point where the current position of the robot was specified. The input format of the teaching point data is set to the coordinate system which is selected currently. However, when the teaching is performed by a different axis, the system coordinate must have the same coordinates as the teaching points which are to be executed. Therefore, if the point data is in mm units, the current position must be also in mm units. When the point data is present at the specified point, overwrite or await a response. Press the F 4 (YES) key to execute the teaching operation. Press the F 5 (NO) key to stop the teaching operation. MANUAL>POINT>TEACH
100%[MG][S0H0]
————————————x———————y———————z———————r——— P7
= 100.00
250.00
15.00
30.00
P8
= 220.00
150.00
115.00
90.00
P9
= 400.00
200.00
15.00
-30.00
P10
= 152.31
100.26
86.86
[POS]
212.43
Overwrite point OK?
YES
NO
Fig. 4-11-13 Teaching point data (when setting the auxiliary axis (5)) After teaching, the specified point number moves to the next line automatically. When executing all axes MANUAL>POINT
100%[MG][S0H0]
————————————x———————y———————z———————r——— P7
= 100.00
250.00
15.00
30.00
P8
= 212.43
152.31
100.26
86.86
P9
= 400.00
200.00
15.00
-30.00
P10
= 152.31
100.26
86.86
JUMP
VEL+
VEL-
[POS]
212.43
EDIT
TEACH
Fig. 4-11-14 Teaching point data (when setting the auxiliary axis (6)) When executing the robot configuration axis MANUAL>POINT
100%[MG][S0H0]
————————————x———————y———————z———————r——— P7
= 100.00
250.00
15.00
P8
= 212.43
152.31
100.26
86.86
P9
= 400.00
200.00
15.00
-30.00
P10
= 152.31
100.26
86.86
JUMP
VEL+
VEL-
[POS] EDIT
212.43 TEACH
30.00
Fig. 4-11-15 Teaching point data (when setting the auxiliary axis (7)) 4-81
CHAPTER 4 Operation
When executing the auxiliary axis MANUAL>POINT
100%[MG][S0H0]
———————x———————y———————z———————r———————a P7
=00
250.00
15.00
30.00
0.00
P8
=00
150.00
115.00
90.00
87.86
P9
=00
200.00
15.00
-30.00
50.00
P10
=
[POS] 43 EDIT
152.31 TEACH
100.26 JUMP
86.86 VEL+
87.86 VEL-
Fig. 4-11-16 Teaching point data (when setting the auxiliary axis (8)) CAUTION
Teaching input can not be executed without completing return to origin.
11-2-3
Input Point Data by Direct Teaching Point data can be read by turning off the robot servo and moving the robot arm. [OPERATION] 1) Press the emergency stop button on the MPB or external device. 2) In “MANUAL>POINT” mode, teach the point. For the teaching method, refer to “11-2-2 Input by Teaching Point Data”. However, since the Jog key cannot be used, move the robot arm by hand only. CAUTION
• When the robot servo is off, automatic and manual operation will not function. There are two methods to set the servo to on. One is by using the MPB, and the other one is by using the dedicated input. Refer to “14. UTILITY Mode” in Chapter 4 or “2. STD.DIO” in Chapter 5. • Make sure that the emergency stop button is pressed, when you perform direct teaching, since the servo cannot turn on while the emergency stop button is pressed.
4-82
CHAPTER 4 Operation
11-2-4
Point Display Jump [OPERATION] 1) Press the F 3 (JUMP) key to switch to “MANUAL>POINT>JUMP” mode in “MANUAL>POINT” mode. A message of “Enter point no.>” is displayed on the guideline. MANUAL>POINT>JUMP
50%[MG][S0H0]
————————————x———————y———————z———————r——— P7
= 100.00
250.00
15.00
P8
=
50.00
100.00
5.00
10.00
P9
= 122.62
-24.54
12.35
-23.11
P10
=-102.48
-47.88
-1.50
8.72
50.00
100.00
5.00
10.00
[POS]
30.00
Enter point no.>100
Fig. 4-11-17 Jump point display (1) 2) Input the point number of destination to jump and press the The point data is displayed from the specified point number. MANUAL>POINT
key.
50%[MG][S0H0]
————————————x———————y———————z———————r——— P100 =
0.00
0.00
0.00
0.00
P101 = P102 =
10000
20000
10000
0
P103 =
50.00
100.00
100.00
0.00
[POS]
50.00
100.00
5.00
10.00
JUMP
VEL+
EDIT
TEACH
VEL-
Fig. 4-11-18 Jump point display (2)
11-2-5
Copying Point Data Point data which is already input can be copied to another point number. [OPERATION] 1) Press the F 6 (COPY) key in “MANUAL>POINT” mode. A message of “Copy(####-####,####)>” is displayed on the guideline. MANUAL>POINT
50% [MG][S0H0]
————————————x———————y———————z———————r——— P30
= 100.00
250.00
15.00
30.00
P31
=
50.00
100.00
5.00
10.00
P32
= 122.62
-24.54
12.35
-23.11
P33
=-102.48
-47.88
-1.50
8.72
50.00
100.00
5.00
10.00
[POS]
Copy(####-####,####)>
Fig. 4-11-19 Copying point data (1) 4-83
CHAPTER 4 Operation
2) Use the 0 to 9 , – and , keys to input the point number of key. the copy origin and copy destination and press the “(copy starting number) - (copy end number), (number of copy destination)” For example, when copying the data of P30 to P34 onto the lines after P50, input “30-34, 50” and press the key. A confirmation message is displayed on the guideline. MANUAL>POINT
50% [MG][S0H0]
————————————x———————y———————z———————r——— P30
= 100.00
250.00
15.00
30.00
P31
=
50.00
100.00
5.00
10.00
P32
= 122.62
-24.54
12.35
-23.11
P33
=-102.48
-47.88
-1.50
8.72
50.00
100.00
5.00
10.00
YES
NO
[POS]
(30-34,50)Copy OK?
Fig. 4-11-20 Copying point data (2) 3) Press the F 4 (YES) key to execute the copy operation. The point data of the specified range is copied onto the specified lines. Press the F 5 (NO) key to stop the copy operation.
11-2-6
Erasing Point Data [OPERATION] 1) Press the F 7 (ERASE) key in “MANUAL>POINT” mode. A message of “Erase(####-####)>” is displayed on the guideline. MANUAL>POINT
50% [MG][S0H0]
————————————x———————y———————z———————r——— P30
= 100.00
250.00
15.00
30.00
P31
=
50.00
100.00
5.00
10.00
P32
= 122.62
-24.54
12.35
-23.11
P33
=-102.48
-47.88
-1.50
8.72
50.00
100.00
5.00
10.00
[POS]
Erase(####-####)>
Fig. 4-11-21 Erasing point data (1) 2) Enter the delete area in the following format with the keys and press the key. – Use the 0 to 9 and keys to input the delete area in the following format and press the key. “(deletion starting number) - (deletion end number)”
4-84
CHAPTER 4 Operation
For example, when erasing the data of P30 to P34, input “30-34” and press key. the A confirmation message is displayed on the guideline. MANUAL>POINT
50% [MG][S0H0]
————————————x———————y———————z———————r——— P30
= 100.00
250.00
15.00
30.00
P31
=
50.00
100.00
5.00
10.00
P32
= 122.62
-24.54
12.35
-23.11
P33
=-102.48
-47.88
-1.50
8.72
50.00
100.00
5.00
10.00
YES
NO
[POS]
(30-34)Erase OK?
Fig. 4-11-22 Erasing point data (2) 3) Press the F 4 (YES) key to execute the erase operation. The point data of the specified range is erased. Press the F 5 (NO) key to stop the erase operation.
11-2-7
Executing Trace of Point Data The point data positions can be checked during the actual movement of the robot arm. For details, refer to “9-7 Executing the Point Trace” in Chapter 4. [OPERATION] 1) Press the F 11 (TRACE) key to switch to “AUTO>POINT” mode in “MANUAL>POINT” mode. NOTE
To return to the mode previous to Trace, press the
4-85
F 11
(MODIFY) key.
CHAPTER 4 Operation
11-2-8
Resetting an Error in the Point Data If an error of “9.2 Point data destroyed” occurs in the point data, this function resets the error and allows you to continue editing. [OPERATION] 1) Press the F 13 (ERR. RST) key in MANUAL>POINT mode. The message “Enter password >” appears on the guideline. 2) Press the
,
P
N
and
T
keys.
MANUAL>POINT
50% [MG][S0H0]
————— 9.2:Point data destroyed————————— P30
= 100.00
250.00
15.00
30.00
P31
=
50.00
100.00
5.00
10.00
P32
= 122.62
-24.54
12.35
-23.11
P33
=-102.48
-47.88
-1.50
8.72
100.00
5.00
10.00
[POS]
50.00
Enter password >PNT_
Fig. 4-11-23 3) Press the
key and a check message appears on the guideline. MANUAL>POINT
50% [MG][S0H0]
————— 9.2:Point data destroyed————————— P30
= 100.00
250.00
15.00
30.00
P31
=
50.00
100.00
5.00
10.00
P32
= 122.62
-24.54
12.35
-23.11
P33
=-102.48
-47.88
-1.50
8.72
100.00
5.00
10.00
[POS]
50.00
Error reset OK?
YES
NO
Fig. 4-11-24 4) Press the F 4 (YES) key to execute reset. Executing reset allows you to edit the program. If not executing reset, press the F 5 (NO) key. CAUTION
• This function resets an error, but does not restore the point data. A problem is probably occurring in the point data, so check and correct the point data in MANUAL>POINT>EDIT mode. • If an error of “9.3 Memory destroyed” occurs, this reset function does not work. In this case, initialize the memory.
4-86
CHAPTER 4 Operation
11-3
Display/Edit/Set of palette definition Press the F 2 (PALETTE) key in “MANUAL” mode. This mode allows display/edit/set for palette definition. However, the standard coordinates must be set when using a SCARA type robot. Refer to “11-11 Setting the Standard Coordinate” for making the correct settings. A total of 10 items can be defined, and assigned to certain point data areas. Palette number
Point number used
PL0
P3996 to P4000
PL1
P3991 to P3995
PL2
P3986 to P3990
PL3
P3981 to P3985
PL4
P3976 to P3980
PL5
P3971 to P3975
PL6
P3966 to P3970
PL7
P3961 to P3965
PL8
P3956 to P3960
PL9
P3951 to P3955
CAUTION
The palette definition is used in common when making setting for two robots. The palette difinition cannot be used when making setting for MULTI type robots. MANUAL>PALETTE PL0
=SET
PL1
=
PL2
=SET
PL3
=
[POS] EDIT
50%[MG][S0H0]
400.00 TEACH
0.00
0.00 VEL+
0.00 VEL-
Fig. 4-11-25 A palette definition with a display of “SET” means the palette has already been defined.
4-87
CHAPTER 4 Operation
Valid keys and contents of the sub menu in “MANUAL>PALETTE” mode are as follows. Valid keys
Menu
Function
Cursor key (↑/↓)
Specifies the palette definition number.
F1
EDIT
Edit the palette definition.
F2
TEACH
Teach point of the palette definition.
F4
VEL+
Increase the manual movement speed of the object group in steps.
F5
VEL-
Decrease the manual movement speed of the object group in steps.
F6
COPY
Copy the palette definition.
F7
ERASE
Delete the palette definition.
F9
VEL++
F10
VEL--
F15
PASSWD
Increase the manual movement speed of the object group in units of 1%. Decreases the manual movement speed of the object group in units of 1%.
ROBOT ( LOWER
Switches the target group.
+ MODE )
11-3-1
Palette Definition Editing [OPERATION] 1) Select the palette number with the cursor key (↑/↓) in “MANUAL>PALETTE” mode. 2) Press the F 1 (EDIT) key, and “MANUAL>PALETTE>EDIT” mode screen is displayed. 3) Move to the target position you want with the cursor key (↑/↓). 4) Input as needed with the
0
to
9
keys.
MANUAL>PALETTE>EDIT PALETTE
=PL1
[XY]
Used point =P3996-P4000 NX =
3
NY = NZ =
4 5_
POINT
Fig. 4-11-26
4-88
50%[MG][S0H0]
CHAPTER 4 Operation
5) The input value is set when you press the cursor key (↑/↓),
or
key.
ESC
6) To continue input, repeat steps 3) to 5). 7) Press the
ESC
key, and the “MANUAL>PALETTE” mode is displayed again.
Valid keys and contents of sub menus in “MANUAL>PALETTE>EDIT” mode are as shown below. Valid keys
Menu
Cursor key
Move cursors.
(↑/↓) F1
11-3-1-1
Function
POINT
Edit point data in the palette definitions.
Point Edit in the Palette Definition [OPERATION] 1) Press the F 1 (POINT) key in “MANUAL>PALETTE” mode. “MANUAL>PALETTE>EDIT>POINT” mode is displayed. 2) Move to the target position you want with the cursor key (→/←). 3) Input values as needed, with the SPACE keys.
0
to
MANUAL>PALETTE>EDIT
9
,
+
,
–
.
, and
50%[MG][S0H0]
POINT=P3996(P[1])-P4000(P[5]) P[1] = 100.00
100.00
0.00
0.00
P[2] = 300.00
100.00
0.00
0.00
P[3] = 100.00
300.00_
P[4] = UNDO
Fig. 4-11-27 5) Input values are set by pressing the cursor key (↑/↓),
or
ESC
key.
6) To continue input, repeat steps 3) to 5). 7) Press the again.
ESC
key, and “MANUAL>PALETTE>EDIT” mode is displayed
4-89
CHAPTER 4 Operation
Valid keys and contents of sub menus in “MANUAL>PALETTE>EDIT >POINT” mode are as shown below. Valid keys F1
Menu
Function Replaces the value of point data being edited with the value prior
UNDO
to input.
CAUTION
Input point data in the sequence as follows. P [5] P [3]
P [4]
NZ NY
P [1]
11-3-2
P [2]
NX
Input Palette Definition by Teach [OPERATION] 1) Select the palette number in “MANUAL>PALETTE” mode with the cursor key (↑/↓). 2) Press the F 2 (TEACH) key, then “MANUAL>PALETTE>TEACH” mode is displayed. 3) Select 2 dimensions (plane)/3 dimensions (solid) for the palette you are going to define. MANUAL>PALETTE>TEACH PALETTE NO.=PL1
50%[MG][S0H0] [XY]
Select dimension of this palette
2-D
3-D
Fig. 4-11-28
4-90
CHAPTER 4 Operation
4) Shift the operation point of the robot to the point P[1] which is used in the key. palette definition, and perform teaching by pressing the MANUAL>PALETTE>TEACH
50%[MG][S0H0]
PALETTE NO.=PL1
[XY]
Move arm to P[1] and press ENTER key
[POS]
0.00
0.00
0.00 VEL+
0.00 VEL–
Fig. 4-11-29 5) Perform teaching also for P[2], P[3], P[4], P[5] (only when 3 dimensions is chosen) using the same procedures as for P[1]. 6) Input the number of points NX between P[1] and P[2] on the pallet in positive integer. MANUAL>PALETTE>TEACH
50%[MG][S0H0]
PALETTE NO.=PL1
[XY]
Enter number of points(NX) on P[1]-P[2]
[1-1000] ENTER >_
Fig. 4-11-30 7) Input NY, NZ (only when 3 dimensions is chosen) with the same procedures as for NX. 8) At the end, the message which confirms the setting is displayed. To set, press the F 4 (YES) key. When not making a setting, press the F 5 (NO) key. MANUAL>PALETTE>TEACH
50%[MG][S0H0]
PALETTE NO.=PL1
[XY]
Used point =P3996-P4000 NX =
5
NY =
9
NZ =
3
Set OK?
YES
Fig. 4-11-31
4-91
NO
CHAPTER 4 Operation
Valid keys and contents of sub menus in “MANUAL>PALETTE>EDIT” mode are as shown below. Valid keys
Menu
Function
F4
VEL+
Increase the manual movement speed of object group gradually.
F5
VEL-
Decrease the manual movement speed of object group gradually.
F9
VEL++
F10
VEL--
Increase the manual movement speed of object group in increments of 1%. Decrease the manual movement speed of object group in increments of 1%.
CAUTION
Input point data in the sequence as follows. P [5] P [3]
P [4]
NZ NY
P [1]
11-3-3
P [2]
NX
Copy of Palette Definition [OPERATION] 1) Select palette number in “MANUAL>PALETTE” with the cursor key (↑/↓). 2) Press the F 5 (COPY) key, and input where to copy the palette definition which is currently being selected. MANUAL>PALETTE PL0
50%[MG][S0H0]
=SET
PL1
=SET
PL2
=SET
PL3
=
[POS]
0.00
0.00
0.00
Copy(PL NO.)>3_
Fig. 4-11-32
4-92
0.00
CHAPTER 4 Operation
3) A message in the guideline requests a response. Press the F 4 (YES) key to copy. Press the F 5 (NO) key when not making a copy. MANUAL>PALETTE PL0
50%[MG][S0H0]
=SET
PL1
=SET
PL2
=SET
PL3
=
[POS]
0.00
0.00
PL1 -> PL3 Copy OK?
0.00 YES
0.00 NO
Fig. 4-11-33
11-3-4
Deletion of Palette Definition [OPERATION] 1) Select the palette number in “MANUAL>PALETTE” mode with the cursor key (↑/↓). 2) Press the F 6 (ERASE) key. A message appears, asking if the currently selected palette definition is to be deleted. Press the F 4 (YES) key to delete. Press the F 5 (NO) key when not deleting. MANUAL>PALETTE PL0
50%[MG][S0H0]
=SET
PL1
=SET
PL2
=SET
PL3
=SET
[POS]
0.00
0.00
0.00
Erase OK?
YES
0.00 NO
Fig. 4-11-34
11-4
Return to Origin After turning the power ON, return to origin must be performed before starting the robot operation. In return to origin operation, each axis moves to its origin point specified by the origin sensor or stroke end so that the robot controller position data is cleared to zero.
4-93
CHAPTER 4 Operation
11-4-1
Return to Origin Procedure CAUTION
• When setting two robots, execute return to origin for the sub group after completing return to origin for the main group. • When return to origin at the stroke end is performed for two or more axes simultaneously, the controller may trigger emergency stop. In such a case, perform return to origin for each axis separately (one axis at a time). • Only axes controlled by the incremental encoder will return to origin. [OPERATION] 1) Before executing return to origin, make sure that all axes arms are positioned towards the origin return side. Normally this means towards the minus (-) side. If the arm is not positioned towards the origin return side, then use the Jog key and move all the arms to the origin return side. 2) Press the F 3 (ORIGIN) key in “MANUAL” mode. A check message is displayed on the guideline. Press the F 4 (YES) key to execute origin return. Press the F 5 (NO) key to stop origin return.The robot begins the return to origin. The robot moves at low speed to the origin point and stops on detecting the origin point. The return to origin order of the robot axes can be set by the parameter. The initial value is in the order of Z, X, Y, R, A and B axis. MANUAL
50% [MG][S0H0]
––––––––––––––––––––––––––––––––––––––––––––––––––––– Origin return...
POINT
PALETTE
ORIGIN
VEL+
VEL-
Fig. 4-11-35 Return to origin 3) When the return to origin of all axes is completed, the machine reference amount of the each axis motor encoder is displayed . The message line changes from a dashed line (---------) to a solid line ( ———— ). Then, pressing the Jog keys and so on, the display of the machine reference amount disappears, and current position of each axis is displayed. 4) Press the STOP key to interrupt the return to origin. A message of “Origin incomplete” is displayed. 4-94
CHAPTER 4 Operation CAUTION
The robot cannot detect the origin point if origin return is executed with the robot arm not positioned on the origin point side. In this case, press the STOP key to stop the return to origin operation, and reexecute return to origin correctly. When return to origin is not stopped, the robot continues movement. When the robot arrives at the hard limit, emergency stop is executed. If this happens, turn off the power to the controller. Then, return the robot arm manually to within the normal operating area, and perform to origin again. • For origin detection methods using the mechanical limit, do not try to stop the return to origin during detection of the origin position (during contact with the mechanical limit). The unit will set to emergency stop status due to a driver overload and the power must then be turned on again. • When the axis parameter tolerance is set to an extremely small value, return to origin may not be completed correctly. NOTE
• Before completing return to origin, the current position of the arm is displayed at “0”. But this “0” position is not related to the origin position. • A machine reference amount is the % display of the number of encoder pulses from an origin limit switch to an encoder zero signal. This is called the grid position or grid pulse. (Refer to the Owner's Manual of the robot for adjustment of the machine reference amount.) • The order of the return to origin can be changed by a parameter of “SYSTEM” mode. (Refer to “12-1-1 Robot Parameter” in Chapter 4.) • The direction of return to origin and the direction of an arm movement can be changed with the controller side. (Refer to “12-1-2 Axis Parameter”in Chapter 4.) • After completing return to origin, it is not necessary to perform it all over again, even after pressing emergency stop, unless the controller power supply was turned off or the system parameter contents were changed.
4-95
CHAPTER 4 Operation
11-5
Changing the Manual Movement Speed The manual movement speed can be set anywhere within the range from 1 to 100%. The “MANUAL” mode movement speed is set separately from “AUTO” mode movement speed. One-fifth of the maximum speed in “AUTO” mode is equivalent to 100% of the “MANUAL” mode speed. [OPERATION] 1) Every time the F 4 (VEL+) or the F 5 (VEL-) key is pressed, the operating speed changes gradually in steps of 1←→5←→20←→50←→100%. The maximum motor speed is set at 100%. 2) Every time the F 9 (VEL++) or the F 10 (VEL--) key is pressed, the operating speed changes in units of 1%. Holding the key down changes the speed continuously. CAUTION
When setting two robots, movement speed for the highlighted group can be set. Movement speed is displayed in the order of main group / sub group on the MPB screen. Use the ROBOT key ( LOWER + MODE ) to switch the target group.
11-6
Display/Edit/Set of Shift Coordinates Press the F 6 (SHIFT) key to switch to “MANUAL>SHIFT” mode in “MANUAL” mode. This mode can display, edit or set the shift coordinates. However when using SCARA type robot, the standard coordinates must be set. Refer to “11-11 Setting the Standard Coordinates” for setting of the standard coordinates. When setting the shift coordinates, the point data of the cartesian coordinates (mm unit) can be shifted to any desired position within the operating area. The operating area can be restricted in each. Shift coordinates can shift the standard coordinates in the X direction, Y direction, Z direction, R direction (XY plane rotation) up to 10 items. Each shift coordinate can set the area of robot movement. CAUTION
When setting two robots, the shift data is shared between the main robot and the sub robot. However, the shift number can be set for each robot. 4-96
CHAPTER 4 Operation
K Data format of shift coordinates Sn=±###.## ±###.## ±###.## ±###.## dX (mm) dY (mm) dZ (mm) dR (degree) (n=0 to 9) When the shift amount is dX=0.00, dY=0.00, dZ=0.00, dR=0.00, the shift coordinates equal the standard coordinates.
Standard coordinate X dR – dY
ate
ift
Sh
Z-axis origin
in ord
co
X'
+
dX
Y
dZ
Y'
Fig. 4-11-36 Standard coordinates and shift coordinates CAUTION
When using a MULTI type robot or a Loader type robot, shift coordinates cannot be set since the shift/hand selection is not displayed on 1st line on the MPB screen. On entering “MANUAL>SHIFT”, a screen of Fig. 4-11-37, Fig. 4-11-38 or Fig. 4-11-39 is displayed. The shift coordinate number which is selected currently is highlighted. When setting one robot: MANUAL>SHIFT
50% [MG][S1H2]
————————————x———————y———————z———————r——— S0
=
0.00
0.00
S1
= 300.00
S2 S3
=
[POS] EDIT
0.00
0.00
0.00
0.00
0.00
= 300.00 -300.00
100.00
0.00
0.00
0.00
0.00
180.00
600.00
0.00
0.00
0.00
RANGE
VEL+
VEL-
Fig. 4-11-37 “SHIFT” mode (when setting one robot) 4-97
CHAPTER 4 Operation
When setting two robots: selecting the main group MANUAL>SHIFT
50/50% [MG][S1H2]
————————————x———————y———————z———————r——— S0
=
0.00
0.00
0.00
0.00
S1
= 300.00
0.00
0.00
0.00
S2
= 300.00 -300.00
S3
=
[POS]
100.00
0.00
0.00
0.00
0.00
180.00
600.00
0.00
0.00
0.00
EDIT
RANGE
VEL+
VEL-
Fig. 4-11-38 “SHIFT” mode (when setting two robots (1)) selecting the sub group MANUAL>SHIFT
50/50% [SG][S3H4]
————————————x———————y———————z———————r——— S0
=
0.00
0.00
0.00
0.00
S1
= 300.00
0.00
0.00
0.00
S2
= 300.00 -300.00
100.00
0.00
S3
=
[POS]
0.00
0.00
0.00
180.00
600.00
0.00
0.00
0.00
EDIT
RANGE
VEL+
VEL-
Fig. 4-11-39 “SHIFT” mode (when setting two robots (2)) In “MANUAL>SHIFT” mode, valid keys and the sub menu contents are as shown below. Valid keys
Menu
Cursor key (↑/↓)
Selects the shift coordinates number.
F1
EDIT
Shift coordinates are edited.
F2
RANGE
Shift coordinate range is editd.
F4
VEL+
Manual movement speed for the target group increases in steps.
F5
VEL-
Manual movement speed for the target group decreases in steps.
F6
METHOD1
Executes setting 1 of shift coordinates.
F7
METHOD2
Executes setting 2 of shift coordinates.
F9
VEL++
F10
VEL--
ROBOT (
Function
LOWER
+
MODE
)
Increases manual movement speed for the target in units of group 1%. Decreases manual movement speed for the target in units of group 1%. Switches the target group.
4-98
CHAPTER 4 Operation
11-6-1
Editing Shift Coordinates [OPERATION] 1) Use the cursor key (↑/↓) to select a shift coordinate number in the “MANUAL>SHIFT” mode. 2) Press the
(EDIT) key to switch to “MANUAL>SHIFT>EDIT” mode.
F 1
3) Move the cursor to the position to be changed with the cursor key (←/→). 4) Use the
to
0
9
,
+
,
and
–
MANUAL>SHIFT>EDIT
SPACE
keys to input the value.
50% [MG][S1H2]
————————————x———————y———————z———————r——— S0
=
0.00
0.00
0.00
S1
= 300.00
0.00
100.00
S2
= 300.00 -300.00
S3
=
[POS]
0.00 180._
100.00
0.00
0.00
0.00
0.00
180.00
600.00
0.00
0.00
0.00
UNDO
Fig. 4-11-40 Shift edit 5) Pressing the cursor key (↑/↓) ,
or
ESC
key determines the input value.
6) When continuing input, repeat steps 3) to 5). 7) Press the
ESC
key to return to “MANUAL>SHIFT” mode.
NOTE
The cursor position at the time of return to “MANUAL>SHIFT” mode is used as the current shift coordinate of the target group. In “MANUAL>SHIFT>EDIT” mode, valid keys and the sub menu contents are as shown below. Valid keys F1
11-6-1-1
Menu UNDO
Function Return the shift coordinates being edited to the previous value before input.
Restoring Shift Coordinates [OPERATION] 1) When the F 1 (UNDO) key is pressed during shift coordinate data correction, data entered up to that time is cancelled and operation returns to the data previous to input. This function is only valid for a cursor line prior to completion of data input. 4-99
CHAPTER 4 Operation
11-6-2
Editing Shift Coordinate Range By setting the shift coordinate range, the robot operating area can be restricted for each of the shift coordinates. Setting the parameter of the soft limit allows the robot operating area to be specified minutely. K Shift coordinate range data format •Plus side SP n= ±###.## ±###.## ±###.## ±###.## dPX (mm) dPY (mm) dPZ (mm) dPR (degree) •Minus side SMn=±###.## ±###.## ±###.## ±###.## dMX (mm) dMY (mm) dMZ (mm) dMR (degree) (n=0 to 9) NOTE
• N corresponds to the shift coordinates number. Example) SP 1 ..... Operating area of the plus side with shift coordinate S1 SM 2 .... Operating area of the minus side with shift coordinate S2 • When the plus side and minus side of each axis are both at 0.00 (x,y,z,r) the operating area cannot be restricted.
Y
X
X'
Y dP
dM
yyyyyyyyyyyyy ;;;;;;;;;;;;; ;;;;;;;;;;;;; yyyyyyyyyyyyy ;;;;;;;;;;;;; yyyyyyyyyyyyy ;;;;;;;;;;;;; yyyyyyyyyyyyy ;;;;;;;;;;;;; yyyyyyyyyyyyy ;;;;;;;;;;;;; yyyyyyyyyyyyy ;;;;;; ;;;;;;;;;;;;; yyyyyyyyyyyyy ;;;;;; ;;;;;; ;;;;;;;;;;;;; yyyyyyyyyyyyy ;;;;;; ;;;;;;;;;;;;; yyyyyyyyyyyyy ;;;;;; X ;;;;;; ;;;;;;;;;;;;; yyyyyyyyyyyyy dP ;;;;;; dPR ;;;;;;;;;;;;; yyyyyyyyyyyyy ;;;;;; ;;;;;; dMR Y
X dM dMZ dPZ
yyyyyyyyyyyy ;;;;;;;;;;;; ;;;;;;;;;;;; yyyyyyyyyyyy ;;;;;;;;;;;; yyyyyyyyyyyy ;;;;;;;;;;;; yyyyyyyyyyyy ;;;;;;;;;;;; yyyyyyyyyyyy
Y'
Fig. 4-11-41 Shift coordinates range
4-100
CHAPTER 4 Operation
Editing of shift coordinates range is performed by the following procedure. [OPERATION] 1) Select the shift coordinates number to be edited with cursor key ((↑/↓) in “MANUAL>SHIFT” mode. 2) Press the F 2 (RANGE) key to switch to the “MANUAL>SHIFT> RANGE” mode. A cursor is displayed, and shift coordinate range editing can begin. MANUAL>SHIFT>RANGE
50% [MG][S1H2]
————————————x———————y———————z———————r——— Range of shift coorinate [mm/deg] SP1
=_
0.00
0.00
0.00
0.00
SM1
=
0.00
0.00
0.00
0.00
150.00
0.00
0.00
0.00
[POS] UNDO
Fig. 4-11-42 Editing shift coordinate range (1) 3) Move the cursor to the position to be changed with the cursor key (←/→). 4) Use the 0 x, y, z and r.
to
9
,
,
+
–
MANUAL>SHIFT>RANGE
and
SPACE
keys to input the value of
50% [MG][S1H2]
————————————x———————y———————z———————r——— Range
of
shift coorinate
SP1
= 300.00
SM1
=
[POS]
[mm/deg]
300.00
250.00
0.00
0.00
0.00
180._ 0.00
150.00
0.00
0.00
0.00
UNDO
Fig. 4-11-43 Editing shift coordinate range (2) 5) Pressing the cursor key (↑/↓) ,
or
ESC
key determines the input value.
6) When editing the shift coordinate range of the minus side, execute steps 3) to 5). 7) Press the
ESC
key to return to “MANUAL>SHIFT” mode.
4-101
CHAPTER 4 Operation
NOTE
The shift coordinate number at the time of return to “MANUAL>SHIFT” mode is used as the current shift coordinate of the target group. In shift coordinates range editing, valid keys and the sub menu contents are as shown below. Valid keys F1
11-6-2-1
Menu UNDO
Function Return the shift coordinates being edited to the previous value before input.
Restoring Shift Coordinate Range [OPERATION] 1) When the F 1 (UNDO) key is pressed during shift coordinate range data correction, data entered up to that time is cancelled and operation returns to the data previous to input. This function is only valid for a cursor line prior to completion of data input.
11-6-3
Shift Coordinate Setting Method 1 In shift coordinate setting 1, after performing teaching in 2 points, the shift coordinate data setting procedure can be done by inputting its coordinate direction. The first teach point 1 (1st P) is shift coordinate origin. The Z value of teach point 1 is the Z value of shift coordinate.
X
Point 1 (1st P) Point 2 (2nd P)
X'
Y
Y'
Fig. 4-11-44 Shift coordinate setting method 1 (1) 4-102
CHAPTER 4 Operation CAUTION
• When setting two robots, confirm the current target group. • If “[MG]” is displayed, current target is main group. If “[SG]” is displayed, it means sub group. Switch the target group with the ROBOT key ( LOWER + MODE ). [OPERATION] 1) Use the cursor key (←/→) to select the shift coordinates number in “MANUAL>SHIFT” mode. 2) Press the F 6 (METHOD1) key to switch to “MANUAL>SHIFT> METHOD1” mode. MANUAL>SHIFT>METHOD1
50% [MG][S1H2]
————————————x———————y———————z———————r——— Move arm to 1st P. and press ENTER key 1st P= 2nd P= [POS]
600.00
0.00
0.00 VEL+
0.00 VEL-
Fig. 4-11-45 Shift coordinate setting method 1 (2) 3) Move the tip of the robot arm to teach point 1 with Jog key. (Fix position accurately.) key, then the current position is read and “1st P” is determined. 4) Press the (this value becomes the shift coordinate origin.) MANUAL>SHIFT>METHOD1
50% [MG][S1H2]
————————————x———————y———————z———————r——— Move arm to 2nd P. and press ENTER key 1st P= 214.45
-15.01
20.32
-15.01
20.32
2nd P= [POS]
214.45
VEL+
0.00 VEL-
Fig. 4-11-46 Teaching shift coordinate 5) Execute the same procedure as for teach point 1, teach point 2 is then determined.
4-103
CHAPTER 4 Operation
6) Select a coordinate direction from teach point 1 for the teach point 2 coordinate direction with F 1 (+X), F 2 (-X), F 3 (+Y) or F 4 (-Y) key. MANUAL>SHIFT>METHOD1
50% [MG][S1H2]
Press F.key to get Direction +——————————+———> +X 1st P.
2nd P.
+X +X
-X
+Y
-Y
Fig. 4-11-47 Coordinate direction setting 7) When a coordinate direction is selected, shift coordinates values (dX, dY, dZ, dR) are calculated automatically, and registration of shift coordinates is completed. The screen returns to “MANUAL>SHIFT” mode after completion. NOTE
The shift value of Z direction is decided automatically when determining the teach point 1. Therefore, the Z-axis data of teach point 2 is ignored. In “MANUAL>SHIFT>METHOD1” mode, valid keys and the sub menu contents are as shown below. Valid keys
Menu
Function
F4
VEL+
Teaching speed for the target group increases in steps.
F5
VEL-
Teaching speed for the target group decreases in steps.
F9
VEL++
F10
VEL--
Increases manual movement speed for the target group in units of 1%. Decreases manual movement speed for the target group in units 1%.
4-104
CHAPTER 4 Operation
11-6-4
Shift Coordinate Setting Method 2 In the method for setting shift coordinate 2, shift coordinate data is set by entering the 2 shift coordinate data points. The Z value of teach point 1 is the Z value of the shift coordinate
Point 1 (1st P) X
Point 2 (2nd P) X'
Y'
Y
Fig. 4-11-48 Shift coordinate setting method 2 (1) CAUTION
• When setting two robots, confirm the current target group. • If “[MG]” is displayed, current target is main group. If “[SG]” is displayed, it means sub group. Switch the target group with the ROBOT key ( LOWER + MODE ). [OPERATION] 1) Use the cursor key (↑/↓) to select the shift coordinates number in “MANUAL>SHIFT” mode. 2) Press the F 7 (METHOD2) key to switch to “MANUAL>SHIFT> METHOD2” mode. MANUAL>SHIFT>METHOD2
50% [MG][S1H2]
————————————x———————y———————z———————r——— Move arm to 1st P. and press ENTER key 1st P= 2nd P= [POS]
600.00
0.00
0.00 VEL+
0.00 VEL-
Fig. 4-11-49 Shift coordinate setting method 2 (2) 4-105
CHAPTER 4 Operation
3) Move the tip of the robot arm to teach point 1 with Jog key. (Fix position accurately.) 4) When the key is pressed, the value of teach point 1 is determined. The cursor is displayed on the beginning of “1st P=” line. MANUAL>SHIFT>METHOD2
50% [MG][S1H2]
————————————x———————y———————z———————r——— Enter the point data [mm] 1st P=_
0.00
0.00
0.00
13.00
150.00
0.00
2nd P= [POS]
0.00
VEL+
VEL-
Fig. 4-11-50 Inputting shift coordinate 5) Use the
0
to
9
,
+
,
point data of (x, y, z) and press the
–
,
.
and
SPACE
keys to input the
key.
6) Execute the same procedure as for teach point 1, teach point 2 is then determined. 7) When the coordinates (x, y) of teach point 2 have been input, the shift coordinates dX, dY, dZ and dR are automatically calculated and registered. The screen then returns to “MANUAL>SHIFT” mode. CAUTION
If the teach point and input point have not been determined correctly, incorrectcalculation results are registered, so determine these points correctly. NOTE
Since the Z direction shift value is automatically specified when the teach point 1 is determined, the Z axis data for the teach point 2 is ignored. In “MANUAL>SHIFT>METHOD2” mode, valid keys and the sub menu contents are as shown below. Valid keys
Menu
Function
F4
VEL+
Teaching speed for the target group increases in steps.
F5
VEL-
Teaching speed for the target group decreases in steps.
F9
VEL++
F10
VEL--
Increases manual movement speed for the target group in units of 1%. Decreases manual movement speed for the target group in units 1%.
4-106
CHAPTER 4 Operation
11-7
Hand Definition Display/Edit/Set Procedures Press the F 7 (HAND) key to switch to “MANUAL>HAND” mode in “MANUAL” mode. This mode can display, edit or set the hand definition. However when using SCARA type robot, the standard coordinates must be set. Refer to “11-11 Setting the Standard Coordinates” for standard coordinate setting procedures. Four kinds of hand definitions can be set to change work operations points from when standard coordinates were set to the time when the hand was installed on the 2nd arm (Y-axis) or the R-axis. When a different hand is used, this function allows movement using the same cartesian coordinate point data. CAUTION
When setting two robots, hand data cannot be shared between the main robot and the sub robot. The main robot uses H0 - H3 and the sub robot uses H4 - H7 for the hand data. K Data format for hand definition Hn=±aaaaaa ±bbbbbb ±cccccc [R] Hn ...................... Hand definition number (n = 0 to 3) ±aaaaaa .............. 1st parameter (6 digits, integers or real numbers (including decimal point)) ±bbbbbb ............ 2nd parameter (6 digits, integers or real numbers (including decimal point)) ±cccccc .............. 3rd parameter (6 digits integers or real numbers (including decimal point)) R ........................ 4th parameter (1 character) The values of a hand definition have not been set if all the values are zeros. On entering “MANUAL>HAND” mode, the screen of Fig. 4-11-51, Fig. 4-11-52 or Fig. 4-11-53 is displayed. The hand definition number which is selected currently is highlighted.
4-107
CHAPTER 4 Operation
When setting one robot: MANUAL>HAND
50% [MG][S1H1]
————————————1———————2———————3———————4——— H0
=
0
0.00
H1
=
0.00
100.00
0.00
R
H2
=
90.00
100.00
100.00
R
H3
=
8000
100.00
100.00
600.00
0.00
0.00
[POS] EDIT
0.00
VEL+
0.00 VEL-
Fig. 4-11-51 Hand definition (when setting one robot) When setting two robots: selecting the main group MANUAL>HAND
50/50% [MG][S1H1]
————————————1———————2———————3———————4——— H0
=
0
0.00
H1
=
0.00
100.00
0.00
R
H2
=
90.00
100.00
100.00
R
H3
=
8000
100.00
100.00
600.00
0.00
0.00
[POS] EDIT
0.00
VEL+
0.00 VEL-
Fig. 4-11-52 Hand definition (when setting two robots (1)) selecting the sub group MANUAL>HAND
50/50% [SG][S3H5]
————————————1———————2———————3———————4——— H4
=
0
0.00
0.00
H5
=
0.00
100.00
0.00
R
H7
=
90.00
100.00
100.00
R
H8
=
8000
100.00
100.00
600.00
0.00
0.00
[POS] EDIT
VEL+
0.00 VEL-
Fig. 4-11-53 Hand definition (when setting two robots (2))
4-108
CHAPTER 4 Operation
In “MANUAL>HAND” mode, valid keys and the sub menu contents are as shown below. Valid keys
Menu
Cursor key (↑/↓)
Selects the hand definition number.
F1
EDIT
Hand definition is edited.
F4
VEL+
Manual movement speed for the target group increases in steps.
F5
VEL-
Manual movement speed for the target group decreases in steps.
F6
METHOD1
Executes setting 1 of hand definition.
F8
MM/PULS
Changes the units display at the current position.
F9
VEL++
F10
VEL--
ROBOT (
Function
LOWER
+
MODE
)
Increases manual movement speed for the target group 1% increments. Decreases manual movement speed for the target group 1% increments. Switches the target group.
CAUTION
When using a MULTI type robot or a Loader type robot, shift coordinates cannot be set since the shift/hand selection is not displayed on 1st line on the MPB screen. Movement of each robot type and the parameter contents are shown below. The ( ) display shows the setting units for each parameter. (1) SCARA type robot 1) The hand attached to the 2nd arm a. Robot movement • The imaginary 2nd arm of hand n is moved to the specified point as if it were the actual 2nd arm. • A right-hand system or a left-hand system is determined by the imaginary 2nd arm of hand n. b. Parameter meaning <1st parameter>: specifies with integers the difference between the number of offset pulses of the standard 2nd arm and the number of offset pulses of the imaginary 2nd arm of hand n. (unit: pulses) <2nd parameter>: specifies in real numbers the difference between the imaginary 2nd arm length of hand n and the standard 2nd arm length. (unit: mm) <3rd parameter>: specifies in real numbers the Z-axis offset amount of hand n. (unit: mm) <4th parameter>: does not specify the R.
4-109
CHAPTER 4 Operation
HAND 1 HAND 0 20.00mm m
-5000 pulse
m
0 .0
Sta
nd
ard
2n
da
rm
0
15
MANUAL>HAND
50% [MG][S1H1]
————————————1———————2———————3———————4——— H0
=
0
150.00
0.00
H1
=
-5000
20.00
0.00
H2
=
0
0.00
0.00
H3
=
0
0.00
0.00
600.00
0.00
0.00
[POS] EDIT
VEL+
0.00 VEL-
Fig. 4-11-54 Hand attached to the 2nd arm (SCARA type) 2) The hand attached to the R-axis a. Robot movement The direction of hand n is changed to the specified point. The direction to be changed is set for the specified point with an R value. Therefore, obstacles can be avoided by changing the R value. b. Parameter meaning <1st parameter>: when the current position of R-axis is set to 0.00, it specifies the angle between the cartesian coordinate +X direction and hand n in real numbers. If counterclockwise a “+” value is input. (unit: degrees) <2nd parameter>: specifies the length of hand n with positive real number. (unit: mm) <3rd parameter>: specifies the hand n Z-axis offset amount in real numbers. (unit: mm) <4th parameter>: specifies R.
4-110
CHAPTER 4 Operation
Y
Standard 2nd arm 150.00mm
X -90.00 degrees
HAND 0
100.00mm HAND 1
MANUAL>HAND
50% [MG][S1H1]
————————————1———————2———————3———————4——— H0
=
0.00
150.00
0.00
R
H1
= -90.00
100.00
0.00
R
H2
=
0
0.00
0.00
H3
=
0
0.00
0.00
600.00
0.00
0.00
[POS] EDIT
0.00
VEL+
VEL-
Fig. 4-11-55 Hand attached to the R-axis (SCARA type) (2) Cartesian type robot 1) The hand attached to the 2nd arm a. Robot movement • The hand n is moved to the specified point. b. Parameter meaning <1st parameter>: specifies the X-axis offset amount of hand n in real numbers. (unit: mm) <2nd parameter>: specifies the Y-axis offset amount of hand n in real numbers. (unit: mm) <3rd parameter>: specifies the Z-axis offset amount of hand n in real numbers. (unit: mm) <4th parameter>: does not specify the R.
4-111
CHAPTER 4 Operation
X HAND 1 -100.00mm HAND 0 -100.00mm Y
MANUAL>HAND
50%
[MG][S1H1]
————————————1———————2———————3———————4——— H0
=
H1
=-100.00 -100.00 -100.00
H2
=
0.00
0.00
0.00
H3
=
0.00
0.00
0.00
600.00
0.00
0.00
[POS]
0.00
EDIT
0.00
0.00
VEL+
0.00 VEL-
Fig. 4-11-56 Hand attached to the 2nd arm (Cartesian type) 2) The hand attached to R-axis a. Robot movement The direction of hand n is changed to the specified point. The direction to be changed is set for the specified point with an R value. Therefore, obstacles can be avoided by changing the R value. b. Parameter meaning <1st parameter>: when the current position of R-axis is set to 0.00, this sets the angle between the +X direction of cartesian coordinate and hand n in real numbers. If counterclockwise a “+” value is input. (unit: degrees) <2nd parameter>: specifies the length of hand n with positive real numbers. (unit: mm) <3rd parameter>: specifies the Z-axis offset amount of hand n in real numbers. (unit: mm) <4th parameter>: specifies R.
4-112
CHAPTER 4 Operation
X HAND 1 -90.00 degree
150.00mm
HAND 0 100.00mm Y
MANUAL>HAND
50% [MG][S1H1]
————————————1———————2———————3———————4——— H0
=
H1
= -90.00
H2
=
0.00
0.00
0.00
H3
=
0.00
0.00
0.00
600.00
0.00
0.00
[POS]
0.00
0.00
R
150.00 -100.00
100.00
R
EDIT
0.00
VEL+
VEL-
Fig. 4-11-57 Hand attached to R-axis (Cartesian type)
11-7-1
Hand Definition Editing [OPERATION] 1) Press the F
(EDIT) key in “MANUAL>HAND” mode.
1
2) Select the hand definition to be input or edit with the cursor (↑/↓) key. The cursor is displayed on the left margin of the specified hand definition line. MANUAL>HAND>EDIT
50% [MG][S1H1]
————————————1———————2———————3———————4——— H0
=
H1
=_
0
0.00
0.00
100.00
H2 H3
0.00
R
=
90.00
100.00
100.00
R
=
8000
100.00
100.00
600.00
0.00
0.00
[POS]
0.00
0.00
UNDO
Fig. 4-11-58 Hand editing (1) 3) Use the cursor key (←/→) to move the cursor to the position to input or to edit. 4-113
CHAPTER 4 Operation
4) Use the 0 to to input the value.
9
,
+
,
,
–
MANUAL>HAND>EDIT
.
,
SPACE
,
R
and
keys
50% [MG][S1H1]
————————————1———————2———————3———————4——— H0
=
0
H1
=
45.00
300
H2
=
90.00
100.00
100.00
H3
=
8000
100.00
100.00
600.00
0.00
0.00
[POS]
0.00
0.00
100
R_ R 0.00
UNDO
Fig. 4-11-59 Hand editing (2) 5) Pressing the cursor key (↑/↓) determines the editing of the hand definition number which was selected. Execute the operation of step 2) to 4) when other hand definitions are to be edited. 6) Press the ESC key to quit hand definition editing and then the screen returns to “MANUAL>HAND” mode. NOTE
The cursor line at the time of returning to “MANUAL>HAND” mode is used as the current hand definition. In “MANUAL>HAND>EDIT” mode, valid keys and the sub menu contents are as shown below. Valid keys F1
11-7-1-1
Menu UNDO
Function Return the shift coordinates being edited to the previous value before input.
Restoring Hand Definition [OPERATION] 1) When the F 1 (UNDO) key is pressed during hand definition data correction, data entered up to that time is cancelled and operation returns to the data previous to input. This function is only valid for a cursor line prior to completion of data input.
4-114
CHAPTER 4 Operation
11-7-2
Hand definition Setting Method 1 Setting of the 2nd arm installation hand is possible for a current hand definition. NOTE
The setting methods differ between cartesian type robot and SCARA type robot. • Cartesian type robot Hand definition data is set by teaching the identical points for work operation points without the hand and hand work operation point.. • SCARA type robot Hand definition data is set by teaching identical points for hand definitions for right-hand systems and left-hand systems at work operation points. CAUTION
When setting two robots, confirm the current target group. If “[MG]” is displayed, current target is main group. If “[SG]” is displayed, it means sub group. Switch the target group with the ROBOT key ( LOWER + MODE ). [OPERATION] 1) In “MANUAL>HAND” mode, use the cursor key (↑/↓) to select the hand definition number. 2) Press the F 6 (METHOD1) key to switch to “MANUAL>HAND> METHOD1” mode. MANUAL>HAND>METHOD1
50% [MG][S1H1]
————————————1———————2———————3———————4——— Move arm to 1st P. and press ENTER key 1st P= 2nd P= [POS]
600.00
0.00
0.00 VEL+
0.00 VEL-
Fig. 4-11-60 Hand setting 1 (1) 3) Use the Jog key to move by teaching a work operation point to point 1. (Execute the positioning accurately.) CAUTION
For SCARA type robots, always move with the right-hand system.
4-115
CHAPTER 4 Operation
4) Press the
key to decide the value. MANUAL>HAND>METHOD1
50% [MG][S1H1]
————————————1———————2———————3———————4——— Move arm to 1st P. and press ENTER key 1st P= 214.45
-15.01
20.32
-15.01
20.32
2nd P= [POS]
214.45
0.00
VEL+
VEL-
Fig. 4-11-61 Hand setting 1 (2) 5) Use the Jog key to move by teaching a hand work operation point to point 2. (Execute the positioning accurately.) CAUTION
For SCARA type robots, always move with the left-hand system. 6) Press the key to decide the value. Set the value of hand definition and the screen returns to “MANUAL> HAND” mode. NOTE
1. When the teaching point 1 is determined, the Z direction shift value is decided automatically. 2. When ESC key is pressed during hand definition or hand definition is not calculated, it returns to the original shift value. In “MANUAL>HAND>METHOD1” mode, valid keys and the sub menu contents are as shown below. Valid keys
Menu
Function
F4
VEL+
Manual movement speed for the target group increases in steps.
F5
VEL-
Manual movement speed for the target group decreases in steps.
F9
VEL++
F10
VEL--
Increases manual movement speed for the target group in units of 1%. Decreases manual movement speed for the target group in units of 1%.
4-116
CHAPTER 4 Operation
11-8
Changing the Units Display [OPERATION] 1) Press the F 8 (MM/PULS) key in “MANUAL” mode. The units display at the current position is changed while in “MANUAL” mode. 2) Every time the key is pressed, the units display can be changed to mm or pulse units. • mm display (cartesian coordinates) Displays an integer portion and a decimal fraction portion. In this case, manual movement of the robot switches to a cross movement on the shift coordinates axis which was selected. • Pulse display (joint coordinates) Displays an integer. The manual movement of the robot is executed in axis units.
4-117
CHAPTER 4 Operation
11-9
Absolute Reset Absolute reset is an operation to find the origin position, when the position detector in the motor cannot identify the origin position (called "origin incomplete" from now on). Movement commands in robot language cannot be run when the origin is incomplete. Always perform absolute reset when the origin position cannot be found. Origin incomplete may occur due to the following conditions. a. An absolute-related error occurred on the axis. b. A power drop was detected in the absolute battery for the driver installed inside the QRCX Controller. c. Cable connecting to the robot unit from the QRCX Controller was disconnected. (This is the status when shipped from the factory.) d. Robot generation was changed. e. Parameters were initialized. f. Axis-related parameters such as "Origin shift", "Origin detection method" and "Origin return direction" and "Axis polarity" were changed. (This occurs when some unopened parameters were changed.) g. Motor was replaced. h. All data files (data file with extension "ALL") or parameter files (data files with extension "PRM") were written into the QRCX Controller. CAUTION
• Emergency stop may occur if absolute reset at the stroke end is performed for two or more axes simultaneously. In this case, perform return to origin for each axis separately instead of simultaneously. • Only the absolute motor axes are returned to the origin. NOTE
Basically, use the MPB (teaching pendant) to perform absolute reset. Absolute reset can also be performed by dedicated input. However, this technique is limited to axes using the stroke end method or sensor method for detecting the origin. This dedicated input technique will also not work if origin incomplete occurs on axes set by the mark method. Origin incomplete errors are listed below. These errors occur during startup of the QRCX Controller. 17.80:D?.ABS.encoder backup error 17.81:D?.ABS.encoder battery alarm 17.85:D?.ABS.encoder system error 17.92:D?.ABS.cable disconnected 17.93:D?.ABS.data overflow 17.94:D?.ABS.Battery degradation etc 4-118
CHAPTER 4 Operation
11-9-1
Checking Absolute Reset Check the status of absolute reset on each axis of the QRCX Controller.
[Operation] 1) Press F 13 (
RST.ABS
) in MANUAL mode to enter ABS RESET mode.
MANUAL >RST.ABS
50% [MG] [SOHO]
–––––––––––––––––––––––––––––––––––––––––– Press F.key to get axis for ABSRST M1 = NG / Mark
M5= no axis
M2 = NG / Mark
M6= no axis
M3 = NG / TORQUE
M7= no axis
M4 = OK / Mark M1
M2
M8= no axis M3
M4
M5
Fig. 4-11-62 This screen shows the following information. Axis
Absolute Reset Status
"Origin Detection Method" Parameter Setting
Axis 1
Origin incomplete
Mark method
Axis 2
Origin incomplete
Mark method
Axis 3
Origin incomplete
Stroke end method
Axis 4
Return to origin complete
Mark method
No axis hereafter
The above LCD screen shows the return to origin is incomplete on axis 1, axis 2 and axis 3 but complete on axis 4. The QRCX Controller is in origin incomplete status, since not all axes performed return to origin. Key
Menu
F1
M1
Performs absolute reset on axis 1.
F2
M2
Performs absolute reset on axis 2.
F3
M3
Performs absolute reset on axis 3.
F4
M4
Performs absolute reset on axis 4.
F5
M5
Performs absolute reset on axis 5.
F6
M6
Performs absolute reset on axis 6.
F7
M7
Performs absolute reset on axis 7.
F8
M8
Performs absolute reset on axis 8.
F 11
All
Performs absolute reset on all axes.
4-119
Function
CHAPTER 4 Operation
11-9-2
Axis Absolute Reset This section explains how to perform absolute reset of each axis using the QRCX Controller. The absolute reset method differs depending on the following settings for the "Origin detection method" parameter. 1. Mark method 2. Stroke end or sensor method NOTE
When the mark method is used as the origin detection method, absolute reset is impossible unless the machine reference is between 26 to 74%.
1. When the mark method is used as the origin detection method Return to origin is not performed on an axis using the mark method. So use the movement keys while in servo-on, or direct movement while in servo-off, to move to a position where absolute reset can be performed. Key
Menu
F1
ADJ. +
F2
ADJ. -
F4
VEL +
Increases the manual movement speed of the target group in steps.
F5
VEL -
Decreases the manual movement speed of the target group in steps.
F9
VEL ++
Increases the manual movement speed of the target group in 1% increments.
F10
VEL --
Decreases the manual movement speed of the target group in 1% increments.
Function Moves the selected axis in the plus direction to the first position where absolute reset is possible. Moves the selected axis in the minus direction to the first position where absolute reset is possible.
Key operations to move to a position where absolute reset is possible For instance, when the current axis position is q (machine reference: 82%): Press the F 1 key (ADJ. +), and the axis moves to w and the machine reference will change to around 50%. (Absolute reset is now possible.) or Press the F 2 key (ADJ. -), and the axis moves to e and the machine reference will change to around 50%. (Absolute reset is now possible.) Minus (-) direction
e
0
25
50
q
75
Plus (+) direction
w
0
25
50
75
0
Machine reference (%) : Range in which absolute reset can be made (26 to 74%).
Fig. 4-11-63
4-120
CHAPTER 4 Operation
[Operation] 1) Press F 1 ( M 1 ) to F 8 ( M 8 ) while in MANUAL>RST. ABS mode to enter MANUAL>RST. ABS mode on each axis. The selected axis appears highlighted on the LCD screen. MANUAL >RST.ABS>M1
50% [MG] [SOHO]
–––––––––––––––––––––––––––––––––––––––––– Align axes with MARK,& Press ENTER M1 = NG /
6%
M5= no axis
M2 = NG /
49%
M6= no axis
M3 = NG /
TORQUE
M7= no axis
M4 = OK /
72%
M8= no axis
ADJ.+
ADJ.-
VEL+
VEL-
Fig. 4-11-64 This screen shows the following information. Axis
Absolute Reset Status
Machine Reference (%)
Axis 1
Origin incomplete
6
Axis 2
Origin incomplete
49
Axis 3
Origin incomplete
(Stroke end method)
Axis 4
Return to origin complete
72
No axis hereafter
2) In Servo-ON Use the Jog key or F 1 (ADJ.+) and F 2 (ADJ.-) to move the selected axis to a position where absolute reset is possible. Set so that the machine reference is within a range of 26 to 74%. MANUAL >RST.ABS>M1
50% [MG] [SOHO]
–––––––––––––––––––––––––––––––––––––––––– Align axes with MARK,& Press ENTER M1 = NG /
50%
M5= no axis
M2 = NG /
49%
M6= no axis
M3 = NG /
TORQUE
M7= no axis
M4 = OK /
72%
M8= no axis
ADJ.+
ADJ.-
VEL+
Fig. 4-11-65
4-121
VEL-
CHAPTER 4 Operation
In Servo-OFF Check that the emergency stop switch is on, and move the selected axis by direct movement to a position for absolute reset. Set so that the machine reference is within a range of 26 to 74%. MANUAL >RST.ABS>M1
50% [MG] [SOHO]
–––––––––––––––––––––––––––––––––––––––––– Align axes with MARK,& Press ENTER M1 = NG /
50%
M5= no axis
M2 = NG /
49%
M6= no axis
M3 = NG /
TORQUE
M7= no axis
M4 = OK /
72%
M8= no axis
ADJ.+
ADJ.-
VEL+
VEL-
Fig. 4-11-66 3) Press the ENTER key and a check message appears on the guideline. Press F 4 (YES) to perform absolute reset of the selected axis. Press F 5 (NO) to abort absolute reset of the selected axis. MANUAL >RST.ABS>M1
50% [MG] [SOHO]
–––––––––––––––––––––––––––––––––––––––––– Align axes with MARK,& Press ENTER M1 = NG /
50%
M5= no axis
M2 = NG /
49%
M6= no axis
M3 = NG /
TORQUE
M7= no axis
M4 = OK /
72%
M8= no axis
Reset ABS encoder OK?
YES
NO
Fig. 4-11-67 CAUTION
An error message, "17.91:D?,ABS reset position error" appears if the machine reference is not within a range of 26 to 74%. The absolute reset operation then terminates as an error. If the QRCX Controller is in origin incomplete due to some kind of problems, perform absolute reset on the axis which was unable to return to origin. After absolute reset, always check if the axis can move to the same position as before origin incomplete. 4) When all axes have returned to origin, the dashed line on the message line changes to a solid line, and return to origin is now complete. Then, press an axis movement key and the LCD screen displays the current position of each axis. 5) When origin incomplete status cannot be canceled, this means an axis has still not returned to origin. So repeat the absolute reset operation.
4-122
CHAPTER 4 Operation
2. When the stroke end or sensor method is used as the origin detection method When the selected axis uses the stroke end or sensor method, then servo must be turned on to perform return to origin. [Operation] 1) Press F 1 ( M 1 ) to F 8 ( M 8 ) while in MANUAL>RST. ABS mode to enter MANUAL>RST. ABS mode on each axis. A check message appears on the guideline. Press F 4 (YES) to perform absolute reset of the selected axis. Press F 5 (NO) to abort absolute reset of the selected axis. MANUAL >RST.ABS>M3
50% [MG] [SOHO]
–––––––––––––––––––––––––––––––––––––––––– Starting origin search
Reset ABS encoder OK?
YES
NO
Fig. 4-11-68 NOTE
When the "Origin detection method" parameter is set to the stroke end method Each axis moves in the specified return to origin direction until it reaches the stroke end, and then moves back slightly in the opposite direction to a position where absolute reset is performed after checking that absolute reset is possible. When the "Origin detection method" parameter is set to the sensor method Each axis moves in the specified return to origin direction. When the origin sensor detects the origin, the axis moves slightly at low speed to a position where absolute reset is performed after checking that absolute reset is possible. 2) After return to origin is complete, the machine reference of the selected axis is displayed. MANUAL
50% [MG] [SOHO]
–––––––––––––––––––––––––––––––––––––––––– Machine Reference (%) M3 =
M1
M2
M3
46
M4
Fig. 4-11-69
4-123
M5
CHAPTER 4 Operation
3) When all axes have returned to origin, the dashed line on the message line changes to a solid line, and return to origin is now complete. Then, press an axis movement key and the LCD screen displays the current position of each axis. 4)
To abort the return to origin operation, press the STOP key. In this case, the message "Origin Incomplete" then appears on the message line.
4-124
CHAPTER 4 Operation
11-9-3
Absolute Reset on All Axes This section explains how to perform absolute reset on all axes of the QRCX Controller. The sequence for performing absolute reset of the axes is given below. 1. First, perform absolute reset at the current position, on all axes that use the mark method. 2. Next, perform absolute reset according to the return to origin sequence on axes using the stroke end and sensor methods. Key
Menu
Function
Cursor keys Selects the axis. Moves the selected axis in the plus direction to the first position where F1
ADJ. +
absolute reset is possible. Moves the selected axis in the minus direction to the first position
F2
ADJ. where absolute reset is possible.
F4
VEL +
Increases the manual movement speed of the target group in steps.
F5
VEL -
Decreases the manual movement speed of the target group in steps.
F9
VEL ++
Increases the manual movement speed of the target group in 1% increments.
F10
VEL --
Decreases the manual movement speed of the target group in 1% increments.
Key operations to move to a position where absolute reset is possible For instance, when the current axis position is q (machine reference: 82%): Press the F 1 key (ADJ. +), and the axis moves to w and the machine reference will change to around 50(Absolute reset is now possible.) or Press the F 2 key (ADJ. -), and the axis move to e and the machine reference will change to around 50%. (Absolute reset is now possible.) Minus (-) direction
e
0
25
50
q
75
Plus (+) direction
w
0
25
50
75
0
Machine reference (%) : Range in which absolute reset can be made (26 to 74%).
Fig. 4-11-70
4-125
CHAPTER 4 Operation
[Operation] 1) Press F 11 ( ALL ) in MANUAL>RST. ABS mode to enter ABS RESET mode for all axes. MANUAL >RST.ABS>ALL
50% [MG] [SOHO]
–––––––––––––––––––––––––––––––––––––––––– Align axes with MARK,& Press ENTER M1 = NG /
6%
M5= no axis
M2 = NG /
49%
M6= no axis
M3 = NG /
TORQUE
M7= no axis
M4 = OK /
72%
M8= no axis
ADJ.+
ADJ.-
VEL+
VEL-
Fig. 4-11-71 This screen shows the following information. Axis
Absolute Reset Status
Machine Reference (%)
Axis 1
Origin incomplete
6
Axis 2
Origin incomplete
49
Axis 3
Origin incomplete
(Stroke end method)
Axis 4
Return to origin complete
72
No axis hereafter
NOTE
When the "Origin detection method" parameter is set to the mark method, absolute reset is not possible unless the machine reference is between 26 and 74%. 2) The axis using the mark method appears highlighted on the LCD screen. Use the cursor (↑ / ↓ ) keys to select the axis. Use the Jog key or the F 1 (ADJ.+) and F 2 (ADJ.-) keys to move the selected axis to a position for performing absolute reset. Set at this time so that the machine reference is between 26 to 74%. MANUAL >RST.ABS>ALL
50% [MG] [SOHO]
–––––––––––––––––––––––––––––––––––––––––– Align axes with MARK,& Press ENTER M1 = NG /
50%
M5= no axis
M2 = NG /
49%
M5= no axis
M3 = NG /
TORQUE
M5= no axis
M4 = OK /
72%
M5= no axis
ADJ.+
ADJ.-
VEL+
Fig. 4-11-72
4-126
VEL-
CHAPTER 4 Operation
3) Press the ENTER key and a check message appears on the guideline. Press F 4 (YES) to perform absolute reset on all axes using the mark method. Press F 5 (NO) to cancel absolute reset on all axes using the mark method. MANUAL >RST.ABS>ALL
50% [MG] [SOHO]
–––––––––––––––––––––––––––––––––––––––––– Align axes with MARK,& Press ENTER M1 = NG /
50%
M5= no axis
M2 = NG /
49%
M5= no axis
M3 = NG /
TORQUE
M5= no axis
M4 = OK /
72%
M5= no axis
Reset ABS encoder OK?
YES
NO
Fig. 4-11-73 NOTE
An error message, "17.91:D?.ABS reset position error" appears if the machine reference is not within a range of 26 to 74%. Absolute reset operation terminates as an error. If the QRCX Controller is in origin incomplete due to some kind of problems, perform absolute reset on the axis which was unable to return to origin. After absolute reset, always check if the axis can move to the same position as before origin incomplete. 4) When absolute reset ends correctly on all axes using the mark method, a check message appears on the guideline if axes using the stroke end or sensor methods are present. Press F 4 (YES) to perform absolute reset on axes using the stroke end or sensor method. Press F 5 (NO) to abort absolute reset on axes using the stroke end or sensor method. MANUAL >RST.ABS>ALL
50% [MG] [SOHO]
–––––––––––––––––––––––––––––––––––––––––– Starting origin search
Reset ABS encoder OK?
YES
Fig. 4-11-74
4-127
NO
CHAPTER 4 Operation
5) After return to origin is complete, the machine reference of axes using the stroke end or sensor method is displayed. MANUAL
50% [MG] [SOHO]
–––––––––––––––––––––––––––––––––––––––––– Machine Reference (%) M3 =
M1
M2
M3
46
M4
M5
Fig. 4-11-75 CAUTION
If the QRCX Controller is in origin incomplete due to some kind of problems, perform absolute reset on the axis which was unable to return to origin. After absolute reset, always check if the axis can move to the same position as before origin incomplete. 7) When absolute reset of all axes ends correctly, the dashed line on the message line changes to a solid line, and return to origin is now complete. Then, press an axis movement key and the LCD screen displays the current position of each axis. 8) To abort the return to origin operation, press the key. In this case, the message "Origin Incomplete" then appears on the message line. CAUTION
If absolute reset does not end correctly after performing absolute reset on all axes, check the return to origin status on each axis. Then try absolute reset on all axes once again or try absolute reset on each individual axis until you can successfully set the return to origin.
4-128
CHAPTER 4 Operation
11-10
Z-Axis Slant Manual Movement Setting Press the F 14 (Z.ANGLE) key in “MANUAL” mode to enter “MANUAL> Z.ANGLE” mode. This mode allows settings for the Z-axis slant movement. When using a SCARA type robot, the standard coordinates must be set. Refer to “11-11 Setting the Standard Coordinates” in this chapter for details on the standard coordinates. CAUTION
• • • •
When setting two robots, data can be used for both robots. Slant manual movement cannot be used for MULTI type robots. Setting data for Z-axis movement cannot be saved. If data exceeding the setting range is entered or saving of the data is attempted, initialization is performed. The axis move as shown on the left when the following settings are made. Slant movement direction: X Movement angle: -30 degrees
Movement angle : -30 degrees +X direction +Z direction
Fig. 4-11-76 The screen of Fig. 4-11-66 is displayed when “MANUAL>Z.ANGLE” mode is entered. MANUAL>Z.ANGLE
50% [MG][S0H0]
————————————1———————2———————3———————4——— DIR.
:X
ANGLE :-30.00
[POS] NO
274.01
-0.04
150.00
X
Y
VEL+
Fig. 4-11-77
4-129
52.05 VEL-
CHAPTER 4 Operation
Valid keys and the sub menu contents in “MANUAL>Z.ANGLE” mode are as follows: Valid keys
11-10-1
Menu
Function
F1
NO
Prohibit the Z-axis slant movement.
F2
X
Perform the Z-axis slant movement in the X direction.
F3
Y
Perform the Z-axis slant movement in the Y direction.
F4
VEL+
Increase the manual movement speed of the object group in steps.
F5
VEL-
Decrease the manual movement speed of the object group in steps.
F6
EDIT
Edit the Z-axis slant movement angle
F9
VEL++
F10
VEL--
Increase the manual movement speed of the object group in units of 1%. Decrease the manual movement speed of the object group in units of 1%.
Z-Axis Slant Manual Movement Direction The Z-axis slant manual movement is valid only in the X and Y directions. This is therefore useful when the movement direction is aligned with the coordinate axis by using the shift coordinates. Y
r
e
Direction Angle X + Y + -
X
q
Z-axis key + q e e q r w w r
w
Current position
X-axis key and movement direction
Fig. 4-11-78
[OPERATION] 1) Press the F 1 (NO), F mode to select the axis.
2
(X) or
F 3
(Y) key in “MANUAL> Z.ANGLE”
MANUAL>Z.ANGLE
50% [MG][S0H0]
————————————1———————2———————3———————4——— DIR.
:X
ANGLE :-30.00
[POS] NO
274.01
-0.04
150.00
X
Y
VEL+
Fig. 4-11-79
4-130
52.05 VEL-
CHAPTER 4 Operation
11-10-2
Z-Axis Slant Manual Movement Angle The Z-axis slant movement angle can be set within the range between -45.00 degrees and +45.00 degrees. When set at a plus angle, the axis moves in the +X or +Y direction. When set at a minus angle, the axis moves in the -X or -Y direction.
[OPERATION] 1) Press the F 6 (EDIT) key in “MANUAL>Z.ANGLE” mode to enter “MANUAL>Z.ANGLE>EDIT” mode. MANUAL>Z.ANGLE
50% [MG][S0H0]
————————————1———————2———————3———————4——— DIR.
:X
ANGLE :-30.00
[POS]
274.01
-0.04
150.00
52.05
[+/-45.00] Enter>
Fig. 4-11-80 2) Enter the desired value with the keys.
11-11
0
to
9
,
+
,
–
and
.
Setting the Standard Coordinates In SCARA type robots, the standard coordinates are in cartesian coordinates, in which the X-axis center is the coordinate origin. In SCARA type robots, the following operations and functions are enabled by setting the standard coordinates. Therefore making this setting is convenient for programming and checking movement etc. • Robot arm tip can be moved at right angles. • Shift coordinates can be used. • Commands such as for linear interpolation or arm system changes can be used. NOTE
In cartesian type robots, since the machine X and Y axis correspond to X-axis and Y-axis standard coordinates, there is no need to set them. The following two methods are used for setting the standard coordinates.
4-131
CHAPTER 4 Operation
• Four points teach method This is the method for setting the standard coordinates by inputting relative coordinates for the remaining three points when the four teaching points of rectangle and the initial teaching point are used as the reference point. • Three points teach method This is the method for setting the standard coordinates by inputting teaching of three points on straight line (one point is midpoint) and direction and length of the P[1] to P[3]. L
L P[3]
P[4] P[1]
P[2]
P[3]
P[2]
P[1]
-- Four points teach method --
-- Three points teach method --
Fig. 4-11-81 CAUTION
In setting the standard coordinates, be careful of the following points. • Always execute teaching with the right-hand system. • Set the teaching point to be set as near as possible, to the center of actual work operation point. • When setting the teaching point, confirm that the teach point settings are in parallel relative to the actual robot X and Y surfaces and also to the work operation points. • If there is an R-axis, perform the point teach at the center of the R-axis. • The standard coordinates set here greatly affect the overall cartesian coordinates precision.
4-132
CHAPTER 4 Operation
The following parameters are set automatically when the standard coordinates are set. 1) “Arm length [mm]” M1= ###.## ..................... X-axis arm length (rotation center distance of X-axis and Y-axis) M2= ###.## ..................... Y-axis arm length (rotation center distance of Y-axis and R-axis, or distance of rotation center of Y-axis and operation point) 2) “Offset pulse” M1= ###### .................... X-axis offset pulse (degrees between the X-axis of the robot origin position and the X-axis of the standard coordinate) M2= ###### .................... Y-axis offset pulse (degrees of X-axis of robot origin position and Y-axis of origin) M4= ###### .................... R-axis offset pulse (degrees between R-axis direction at robot origin and X-axis standard coordinates) When setting two robots, the following parameters are set automatically for the sub robot. 1) “Arm length [mm]” S1= ###.## ...................... X-axis arm length (rotation center distance of X-axis and Y-axis) S2= ###.## ...................... Y-axis arm length (rotation center distance of Y-axis and R-axis) 2) “Offset pulse” S1= ###### ..................... X-axis offset pulse (degrees between the X-axis of the robot origin position and the X-axis of the standard coordinate) S2= ###### ..................... Y-axis offset pulse (degrees of X-axis of robot origin position and Y-axis) S4= ###### ..................... R-axis offset pulse (degrees between R-axis direction at robot origin and X-axis standard coordinates)
4-133
CHAPTER 4 Operation
However, the R-axis offset is not set. Set in “SYSTEM>PARAM>AXIS” mode.
lengt h
Y
is ax X-
m ar
Y-ax is arm
R-axis offset pulse
h gt el n
Y-axis offset pulse
X-axis offset pulse X
Fig. 4-11-82 NOTE
• Rough standard coordinate settings are made prior to shipment. • The X, Y and R-axes pulse values during X-axis standard coordinate movement are equal to the offset pulse values.
CAUTION
When setting two robots, confirm the current target group. Switch the target group with the ROBOT key ( LOWER + MODE ). Press the F 15 (COORDI) key in “MANUAL” mode. In this mode, it can be done with the standard coordinate setting. MANUAL>COORDI
50% [MG]
————————————x———————y———————z———————r——— How many points method are used? F1:4 points teach method F2:3 points teach method
4POINTS 3POINTS
Fig. 4-11-83
4-134
CHAPTER 4 Operation
In “MANUAL>COORDI” mode, valid keys and sub menu contents are as shown below. Valid keys
11-11-1
Menu
Function
F1
4POINTS
Set standard coordinate by the four points teach method.
F2
3POINTS
Set standard coordinate by the three points teach method.
Setting of the Standard Coordinate by Four Points Teach Method P[3]
P[4]
P[1]
P[2]
Fig. 4-11-84 Premise: Coordinate values made for P[2], P[3], P[4] must be accurate, When P[1] is the origin point. [OPERATION] 1) In “MANUAL>COORDI” mode, press the F 1 (4POINTS) key, the mode for setting standard coordinates by 4 points teach is then displayed on the screen. MANUAL>COORDI>4POINTS
50% [MG]
————————————x———————y———————z———————r——— Move arm to P[1] and press ENTER key P[2]= P[3]= P[4]= [POS]
0
0
0 VEL+
0 VEL-
Fig. 4-11-85 2) Use the Jog key to move the tip of a robot to teaching point P[1] and press the key to set the value. 3) Execute the same operation with step 2) to teach point P[2] as well. 4-135
CHAPTER 4 Operation
4) Based on P[1] input coordinates of teach point P[2] in millimeter units. MANUAL>COORDI>4POINTS
50% [MG]
————————————x———————y———————z———————r——— Move arm to P[2] and press ENTER key P[2]= 100.00
0.00_
P[3]= P[4]= [POS]
0
0
0 VEL+
0 VEL-
Fig. 4-11-86 5) Repeat step 3), 4) to set teach points P[3] and P[4]. 6) The message confirming the length and value of the offset pulse appears in the guideline. If it is not calculated correctly, an error message appears. Press the F 4 (YES) key to store the setting. Press the F 5 (NO) key when not storing. MANUAL>COORDI>4POINTS
50% [MG]
————————————x———————y———————z———————r——— Arm length[mm] M1= 199.96
M2= 199.98
Offset pulse M1= -12421
M2=
2001
Set OK?
YES
NO
Fig. 4-11-87
11-11-2
Setting of the Standard Coordinate by Three Points Teach Method L
L
P[2]
P[1]
Fig. 4-11-88 4-136
P[3]
CHAPTER 4 Operation
Premise: It is necessary to make sure that all 3 points P[1], P[2], and P[3] are on a straight line. P[2] should be the midpoint of P[1] through P[3]. [OPERATION] 1) In “MANUAL>COORDI” mode, press the F 2 (3POINTS) key, the setting mode for standard coordinates with three points teach is then displayed on the screen. MANUAL>COORDI>3POINTS
50% [MG]
————————————x———————y———————z———————r——— Move arm to P[1] and press ENTER key P[1]= P[2]= P[3]= [POS]
0
0
0 VEL+
0 VEL-
Fig. 4-11-89 2) Use the Jog key to move the tip of a robot to teaching point P[1] and press the key to set the value. MANUAL>COORDI>3POINTS
50% [MG]
————————————x———————y———————z———————r——— Move arm to P[2] and press ENTER key P[1]= -43202
47158
P[2]= P[3]= [POS]
-43202
47158
0 VEL+
0 VEL-
Fig. 4-11-90 3) Execute the same operations with step 2) to teach point P[2], P[3] as well. 4) Use the
F 1
(+X) to
(-Y) keys to set the direction of P[1] to P[3].
F 4
MANUAL>COORDI>3POINTS
50% [MG]
Press F.key to get Direction +———————————+———> P[1] [POS] +X
P[3] -9654 -X
48567 +Y
0 -Y
Fig. 4-11-91
4-137
0
CHAPTER 4 Operation
5) Use the
0
to
9
,
keys, to input the length of P[1] to P[3], and
.
press key to set the length. (Input value is less than 1000.) MANUAL>COORDI>3POINTS
50% [MG]
Press F.key to get Direction +———————————+———> +X P[1]
P[3]
Enter the length of P[1]-P[3] [mm] [1-1000] Enter >_
Fig. 4-11-92 6) The message confirming the arm length and offset pulse appears in the guideline. If it is not calculated correctly, an error message appears. Press the F 4 (YES) key to store the setting. Press the F 5 (NO) key when not storing the setting. MANUAL>COORDI>3POINTS
50% [MG]
Arm length[mm] M1= 199.96
M2= 199.98
Offset pulse M1= -12421 Set OK?
M2=
2001 YES
Fig. 4-11-93
4-138
NO
CHAPTER 4 Operation
12
“SYSTEM” Mode In the “SYSTEM” mode, control is executed of various operable parameters related to the overall robot system. The initial “SYSTEM” mode screen is shown in Fig. 4-12-1. q Mode hierarchy
w Version display
e Message line
r Robot type SYSTEM
V7.01X
t Axis configuration Robot
= YK600X
y Memory configuration
Axis
= XYZR
Memory
= SRAM/256k
u Other expanded configurations
Others
= FDD
PARAM
CMU
i Guideline
BACKUP
INIT
DIAGNOS
Fig. 4-12-1 “SYSTEM” mode q Mode hierarchy The current mode hierarchy is displayed. When the highest ranked mode is not highlighted (in reversed background), it shows that the servo power supply is turned off. When the mode is displayed in a highlighted (reversed background) it shows that the servo power supply is turned on. w Version display The ROM version incorporated into the version number is displayed. e Message line An error message is displayed. r Robot type The name of the robot type that is connected is displayed. When setting two robots: The type of main robot/sub robot is displayed like “Robot=YK640/SXYARM”. t Axis configuration The axis configuration is displayed. When setting two robots: The axis configuration on main robot/sub robot is displayed like “Axis=XYZR/ XYZ”. When setting the auxiliary axis: The robot axis and the auxiliary axis are displayed like “Axis=XYZR/XYZ+R”.
4-139
CHAPTER 4 Operation
y Memory configuration The memory configuration is displayed. u Other expanded configurations Other FDD equivalent to expanded configurations are displayed. i Guideline The contents per the allotted function are highlighted (in reversed background). Valid keys and sub menu contents for the “SYSTEM” mode are as shown below. Valid keys
12-1
Menu
Function
F1
PARAM
Specifies parameters related to robot movement.
F2
CMU
Specifies parameters related to communication.
F3
BACKUP
Save or load the data.
F4
INIT
Initialization for different types of data is performed.
F5
DIAGNOS
Executes self-diagnosis.
Parameter Sets parameters related to robot operation. Parameters are of 2 types, robot parameters and axis parameters. Robot parameters are set in relation to parameters for overall robot use. Axis parameter sets the attributes for each axis. [OPERATION] 1) Press the F 1 (PARAM) key in “SYSTEM” mode. The “PARAM” mode screen is displayed. SYSTEM>PARAM Robot
V7.01X
= YK600X
M1= aYK600X
M5= no axis
M2= aYK600X
M6= no axis
M3= aYK600X M4= aYK600X ROBOT
AXIS
Fig. 4-12-2 “PARAM” mode
4-140
CHAPTER 4 Operation
2) Press the F 1 (ROBOT) key or F 2 (AXIS) key in “PARAM” mode. The parameter items and the messages which were set are displayed. SYSTEM>PARAM>ROBOT
V7.01X
1.Tip weight[kg] 2.Origin sequence 3.Display language(JPN/ENG) 4.R axis orientation 5.Data display length EDIT
JUMP
Fig. 4-12-3 Robot parameter
SYSTEM>PARAM>AXIS
V7.01X
1.Accel coefficient[%] 2.+Soft limit[pulse] 3.-Soft limit[pulse] 4.Tolerance[pulse] 5.OUT position[pulse] EDIT
JUMP
Fig. 4-12-4 Axis parameter 3) Select a parameter item with the cursor key (↑/↓). When the F 2 (JUMP) key is pressed and the parameter number is input, the cursor moves to the specified item. 4) Press the F 1 (EDIT) key. Editing with F 1 (EDIT) key is valid for the robot parameters until the ESC key is pressed. Therefore, various parameters can be set continuously. 5) Edit the selected parameter. There are 2 methods of the parameter editing. The first inputs data with the numeric keys, and the second selects an item with the function keys. When inputting the data with the numeric keys, the possible setting range is displayed on the guideline as [#-###]. A value in excess of this is changed to an upper value or a lower value automatically. Refer to “12-1-1 Robot Parameter” and “12-1-2 Axis Parameter” for setting the contents of each parameter. 6) Pressing the ESC key quits parameter editing and the screen then returns to “SYSTEM>PARAM>ROBOT” or “SYSTEM>PARAM>AXIS” mode.
4-141
CHAPTER 4 Operation
Robot Parameter On the MPB screen, each robot parameter is displayed in the following format. value for the whole controller RC= value for the main group value for the sub group MG= SG= value for the main robot value for the sub robot MR= SR= When setting one robot: SYSTEM>PARAM>ROBOT
V7.01X
1.Tip weight[kg] MR=
5
[0-200] Enter>_
Fig. 4-12-5 Robot parameter setting (when setting one robot) When setting two robots: SYSTEM>PARAM>ROBOT
V7.01X
1.Tip weight[kg] MR=
5
SR=
4
[0-200] Enter>_
Fig. 4-12-6 Robot parameter setting (when setting two robots) During robot parameter editing, valid keys and the sub menu contents are as shown below. Valid keys
Menu
Cursor (↑+↓)
Function Moves the cursor up and down.
>> <<
12-1-1
Page key ( / )
Switches the page display.
F1
EDIT
Edits the parameter.
F2
JUMP
Moves the cursor to the specified parameter.
4-142
CHAPTER 4 Operation
1. Tip weight [kg] /WEIGHT This sets the parameter for tip weight of robot (workpiece weight + tool weight) is set in kg units. The maximum value is determined automatically in accordance with the robot model which was set in “SYSTEM>INIT>GENERAT” mode. [OPERATION] 1) Select “1.Tip weight[kg]” in “SYSTEM>PARAM>ROBOT” mode. 2) Press the F 1 (EDIT) key. 3) Select the parameter with the cursor key (↑/↓). 4) Input the value with the 0 to 9 keys and then press the key. 5) Press the ESC key to quit the setting, and the screen then returns to “SYSTEM>PARAM>ROBOT” mode. SYSTEM>PARAM>ROBOT
V7.01X
1.Tip weight[kg] MR=
5
[0-200] Enter>_
Fig. 4-12-7 Setting of “Tip weight[kg]” NOTE
• These parameters cannot be input when using the controller for all single axis specifications. Set for each axis using “11.Axis tip weight[kg]” of “121-2 Axis Parameter”. • When setting the tip weight for the auxiliary axis, use “11. Axis tip weight[kg]” of “12-1-2 Axis Parameter”. CAUTION
Factors such as optimal speed are set automatically according to this parameter. Use caution especially if setting to a weight lower than the actual value as this sometimes has a bad effect on the robot.
4-143
CHAPTER 4 Operation
2. Origin sequence /ORIGIN The return to origin sequence is input by a combination of the numerals 1, 2, 3, 4, 5, 6. 1, 2, 3, 4, 5, 6 corresponds to X, Y, Z, R, A, B axis. Return to origin is executed in the axis order which was input. However, when there are axes which are not input, perform origin return for it last simultaneously. Therefore first return to origin all axes which might possibly interfere with nearby equipment and it is then advisable to perform simultaneous origin return for the other axes. [OPERATION] 1) Select “2.Origin sequence” in “SYSTEM>PARAM>ROBOT” mode. 2) Press the F 1 (EDIT) key. 3) Select the parameter with the cursor key (↑/↓). 4) Input the value with the 0 to 9 keys and then press the key. ESC 5) Press the key to quit the setting, and the screen then returns to “SYSTEM>PARAM>ROBOT” mode. SYSTEM>PARAM>ROBOT
V7.01X
2.Origin sequence MG=
312456
[0-654321] Enter>_
Fig. 4-12-8 Setting of “Origin sequence” The sequence for return to origin at parameter initialization is shown below. • General purpose type robot: 312456 (ZXYRAB) • Loader robot: 35241 (ZAYRX) NOTE
• The origin sequence is a sequence including the robot and auxiliary axis. • Use this return to origin sequence for performing absolute reset. CAUTION
• Emergency stop may occur if return to origin at the stroke end is performed for two or more axes simultaneously. In this case, perform return to origin for each axis separately instead of simultaneously.
4-144
CHAPTER 4 Operation
3. Display language (JPN/ENG) /DUM Language of the display message is switched. [OPERATION] 1) Select “3. Display language(JPN/ENG)” in “SYSTEM>PARAM>ROBOT” mode. 2) Press the F 1 (EDIT) key. 3) Select the parameter with the cursor key (↑/↓). 4) Press the F 1 (JAPANES) key or the F 2 (ENGLISH) key to switch the display language. 5) Press the ESC key to quit the setting, and the screen then returns to “SYSTEM>PARAM>ROBOT” mode. SYSTEM>PARAM>ROBOT
V7.01X
3.Display language(JPN/ENG) RC=
ENGLISH
JAPANES ENGLISH
Fig. 4-12-9 Setting of “JAPANESE/ENGLISH” NOTE
This parameter is not changed even when the parameters are initialized.
4-145
CHAPTER 4 Operation
4. R axis orientation /RORIEN For SCARA type robots, when performing cross movement of XY axis with the Jog (manual) key, this parameter is set for deciding whether to maintain the R-axis direction (attitude) or not. When maintaining a direction when moving an arm towards X or Y, the R-axis is automatically rotated and the attitude is maintained. (Only for SCARA type robots) [OPERATION] 1) Select “4.R axis orientation” in “SYSTEM>PARAM>ROBOT” mode. 2) Press the F 1 (EDIT) key. 3) Select the parameter with the cursor key (↑/↓). 4) Press the F 1 (KEEP) key or the F 2 (FREE) key. 5) Press the ESC key to quit the setting, and the screen then returns to “SYSTEM>PARAM>ROBOT” mode. SYSTEM>PARAM>ROBOT
V7.01X
4.R axis orientation MR=
KEEP
KEEP
FREE
Fig. 4-12-10 Setting of “R axis orientation” NOTE
When the R-axis (the 4th axis) is an auxiliary axis, support for maintaining direction hold is not valid.
4-146
CHAPTER 4 Operation
5. Data display length /DATLEN This parameter switches the point data display to 6 digits or to 8 digits. [OPERATION] 1) Select “5. Data display length” in “SYSTEM>PARAM>ROBOT” mode. 2) Press the F 1 (EDIT) key. 3) Select the parameter with the cursor key (↑/↓). 4) Select the F 1 (6char) key or the F 2 (8char) key. 5) Press the ESC key to quit the setting, and the screen then returns to “SYSTEM>PARAM>ROBOT” mode. SYSTEM>PARAM>ROBOT
V7.01X
5.Data display length RC= 6char
6char
8char
Fig. 4-12-11 Setting of “Data display length” 6. Parameter display unit /PDUNIT This function switches the display unit for the axis parameters: “± software limits”, “outer effective position” and “arch position”. [OPERATION] 1) Select “6. Parameter display unit” in SYSTEM>PRAM>ROBOT mode. 2) Press the F 1 (EDIT) key. 3) Select the parameter with the cursor (↑/↓)keys. 4) Press the F 1 (PULSE) key or F 2 (MM/DEG) key to switch the unit to display the axis parameters. 5) Press the ESC key to quit the setting and return to SYSTEM>PARAM >ROBOT mode. SYSTEM>PARAM>ROBOT
V7.01X
6.Parameter display unit RC=PULSE
PULSE
MM/DEG
Fig. 4-12-12 Parameter display unit setting NOTE
• Among the axis parameters, this function switches the display unit for “± software limits”, “outer effective position” and “arch position” only. 4-147
CHAPTER 4 Operation
Axis Parameter On the MPB screen, each axis parameter is displayed in the following format. value for the main robot axis value for the sub robot axis M?= (?=1 to 6) S?= (?=1 to 4) value for the main auxiliary axis value for the sub auxiliary axis m?= (?=1 to 6) s?= (?=1 to 4) When setting one robot: SYSTEM>PARAM>AXIS
V7.01X
1.Accel coefficient[%] M1=
100
M2=
100
M4=
100
m5=
100
M3=
100
[1-100] Enter>_
Fig. 4-12-13 Axis parameter setting (when setting one robot) When setting two robots: SYSTEM>PARAM>AXIS
V7.01X
1.Accel coefficient[%] M1=
100
M4=
100
S1=
100
s4=
100
M2=
100
M3=
100
S2=
100
S3=
100
[1-100] Enter>_
Fig. 4-12-14 Axis parameter setting (when setting two robots) CAUTION
Setting range is displayed within [#-###] on the guideline. A value in excess of this is changed to an upper value or a lower value automatically.
During robot parameter editing, valid keys and the sub menu contents are as shown below. Valid keys
Menu
Cursor (↑+↓)
Function Moves the cursor up and down.
>> <<
12-1-2
Page key ( / )
Scrolls the screen up and down.
F1
EDIT
Edits the parameters.
F2
JUMP
Moves the cursor to the specified parameter.
4-148
CHAPTER 4 Operation
1. Accel coefficient [%] /ACCEL Acceleration in “AUTO” mode is specified in the range of 1 to 100%. If the tip weight (workpiece weight + tool weight) is set correctly, it is automatically converted internally in the controller to show actual acceleration per a 100% value. [OPERATION] 1) Select “1.Accel coefficient[%]” in “SYSTEM>PARAM>AXIS” mode. 2) Press the F 1 (EDIT) key. 3) Select the axis with cursor key (↑/↓). key. 4) Input the value with the 0 to 9 keys and then press the 5) Input the value of the other axis in steps 3) and 4) as needed. 6) Press the ESC key to quit the setting and the screen then returns to “SYSTEM>PARAM>AXIS” mode. SYSTEM>PARAM>AXIS
V7.01X
1.Accel coefficient[%] M1=
100
M4=
100
M2=
100
M3=
100
[1-100] Enter >_
Fig. 4-12-15 Setting of “Accel coefficient [%]” 2. +Soft limit[pulse] /PLMT+ 3. -Soft limit[pulse] /PLMTThe robot is moved within the + soft limit and - soft limit area. Performing teaching or automatic operation, check whether or not the specified point data is within the soft limits. The setting value for the selected axis is displayed in mm or degrees (deg) units on the 3rd line on the MPB screen. When the key input value is a real number (numeric value including a period), it is viewed as a value in mm/deg and converted into a pulse value. When the key input value is a integer (numeric value not including a period), it is viewed as a pulse value. [OPERATION] 1) Select “2.+Soft limit[pulse]” or “3.-Soft limit[pulse]” in “SYSTEM> PARAM>AXIS” mode. 2) Press the F 1 (EDIT) key. 3) Select the axis with cursor key (↑/↓). 4) Input the value with the 0 to 9 keys, . key and the – key key. and then press the 5) Input the value of the other axis in steps 3) and 4) as needed.
4-149
CHAPTER 4 Operation
6) Press the ESC key, to quit the setting and the screen then returns to “SYSTEM>PARAM>AXIS” mode. SYSTEM>PARAM>AXIS 2.+Sofr limit[pulse] M1= 100000
M2= 100000
V7.01X (112.50 deg) M3= 100000
M4= 100000
[+/-4000000] Enter >_
Fig. 4-12-16 Setting of “+Soft limit[pulse]” CAUTION
• Always set the soft limit within the area of robot hard limit. When the robot is stopped by the hard limit, it is necessary to turn the controller power on again. • In SCARA type robots make sure that the total movement range of the “+” soft limit and “-” soft limit for X-axis and Y-axis does not exceed 360°. If it was exceeded, an error is displayed when the cartesian coordinate system (mm display), is selected. • In manual movement and during automatic operation, the robot may exceed the soft limit in the following cases. 1) When servo is turned OFF by emergency stop operation and so on during high speed movement. 2) In circular interpolation (ARC;MOVE C) movement, when the pecified point is within the soft limit, but one part of a circular arc is outside the soft limit. NOTE
Note the following points when the robot parameter “6. Parameter display unit” is set to “MM/DEG”: 1) The value of each axis is displayed in mm/deg. 2) The set value of the selected axis is displayed in pulses (Pls) on the third line of the MPB.
4-150
CHAPTER 4 Operation
4. Tolerance[pulse] /TOLE When PTP is executed it sets the tolerance positioning range for the target position. When a value within this specified range is entered, it is judged to have completed positioning. Program positioning time can be greatly shortened by making a large setting for this value. When there is a point movement command after completing program positioning, a robot moves in accordance with the command. When there is no point movement command after the program positioning, the robot next makes a continuous movement to the actually set target position. [OPERATION] 1) Select “4.Tolerance [pulse]” in “SYSTEM>PARAM>AXIS” mode. 2) Press the F 1 (EDIT) key. 3) Select the axis with cursor key (↑/↓). 4) Input the value with the 0 to 9 keys and then press the key. 5) Input the value of the other axis in steps 3) and 4) as needed. 6) Press the ESC key to quit the setting and the screen then returns to “SYSTEM>PARAM>AXIS” mode. SYSTEM>PARAM>AXIS
V7.01X
4.Tolerance[pulse] M1=
20
M4=
20
[1-
M2=
20
M3=
20
] Enter >_
Fig. 4-12-17 Setting of “Tolerance [pulse]” CAUTION
1. If the tolerance value is set too small, return-to-origin may not be performed correctly or the positioning time for PTP movements may become longer. 2. The maximum tolerance value is the number of encoder pulses divided by 8.
4-151
CHAPTER 4 Operation
5. Out position[pulse] /OUTPOS After PTP is executed, the next command can be executed before each axis enters the tolerance range. This parameter sets the number of pulses prior to the target position, at which to execute the next command. However if a movement command is next, the command continues until it enters within tolerance range. When a tolerance is larger than the value of OUT effective position, it is not considered to have entered tolerance range until the robot arrives at an OUT effective position. The setting value for the selected axis is displayed in mm or degrees (deg) units on the 3rd line on the MPB screen. When the key input value is a real number (numeric value including a period), it is viewed as a value in mm/deg and converted into a pulse value. When the key input value is a integer (numeric value not including a period), it is viewed as a pulse value. [OPERATION] 1) Select “5.Out position[pulse]” in “SYSTEM>PARAM>AXIS” mode. 2) Press the F 1 (EDIT) key. 3) Select the axis with cursor key (↑/↓). 4) Input the value with the 0 to 9 keys and . key and then press the key. 5) Input the value of other axis in steps 3) and 4) as needed. 6) Press the ESC key to quit the setting and the screen then returns to “SYSTEM>PARAM>AXIS” mode. SYSTEM>PARAM>AXIS
V7.01X
5.OUT position[pulse] M1=
500
M4=
500
M2=
500
( M3=
0.56 deg) 500
[1-4000000] Enter >_
Fig. 4-12-18 Setting of “Out position[pulse]” NOTE
Note the following points when the robot parameter “6. Parameter display unit” is set to “MM/DEG”: 1) The value of each axis is displayed in mm/deg. 2) The set value of the selected axis is displayed in pulses (Pls) on the third line of the MPB.
4-152
CHAPTER 4 Operation
6. Arch position[pulse] /ARCH When an arch motion command is executed, this parameter sets execution of arch movement by the number of pulses prior to the target position. In the following diagram, if the Z-axis is taken as the arch axis, then arch 1 starts arch movement after the Z-axis enters the arch position. Arch 2 starts arch movement after all axes besides the Z-axis enter within arch position. MOVE P,P [x], Z=100.0
Other axis arch positions Z=100.0
Arch position of the Z-axis Arch 1
Arch 2
Current position
Example)
P [x]
The Z-axis moves 25mm vertically while performing arch motion with a linear movement of 10mm.
15mm
Condition) Arch portion distance: Resolution of Z-axis: Z-axis ball screw: Compute) Z-axis arch portion:
15mm 8192 pulse/motor 1 rotation 10mm/one rotation of ball screw 15*8192/10 = 12288 pulse
Fig. 4-12-19 Arch motion The setting value for the selected axis is displayed in mm or degrees (deg) units on the 3rd line on the MPB screen. When the key input value is a real number (numeric value including a period), it is viewed as a value in mm/deg and converted into a pulse value. When the key input value is a integer (numeric value not including a period), it is viewed as a pulse value. [OPERATION] 1) Select “6.Arch position[pulse]” in “SYSTEM>PARAM>AXIS” mode. 2) Press the F 1 (EDIT) key. 3) Select the axis with cursor key (↑/↓). 4) Input the value with the 0 to 9 keys and . key and then press the key. 5) Input the value of other axis in steps 3) and 4) as needed. 4-153
CHAPTER 4 Operation
6) Press the ESC key, to quit the setting and the screen then returns to “SYSTEM>PARAM>AXIS” mode. SYSTEM>PARAM>AXIS
V7.01X
6.Arch position[pulse] M1=
500
M4=
500
M2=
500
( M3=
0.56 deg) 500
[1-4000000] Enter >_
Fig. 4-12-20 Setting of “Arch position[pulse]” NOTE
• Arch motion can be executed on the X and Y axes when the point data is set to “pulse”. Quick evasion movements are especially possible in SCARA type robots. • Note the following points when the robot parameter “6. Parameter display unit” is set to “MM/DEG”: 1) The value of each axis is displayed in mm/deg. 2) The set value of the selected axis is displayed in pulses (Pls) on the third line of the MPB.
4-154
CHAPTER 4 Operation
7. Origin speed [pulse/10ms] /ORGSPD This parameter specifies the movement speed during return to origin, in terms of the number of pulses per 10ms. [OPERATION] 1) Select “7.Origin speed [pulse/10ms]” in “SYSTEM>PARAM>AXIS” mode. 2) Press the F 1 (EDIT) key. 3) Select the axis with cursor key (↑/↓). 4) Input the value with the 0 to 9 keys and then press the key. 5) Input the value of other axis in steps 3) and 4) as needed. 6) Press the ESC key to quit the setting and the screen then returns to “SYSTEM>PARAM>AXIS” mode. SYSTEM>PARAM>AXIS
V7.01X
7.Origin speed[pulse/10ms] M1=
50
M4=
50
M2=
50
M3=
50
[1- ] Enter >_
Fig. 4-12-21 Setting of “Origin speed [pulse/10ms]” (Example)
When setting the return to origin speed to 25mm/s: Conditions Axis resolution : 8192 pulses/motor turn Axis ball screw : 20mm/ball screw turn Calculation Return to origin speed : 2 5 / 2 0 * 8 1 9 2 ) / 1 0 0 = 1 0 2 pulses/10ms
CAUTION
The maximum return to origin speed is equal to the maximum number of encoder pulses divided by 40.
4-155
CHAPTER 4 Operation
8. Manual accel[%] /MANACC Acceleration in “MANUAL” mode is specified in the range of 1 to 100%. If the tip weight (workpiece weight + tool weight) is set correctly, it is automatically converted internally in the controller to show the actual speed per 100% acceleration. NOTE
If robot stops after manual movement, residual oscillation sometimes occurs according to robot type. In such a case, adjust the setting value. [OPERATION] 1) Select “8.Manual accel[%]” in “SYSTEM>PARAM>AXIS” mode. 2) Press the F 1 (EDIT) key. 3) Select the axis with cursor key (↑/↓). 4) Input the value with the 0 to 9 keys and then press the key. 5) Input the value of other axis in steps 3) and 4) as needed. 6) Press the ESC key to quit the setting and the screen then returns to “SYSTEM>PARAM>AXIS” mode. SYSTEM>PARAM>AXIS
V7.01X
8.Manual accel[%] M1= 100M4=
100 M2=
100
M3=
1002=
100
[1-100] Enter >_
Fig. 4-12-22 Setting of “Manual accel[%]”
4-156
100
M3=
CHAPTER 4 Operation
9. Origin shift [pulse] /SHIFT When the motor has been replaced for some reason or the robot origin position has shifted due to mechanical shocks, this parameter can be used to correct the origin position error. The initial setting for this parameter is “0”. To correct the origin position error, enter the number of pulses required to move the origin back to the correct position. NOTE
If the current position shows “+1234 pulses” when the robot arm has been moved after position error to a position which is the “0” pulse point before position error, then enter “-1234” for this parameter. [OPERATION] 1) Select “9.Origin shift [pulse]” in “SYSTEM>PARAMETER>AXIS” mode. 2) Press the F 1 (EDIT) key. 3) Select the axis with the cursor (↑/↓) keys. 4) Enter the correct value with the 0 to 9 and – keys and press key. 5) Repeat steps 3) and 4) to correct other axes if necessary. 6) Press the ESC key to quit the setting, then the screen returns to the “SYSTEM>PARAMETER>AXIS” mode. SYSTEM>PARAM>AXIS
V7.01X
9.Origin shift[pulse] M1= M4=
75511 M2= -223512
M3=
517
0
[+/-4000000] Enter >_ 75511
Fig. 4-12-23 Setting of “Manual accel[%]” CAUTION
• The Origin shift is an important parameter that determines the robot position. Set this parameter only when needed. • This parameter will be valid when origin to return is performed after setting.(When using the absolute specification robot, the parameter will be validated when the power is turned ON after setting.)
4-157
CHAPTER 4 Operation
10. Arm length[mm] /ARMLEN Set the arm length of each axis for SCARA type robots and loader robots. When the standard coordinates are set, the arm length of X-axis and Y-axis are set automatically. This parameter can be input by keyboard entry. Nominal appellation value of each arm length is set as the initial value. [OPERATION] 1) Select “10.Arm length[mm]” in “SYSTEM>PARAM>AXIS” mode. 2) Press the F 1 (EDIT) key. 3) Select the axis with cursor key (↑/↓). 4) Input the value with the 0 to 9 and . keys and then press the key. Up to 5 digits including a decimal point are valid. 5) Input the value of other axis in steps 3) and 4) as needed. 6) Press the ESC key to quit the setting and the screen then returns to “SYSTEM>PARAM>AXIS” mode. SYSTEM>PARAM>AXIS
V7.01X
9.Arm lingth[mm] M1= 200.00 M4=
M2= 200.00
M3=
0.00
0.00
[0-10000] Enter >_
Fig. 4-12-24 Setting of “Arm length[mm]” CAUTION
When moving SCARA type robots or loader robots in the cartesian coordinate system, arm length data is especially important. Setting this parameter and the standard coordinates accurately is important for effective use of cartesian coordinate functions and for high accuracy.
4-158
CHAPTER 4 Operation
11. Offset pulse /OFFSET When the robot is at the origin of each axis, this parameter shows the X-axis offset, Y-axis offset and R-axis offset in “pulse” units. • X-axis offset....... degree of standard coordinate +X-axis and X-axis arm • Y-axis offset ....... degree of X-axis arm and Y-axis arm • R-axis offset....... a origin direction degree of standard coordinate +X-axis and R-axis When the standard coordinates are set, the X-axis offset and Y-axis offset are set automatically. This parameter can be input by keyboard entry. For SCARA type robots and loader robots, “0” is set as the initial value. Only the R-axis offset is valid in cartesian robots. (X-axis and Y-axis offsets are not used.) NOTE
When this parameter is set (0 is valid), standard coordinate settings can be done. Before setting the standard coordinate accurately, the setting of a rough standard coordinate according to a cross movement is possible. [OPERATION] 1) Select “11.Offset pulse” in “SYSTEM>PARAM>AXIS” mode. 2) Press the F 1 (EDIT) key. 3) Select the axis with cursor key (↑/↓). key. 4) Input the value with the 0 to 9 keys and then press the 5) Input the value of other axis in steps 3) to 4) as needed. 6) Press the ESC key to quit the setting and the screen then returns to “SYSTEM>PARAM>AXIS” mode. SYSTEM>PARAM>AXIS
V7.01X
10.Offset pulse M1=
10000
M4=
1000
M2=
20000
M3=
0
[+/-4000000] Enter >_
Fig. 4-12-25 Setting of “ Offset pulse” CAUTION
When moving SCARA type robots or loader robots in the cartesian coordinate system, the offset pulse data is especially important. Setting the standard coordinates and this parameter accurately is important for effective use of cartesian coordinate functions and for accuracy. 4-159
CHAPTER 4 Operation
12. Axis tip weight[kg] /AXSTIP When using the controller to single axis specifications and when using the auxiliary axis, set each robot’s work weight in kilogram units. Set the initial settings at the maximum load weight for each single axis. Make the settings in accordance with the work weights used for each axis. [OPERATION] 1) Select “12.Axis tip weight[kg]” in “SYSTEM>PARAM>AXIS” mode. 2) Press the F 1 (EDIT) key. 3) Select the axis with cursor key (↑/↓). key. 4) Input the value with the 0 to 9 keys and then press the 5) Input the value of other axis in steps 3) and 4) as needed. 6) Press the ESC key to quit the setting and the screen then returns to “SYSTEM>PARAM>AXIS” mode. SYSTEM>PARAM>AXIS
V7.01X
12.Axis tip weight[kg] M1=
10
M4=
0
M2=
0
M3=
0
[0-200]
Fig. 4-12-26 Setting of “Axis tip weight[kg]” NOTE
This parameter cannot be input when using the controller at other than single axis specifications or the auxiliary axis specifications. CAUTION
The optimum speed and gain are automatically set for each individual axis according to this parameter. Set so as not to exceed the maximum weight amount of each axis. Please use caution since using a value that exceeds the maximum load weight or setting a load weight value that is lower than the actual weight can have a harmful effect on the robot.
4-160
CHAPTER 4 Operation
13. Origin method /ORIGINS This parameter specifies the method for performing origin to return. There are three methods available as follows: “sensor” : The origin is detected by sensor input. “torque” : The origin is detected when the axis moves against the stroke end. “mark” : The origin position is set by the user, with a mating mark. The axis specified as “mark” does not perform return to origin. CAUTION
The “mark” method is effective only for the axes using an absolute encoder. The “torque” method is used for the axes using a motor of 200W or more, because this method applies large mechanical stress to the axis. If this parameter is changed without consulting YAMAHA or YAMAHA sales representatives, we shall not be liable for any consequential problems. [OPERATION] 1) Select “13. Origin method” in “SYSTEM>PARAMETER>AXIS” mode. 2) Press the F 1 (EDIT) key. 3) Select the axis with the cursor (↑/↓) keys. 4) Press the F 1 (SENSOR), F 2 (TORQUE) or F 3 (MARK). 5) Press the ESC key to quit the setting, then the screen returns to the “SYSTEM>PARAMETER>AXIS” mode. SYSTEM>PARAM>AXIS
V7.01X
13.Origin method M1=SENSOR
M2=SENSOR
M3=TORQUE
M4=TORQUE
SENSOR
TORQUE
MARK
Fig. 4-12-27 Setting of “Origin method” CAUTION
When this parameter is changed, the return to origin setting becomes incomplete. Robots with a rotating arm must use the “sensor” method for performing return to origin.
4-161
CHAPTER 4 Operation
14. Origin direction /ORIGINS This parameter specifies the direction in which each robot axis performs return to origin. “– – – ” : The axis moves in the direction opposite the + direction of jog movement, to perform return to origin. “+++” : The axis moves in the same direction as the - direction of jog movement, to perform return to origin. Jog movement direction "- - -" setting "+++" setting
CAUTION
If the direction of return to origin is changed without consulting YAMAHA or YAMAHA sales representatives, we shall not be liable for any consequential problems. [OPERATION] 1) Select “14. Origin direction” in “SYSTEM>PARAMETER>AXIS” mode. 2) Press the F 1 (EDIT) key. 3) Select the axis with the cursor (↑/↓) keys. 4) Press the F 1 (– – – ) or F 2 (+++). 5) Press the ESC key to quit the setting, then the screen returns to the “SYSTEM>PARAMETER>AXIS” mode. SYSTEM>PARAM>AXIS
V7.01X
14.Origin direction M1=———
M2=———
M3=+++
M4=———
–––
+++
Fig. 4-12-28 Setting of “Origin direction” CAUTION
When this parameter is changed, the return to origin setting becomes incomplete.
4-162
CHAPTER 4 Operation
15. Motor direction /MOTDIR This parameter specifies the direction in which each robot axis moves. “– – – ” : The axis moves in the - direction matching the - direction of the motor. “+++” : The axis moves in the + direction matching the + direction of the motor. Motor direction "- - -" setting "+++" setting
CAUTION
If the initial setting for this parameter of SCARA robots and loader type robots is changed, there will be problems when the axes move orthogonally. If the motor direction is changed without consulting YAMAHA or YAMAHA sales representatives, we shall not be liable for any consequential problems. [OPERATION] 1) Select “15. Motor direction” in “SYSTEM>PARAMETER>AXIS” mode. 2) Press the F 1 (EDIT) key. 3) Select the axis with the cursor (↑/↓) keys. 4) Press the F 1 (– – – ) or F 2 (+++). 5) Press the ESC key to quit the setting, then the screen returns to the “SYSTEM>PARAMETER>AXIS” mode. SYSTEM>PARAM>AXIS
V7.01X
15.Motor direction M1=———
M2=———
M3=+++
M4=———
–––
+++
Fig. 4-12-29 Setting of “Motor direction” CAUTION
When this parameter is changed, the return to origin setting becomes incomplete. CAUTION
This parameter cannot be changed in servo-on status. To change this parameter, turn off the servo.
4-163
CHAPTER 4 Operation
Communication Parameter The various parameters relating to communication procedures are set when using RS-232C interface. There are the following 7 kinds of communication parameters. 1. Communication mode 2. Data bit 3. Baud rate 4. Stop bit 5. Parity 6. Termination code 7. XON/XOFF control 8. DTR/DSR control 9. RTS/CTS control Refer to “RS-232C interface” in Chapter 6 for details. [OPERATION] 1) Press the F 2 (CMU) key in “SYSTEM” mode. The communication parameter screen is displayed. SYSTEM>CMU
V7.01X
1.CMU mode
ONLINE
2.Data bits
8
3.Baud rate
9600
4.Stop bit
1
5.Parity
NON
EDIT
JUMP
Fig. 4-12-30 Communication parameter
>>
<<
2) Select the parameter with cursor key (↑/↓). Press the F 2 (JUMP) key and input the parameter number, jump to the specified item. Page key ( / ) can be also used. 3) Press the F 1 (EDIT) key. Editing with the F 1 (EDIT) key is valid until the ESC key is pressed. Therefore, various parameters can be set continuously. 4) Set the parameter with the function keys. The setting value set is displayed the guideline of the menu. 5) When the ESC key or the cursor key (↑/↓) is pressed to move to another selection, the setting of each item is complete. In “SYSTEM>CMU” mode, valid keys and the sub menu contents are as shown below. Valid keys
Menu
Cursor (↑/↓)
Function Moves the cursor up and down.
>> <<
12-2
Page key ( / )
The screen is switched.
F1
EDIT
Edits the parameters.
F2
JUMP
Moves the cursor to the specified parameter.
4-164
CHAPTER 4 Operation
1. CMU mode This parameter specifies the communication mode with a computer. [OPERATION] 1) Select “1.CMU mode” in “SYSTEM>CMU” mode. 2) Press the
F 1
(EDIT) key.
3) Select the communication mode with the (OFFLINE) function key.
F 1
(ONLINE) or
F 2
4) Press the ESC key to quit the setting. When continuing the setting of other items, select with the cursor key (↑/↓). SYSTEM>CMU
V7.01X
1.CMU mode
ONLINE
2.Data bits
8
3.Baud rate
9600
4.Stop bit
1
5.Parity
NON
OFFLINE ONLINE
Fig. 4-12-31 Setting of “CMU mode” NOTE
Online commands are executed only in “ONLINE” mode. 2. Data bits This parameter sets the data bit length. [OPERATION] 1) Select “2.Data bits” in “SYSTEM>CMU” mode. 2) Press the
F 1
(EDIT) key.
3) Select the data bits with the
F 1
(7) or
F 2
(8) function keys.
4) Press the ESC key to quit the setting. When continuing the setting of other items, select with cursor key (↑/↓). SYSTEM>CMU
V7.01X
1.CMU mode
7
ONLINE
2.Data bits
8
3.Baud rate
9600
4.Stop bit
1
5.Parity
NON
8
Fig. 4-12-32 Setting of “Data bits” 4-165
CHAPTER 4 Operation
3. Baud rate This parameter sets the communication speed with a computer. [OPERATION] 1) Select “3.Baud rate” in “SYSTEM>CMU” mode. 2) Press the
(EDIT) key.
F 1
3) Select the communication speed with the function keys.
F 1
(1200) to
F 6
(38400)
4) Press the ESC key to quit the setting. When continuing the setting of other items, select with cursor key (↑/↓). SYSTEM>CMU
V7.01X
1.CMU mode
ONLINE
2.Data bits
8
3.Baud rate
9600
4.Stop bit
1
5.Parity 1200
NON
2400
4800
9600
19200
Fig. 4-12-33 Setting of “Baud rate” CAUTION
When transmitting or receiving data of 1kbyte or more at a time for data backup, use a band rate of less than 9600bps.
4-166
CHAPTER 4 Operation
4. Stop bit This parameter sets the stop bit length. [OPERATION] 1) Select “4.Stop bit” in “SYSTEM>CMU” mode. 2) Press the
F 1
(EDIT) key.
3) Select the stop bit length with the
F 1
(1) or
(2) function keys.
F 2
4) Press the ESC key to quit the setting. When continuing the setting of other items, select with the cursor key (↑/↓). SYSTEM>CMU
V7.01X
1.CMU mode
ONLINE
2.Data bits
8
3.Baud rate
9600
4.Stop bit
1
5.Parity
NON
1
2
Fig. 4-12-34 Setting of “Stop bit” 5. Parity This parameter sets the parity check. [OPERATION] 1) Select “5.Parity” in “SYSTEM>CMU” mode. 2) Press the
F 1
(EDIT) key.
3) Select the parity check with the keys.
F 1
(NON) to
F 3
(EVEN) function
4) Press the ESC key to quit the setting. When continuing the setting of other item, select with the cursor key (↑/↓). SYSTEM>CMU
V7.01X
1.CMU mode
ONLINE
2.Data bits
8
3.Baud rate
9600
4.Stop bit
1
5.Parity
NON
NON
ODD
EVEN
Fig. 4-12-35 Setting of “Parity” 4-167
CHAPTER 4 Operation
6. Termination code This parameter sets the line feed code. [OPERATION] 1) Select “6.Termination code” in “SYSTEM>CMU” mode. 2) Press the
F 1
(EDIT) key.
3) Select the line feed with the
F 1
(CR) or
(CRLF) function keys.
F 2
4) Press the ESC key to quit the setting. When continuing the setting of other items, select with the cursor key (↑/↓). SYSTEM>CMU
V7.01X
3.Baud rate
9600
4.Stop bit
1
5.Parity
ODD
6.Termination code
CR
7.XON/XOFF control
YES
CR
CRLF
Fig. 4-12-36 Setting of “Termination code” 7. XON/XOFF control This parameter sets whether to perform XON/XOFF control. [OPERATION] 1) Select “7.XON/XOFF control” in “SYSTEM>CMU” mode. 2) Press the
F 1
(EDIT) key.
3) Select the XON/XOFF control with the keys.
F 1
(YES) or
F 2
(NO) function
4) Press the ESC key to quit the setting. When continuing the setting of other items, select with the cursor key (↑/↓). SYSTEM>CMU
V7.01X
3.Baud rate
9600
4.Stop bit
1
5.Parity
ODD
6.Termination code
CR
7.XON/XOFF control
YES
YES
NO
Fig. 4-12-37 Setting of “XON/XOFF control” 4-168
CHAPTER 4 Operation
8. DTR/DSR control Specifies whether to perform flow control by using DTR/DSR. [OPERATION] 1) Select “DTR/DSR CONTROL> in “SYSTEM>CMU ” mode. 2) Press the
F 1
3) Select the
F 1
(EDIT) key. (YES) or
F 2
(NO) key.
4) Press the ESC key to quit the setting. To continue setting another item, use the cursor key (↑/↓) to select it. SYSTEM>CMU
V7.01X
5.Parity
ODD
6.Termination code
CRLF
7.XON/XOFF control
YES
8.DTR/DSR control
YES
9.RTS/CTS control
NO
YES
NO
Fig. 4-12-38 “DTR/DSR CONTROL” setting 9. RTS/CTS control Specifies whether to perform flow control by using RTS/CTS. [OPERATION] 1) Select “RTS/CTS CONTROL> in “SYSTEM>CMU ” mode. 2) Press the
F 1
3) Select the
F 1
(EDIT) key. (YES) or
F 2
(NO) key.
4) Press the ESC key to quit the setting. To continue setting another item, use the cursor key (↑/↓) to select it. SYSTEM>CMU
V7.01X
5.Parity
ODD
6.Termination code
CRLF
7.XON/XOFF control
YES
8.DTR/DSR control
NO
9.RTS/CTS control
YES
YES
NO
Fig. 4-12-39 “RTS/CTS CONTROL” setting 4-169
CHAPTER 4 Operation
12-3
Backup This is used to store the various data from the robot controller internal memory into a storage unit. [OPERATION] 1) Press the F 3 (BACKUP) key in “SYSTEM” mode. The “BACKUP” mode screen is displayed. SYSTEM>BACKUP
FDD
CMU
Fig. 4-12-40 “BACKUP” mode 2) Select the backup storage unit with function keys (CMU).
F 1
(FDD) to
F 3
In “SYSTEM>BACKUP” mode, valid keys and the sub menu contents are as shown below. Valid keys
12-3-1
Menu
Function
F1
FDD
Loads and saves the various data onto the floppy disk.
F3
CMU
Loads and saves the various data by means of the RS-232C port.
Floppy Disk In the robot controller, 3.5-inch floppy disk drive unit (FDD) (option) can be used as external storage (i.e., to back up a program). Since the floppy disk (FD) used conforms to MS-DOS format in mode 3, editing can be done on various personal computers. If a floppy disk in the following format is used, the robot automatically recognizes the format for reading or writing a file. Personal computer
Corresponding format
NEC PC9801 series
1.2MB/720KB/640KB
IBM PC/AT and transposition machine (*1)
1.44MB/720KB
TOSHIBA J3100 series
1.2MB/720KB
(*1) AX personal computer, IBM PS/55 series also applicable.
4-170
CHAPTER 4 Operation NOTE
• MS-DOS format 720KB is equivalent to NEC, IBM or TOSHIBA. • NEC 1.2MB format is 8 sectors/track and TOSHIBA 1.2MB format is 15 sectors/track. The 3.5 inch FDD is installed left over the robot controller front panel.
YAMAHA Q R C X
POWER CPU OK SERVO ALARM
FDD eject button (Press this button t o remove the disk.)
FDD operation LED (Lights when data is being loaded or saved.) * Securely insert the disk into the drive until a "click" is heard, with the label side fac ing left.
Fig. 4-12-41 3.5 inch floppy disk drive CAUTION
MS-DOS is a registered trademark of the Microsoft Corporation. IBM, PC/AT and PS/55 are registered trademarks of the IBM Corporation. [OPERATION] 1) Press the F
(FDD) key.
1
SYSTEM>BACKUP>FDD
LOAD
SAVE
DIR
INFO
Fig. 4-12-42 “BACKUP>FDD” mode
4-171
CHAPTER 4 Operation
The following shows the effective keys and sub menu contents in the “SYSTEM>BACKUP>FDD” mode. Valid keys
Menu
Function Loads a file stored on the floppy disk into the robot controller
F1
LOAD
F2
SAVE
F3
DIR
Displays a list of files stored on the floppy disk.
F5
INFO
Displays various items of data that are set on the floppy disk.
F7
ERASE
Erases the specified file stored on the floppy disk.
F8
RENAME
Renames the specified file stored on the floppy disk.
F11
FORMAT
internal memory. Saves data in the robot controller internal memory onto the disk using the specified file name.
Initializes a new floppy disk or old floppy disk when erasing all files.
CAUTION
When the STOP key is pressed during FDD operation (with the operation LED on), the processing in progres is cancelled. If the STOP key or emergency button is pressed while data is being saved on a disk, the file is not created. If the eject button is pressed to eject the FD while it is accessed in the FDD unit, the main system continues normal operation but the file contents and the disk reliability are not guaranteed. Likewise, if the controller power is shut off or largely fluctuates during the FD is accessed, the file contents and the disk reliability are not guaranteed.
12-3-1-1
Loading a File The specified file stored on a floppy disk is loaded into the robot controller internal memory. [OPERATION] 1) Press the F 1 (LOAD) key in the “SYSTEM>BACKUP>FDD” mode to display the types of files on the guideline. 2) Select the type of file to load by using the
F 1
(.ALL) to
SYSTEM>BACKUP>FDD>LOAD
.ALL
.PGM
.PNT
.SFT
.HND
Fig. 4-12-43 Selecting a load file 4-172
F 8
(.PLT) key.
CHAPTER 4 Operation
The following shows the effective keys and sub menu contents in the “SYSTEM>BACKUP>FDD>LOAD” mode. Valid keys
Menu
Function
F1
.ALL
Loads all data files. (extension=.ALL)
F2
.PGM
Loads the program file. (extension=.PGM)
F3
.PNT
Loads the point data file. (extension=.PNT)
F4
.SFT
Loads the shift data file. (extension=.SFT)
F5
.HND
Loads the hand data file. (extension=.HND)
F6
.PRM
Loads the parameter file. (extension=.PRM)
F8
.PLT
Loads the palette definition data file. (extension=.PLT)
CAUTION
All data files (data files with extension "ALL") or parameter files (data files with extension "PRM") saved on a floppy disk, cannot be written into the QRCX Controller while in servo-on status. To write this data into the QRCX Controller, turn off the servo. 3) Enter the load file name after the “Enter FD file name>” message is displayed on the guideline, then press the key. SYSTEM>BACKUP>FDD>LOAD
Enter FD file name>_
.ALL
Fig.4-12-44 Entering the load file name There is no need to enter extension (i.e., .ALL, .PGM., SFT.) since it is automatically set. 4) A confirmation message is displayed on the guideline. Press the F 4 (YES) key to execute the load operation. Press the F 5 (NO) key to stop the load operation. SYSTEM>BACKUP>FD>LOAD>.ALL
TEST1
.ALL —> RAM OK?
YES
NO
Fig. 4-12-45 Confirming load operation 5) The “0.5:Busy” message is displayed during execution. CAUTION
Never remove the floppy disk from the FDD during “Busy” status. 4-173
CHAPTER 4 Operation
12-3-1-2
Saving a File The data in the robot controller internal memory is saved on the floppy disk using the specified file name. [OPERATION] 1) Press the F 2 (SAVE) key in the “SYSTEM>BACKUP>FDD” mode to display the types of files on the guideline. 2) Select the type of file to save by using the
F 1
(.ALL) to
F 8
(.PLT) key.
SYSTEM>BACKUP>FDD>SAVE
.ALL
.PGM
.PNT
.SFT
.HND
Fig. 4-12-46 Selecting a save file The following shows the effective keys and sub menu contents in the “SYSTEM>BACKUP>FDD>SAVE” mode. Valid keys
Menu
Function
F1
.ALL
Saves all data files. (extension=.ALL)
F2
.PGM
Saves the program file. (extension=.PGM)
F3
.PNT
Saves the point data file. (extension=.PNT)
F4
.SFT
Saves the shift data file. (extension=.SFT)
F5
.HND
Saves the hand data file. (extension=.HND)
F6
.PRM
Saves the parameter file. (extension=.PRM)
F8
.PLT
Saves the palette definition data file. (extension=.PLT)
3) Enter the save file name after the “Enter FD file name>” message is displayed on the guideline, then press the key. SYSTEM>BACKUP>FDD>SAVE
Enter FD file name>_
.ALL
Fig. 4-12-47 Entering the save file name
4-174
CHAPTER 4 Operation
There is no need to enter extension (i.e., .ALL, .PGM., SFT.) since it is automatically set. 4) A confirmation message is displayed on the guideline. Press the F 4 (YES) key to execute the save operation. Press the F 5 (NO) key to stop the save operation. SYSTEM>BACKUP>FDD>SAVE>.ALL
TEST1
.ALL <—— RAM OK?
YES
NO
Fig.4-12-48 Confirming save operation 5) The “0.5:Busy” message is displayed during execution. CAUTION
• Be careful since the floppy disk contents are overwritten when a file of the specified name already exists. • Never remove the floppy disk from the FDD during “Busy” status.
12-3-1-3
Displaying the Directory A list of files stored on the floppy disk is displayed. [OPERATION] 1) Press the F 3 (DIR) key in the “SYSTEM>BACKUP>FDD” mode to display the types of files on the guideline. 2) Select the type of file to display by using the key.
F 1
(*.ALL) to
SYSTEM>BACKUP>FDD>DIR ———— 0.5:Busy —————————————————————————
*.ALL
*.PGM
*.PNT
*.SFT
*.HND
Fig. 4-12-49 Selecting a display file 4-175
F 10
(*.*)
CHAPTER 4 Operation
The following shows the effective keys and sub menu contents in the “SYSTEM>BACKUP>FDD>DIR” mode. Valid keys
Menu
Function
F1
*.ALL
Displays all data files. (extension=.ALL)
F2
*.PGM
Displays the name of the program file. (extension=.PGM)
F3
*.PNT
Displays the name of the point data file. (extension=.PNT)
F4
*.SFT
Displays the name of the shift data file. (extension=.SFT)
F5
*.HND
Displays the name of the hand data file. (extension=.HND)
F6
*.PRM
Displays the name of the parameter file. (extension=.PRM)
F8
*.PLT
F10
*.*
Displays the name of the palette definition data file. (extension=.PLT) Displays the names of all MS-DOS files.
3) The specified extension file is displayed as follows. SYSTEM>BACKUP>FDD>DIR File
Ext
Size
YAMAHA
.PNT
11113
92/03/23 10:52
Date
Time
TEST
.PNT
516
91/10/10 09:53
QRCX1
.PNT
2103
91/12/25 15:00
*END* *.ALL
*.PGM
*.PNT
*.SFT
*.HND
Fig. 4-12-50 Displaying the specified file (1) 4) When there are many files, press the F 4 (YES) key after the “Display next data OK?” message is displayed. Press the F 5 (NO) key to stop the display. The display continues until “*END*” is displayed. SYSTEM>BACKUP>FDD>DIR File
Ext
Size
YAMAHA
.PNT
11113
92/03/23 10:52
TEST
.PNT
516
91/10/10 09:53
QRCX1
.PNT
2103
91/12/25 15:00
QRCX2
.PNT
987
92/12/15 18:20
Display next data OK?
Date
YES
Time
NO
Fig. 4-12-51 Displaying the specified file (2)
4-176
CHAPTER 4 Operation
12-3-1-4
Displaying Disk Data The data on the floppy disk inserted in the FDD is displayed. [OPERATION] 1) Press the F 5 (INFO) key in the “SYSTEM>BACKUP>FD” mode. Type of usable disk and the used bytes on disk/total capacity are indicated. SYSTEM>BACKUP>FDD Disk format type
=
NEC 1.2MB
Disk(use/total)
=
2048/1250304
LOAD
SAVE
DIR
INFO
Fig. 4-12-52 Displaying floppy disk data
12-3-1-5
Erasing Files (ERASE) Files on the floppy disk are erased. [OPERATION] 1) Press the F 7 (ERASE) key in the “SYSTEM>BACKUP>FDD” mode to display the types of files on the guideline. 2) Select the type of file to erase by using the
F 1
(.ALL) to
SYSTEM>BACKUP>FDD>ERASE
*.ALL
*.PGM
*.PNT
*.SFT
*.HND
Fig. 4-12-53 Selecting an erase file
4-177
F 8
(.PLT) key.
CHAPTER 4 Operation
The following shows the effective keys and sub menu contents in the “SYSTEM>BACKUP>FDD>ERASE” mode. Valid keys
Menu
Function
F1
*.ALL
Erases all data files. (extension=.ALL)
F2
*.PGM
Erases the program file. (extension=.PGM)
F3
*.PNT
Erases the point data file. (extension=.PNT)
F4
*.SFT
Erases the shift data file. (extension=.SFT)
F5
*.HND
Erases the hand data file. (extension=.HND)
F6
*.PRM
Erases the parameter file. (extension=.PRM)
F8
*.PLT
Erases the palette definition data file. (extension=.PLT)
3) Enter the file name to be erased after the “Enter FD file name>” message is key. displayed on the guideline, then press the SYSTEM>BACKUP>FDD>ERASE>.ALL
Enter FD file name>_
.ALL
Fig. 4-12-54 Entering the erase file name There is no need to enter extension (i.e., .ALL, .PGM., SFT.) since it is automatically set. 4) A confirmation message is displayed on the guideline. Press the F 4 (YES) key to execute the erase operation. Press the F 5 (NO) key to stop the erase operation. SYSTEM>BACKUP>FDD>ERASE>.ALL
TEST1
.ALL
Erase OK?
YES
NO
Fig. 4-12-55 Confirming erase operation 5) The “0.5:Busy” message is displayed during execution. CAUTION
Never remove the floppy disk from the FDD during “Busy” status.
4-178
CHAPTER 4 Operation
12-3-1-6
Renaming Files The name of a file on the floppy disk is changed. [OPERATION] 1) Press the F 8 (RENAME) key in the “SYSTEM>BACKUP>FDD” mode to display the types of files on the guideline. 2) Select the type of file to rename by using the key.
F 1
(.ALL) to
F 8
(.PLT)
SYSTEM>BACKUP>FDD>RENAME
*.ALL
*.PGM
*.PNT
*.SFT
*.HND
Fig. 4-12-56 Selecting a file to rename The following shows the effective keys and sub menu contents in the “SYSTEM>BACKUP>FDD>RENAME” mode. Valid keys
Menu
Function
F1
*.ALL
Renames all data files. (extension=.ALL)
F2
*.PGM
Renames the program files. (extension=.PGM)
F3
*.PNT
Renames the point data files. (extension=.PNT)
F4
*.SFT
Renames the shift data files. (extension=.SFT)
F5
*.HND
Renames the hand data files. (extension=.HND)
F6
*.PRM
Renames the parameter files. (extension=.PRM)
F8
*.PLT
Renames the palette definition data files. (extension=.PLT)
3) Enter the file to rename after the “Rename file name>” message is displayed, then press the key. SYSTEM>BACKUP>FDD>RENAME
Rename file name>_
.ALL
Fig. 4-12-57 Entering the file to rename There is no need to enter extension (i.e., .ALL, .PGM., SFT.) since it is automatically set. 4-179
CHAPTER 4 Operation
4) Enter the new file name after the “New file name>” message is displayed, key. then press the SYSTEM>BACKUP>FDD>RENAME
Rename file name>TEST1
.ALL
New file name
.ALL
>_
Fig. 4-12-58 Entering a new file name 5) A confirmation message is displayed on the guideline. Press the F 4 (YES) key to execute the rename operation. Press the F 5 (NO) key to stop the rename operation. SYSTEM>BACKUP>FDD>RENAME>.ALL
Rename file name>TEST1
.ALL
TEST002 .ALL
YES
Rename OK?
NO
Fig. 4-12-59 Entering a new file name 6) The “0.5:Busy” message is displayed during execution. CAUTION
• Be careful since the floppy disk contents are overwritten when a file of the same name already exists. • Never remove the floppy disk from the FDD during “Busy” status.
12-3-1-7
Initializing the Disk Each new floppy disk must be initialized before use. When initializing, all data on the disk is erased. [OPERATION] 1) Press the F 11 (FORMAT) key in the “SYSTEM>BACKUP>FDD” mode. The format type is displayed on the guideline.
4-180
CHAPTER 4 Operation
2) Select the format type by using the
F 1
(IBM720) to
F 5
(TOSB1.2) key.
SYSTEM>BACKUP>FDD>FORMAT
IBM720
IBM1.44 NEC640
NEC1.2
TOSB1.2
Fig. 4-12-60 Selecting the format type The following shows the effective keys and sub menu contents in the “SYSTEM>BACKUP>FDD>FORMAT” mode. Valid keys
Menu
Function
F1
IBM720
Initializes the disk in IBM 720KB-type format.
F2
IBM1.44
Initializes the disk in IBM 1.44MB-type format.
F3
NEC640
Initializes the disk in NEC 640KB-type format.
F4
NEC1.2
Initializes the disk in NEC 1.2MB-type format.
F5
TOSB1.2
Initializes the disk in TOSHIBA 1.2MB-type format.
3) A confirmation message is displayed on the guideline. Press the F 4 (YES) key to format a disk. Press the F 5 (NO) key to stop formatting. SYSTEM>BACKUP>FDD>FORMAT>IBM720
Format OK?
YES
NO
Fig. 4-12-61 Formatting a disk 4) The “0.5:Busy” message is displayed during execution. Also the percentage of disk that is formatted is displayed. SYSTEM>BACKUP>FDD>FORMAT>NEC1.2 ———— 0.5:Busy —————————————————————————
0%
50%
100%
|———————————————————|——————————————————|
Fig. 4-12-62 During formatting CAUTION
Never remove the floppy disk from the FDD during “Busy” status. 4-181
CHAPTER 4 Operation
5) After the floppy disk is formatted, data on that floppy disk is displayed and then the screen returns to the “SYSTEM>BACKUP>FDD” mode. Type of usable floppy disk and the used bytes on floppy disk/total capacity are indicated. SYSTEM>BACKUP>FDD Disk format type
=
NEC 1.2MB
Disk(use/total)
=
0/1250304
LOAD
SAVE
DIR
INFO
Fig. 4-12-63 Displaying floppy disk data
12-3-2
Communication Using a standard RS-232C port, the robot controller internal memory can communicate with an external storage unit. NOTE
• The settings in “12-2 Communication Parameter” are used for making parameter settings. • This is the same function as data communication using the SEND command statement. [OPERATION] 1) Press the F
3
(CMU) key.
SYSTEM>BACKUP>CMU mode,data,rate,stop,parity,Code,XON= ONLINE,8,9600,1,ODD,CRLF,YES
RECEIVE TRNSMIT
CLEAR
Fig. 4-12-64 “CMU” mode In “SYSTEM>BACKUP>CMU” mode, valid keys and the sub menu contents are as shown below. Valid keys
Menu
F1
RECEIVE
F2
TRNSMIT
F5
CLEAR
Function The robot controller internal memory receives data from the RS-232C port. The robot controller internal memory data is sent from the RS-232C port. The RS-232C port buffer is cleared.
4-182
CHAPTER 4 Operation
12-3-2-1
Receiving a File The robot controller internal memory receives data from the RS-232C port. [OPERATION] 1) Press the F 1 (RECEIVE) key in the “SYSTEM>BACKUP>CMU” mode to display the types of files on the guideline. 2) Select the type of file for reception by using the key.
F 1
(.ALL) to
F 8
(.PLT)
SYSTEM>BACKUP>CMU>RECEIVE mode,data,rate,stop,parity,Code,XON= ONLINE,8,9600,1,ODD,CRLF,YES
.ALL
.PGM
.PNT
.SFT
.HND
Fig. 4-12-65 Selecting a file for reception In “SYSTEM>BACKUP>CMU>RECEIVE” mode, valid keys and the sub menu contents are as shown below. Valid keys
Menu
Function
F1
.ALL
Receives all data files.
F2
.PGM
Receives the program file.
F3
.PNT
Receives the point data file.
F4
.SFT
Receives the shift data file.
F5
.HND
Receives the hand data file.
F6
.PRM
Receives the parameter file.
F8
.PLT
Receives the palette definition data file.
STOP
Stops communication reception.
3) A confirmation message is displayed on the guideline. Press the F 4 (YES) key to start receiving. Press the F 5 (NO) key to stop receiving. SYSTEM>BACKUP>CMU>RECEIVE mode,data,rate,stop,parity,Code,XON= ONLINE,8,9600,1,ODD,CRLF,YES
.ALL
.PGM
.PNT
.SFT
.HND
Fig. 4-12-66 Confirming reception 4) The “0.5:Busy” message is displayed during execution. Press the STOP key to stop ongoing reception. 4-183
CHAPTER 4 Operation
12-3-2-2
Transmitting a File The robot controller internal memory data is sent from the RS-232C port. [OPERATION] 1) Press the F 2 (TRNSMIT) key in the “SYSTEM>BACKUP>CMU” mode to display the types of files on the guideline. 2) Select the type of file for transmission by using the (.PLT) key.
F 1
(.ALL) to
F 8
SYSTEM>BACKUP>CMU>TRNSMIT mode,data,rate,stop,parity,Code,XON= ONLINE,8,9600,1,ODD,CRLF,YES
.ALL
.PGM
.PNT
.SFT
.HND
Fig. 4-12-67 Selecting a file for transmission In “SYSTEM>BACKUP>CMU>TRNSMIT” mode, valid keys and the sub menu contents are as shown below. Valid keys
Menu
Function
F1
.ALL
Transmits all data files.
F2
.PGM
Transmits the program file.
F3
.PNT
Transmits the point data file.
F4
.SFT
Transmits the shift data file.
F5
.HND
Transmits the hand data file.
F6
.PRM
Transmits the parameter file.
F8
.PLT
Transmits the palette definition data file.
STOP
Stops communication transmission.
3) A confirmation message is displayed on the guideline. Press the F 4 (YES) key to start transmitting. Press the F 5 (NO) key to stop transmitting. SYSTEM>BACKUP>CMU>TRNSMIT mode,data,rate,stop,parity,Code,XON= ONLINE,8,9600,1,ODD,CRLF,YES
.ALL
.PGM
.PNT
.SFT
.HND
Fig. 4-12-68 Confirming transmission 4) The “0.5:Busy” message is displayed during execution. Press the STOP key to stop ongoing transmission. 4-184
CHAPTER 4 Operation
12-3-2-3
Initializing the Communications Port The buffer for the RS-232C communications port is cleared. [OPERATION] 1) Press the F 5 (CLEAR) key in the “SYSTEM>BACKUP>CMU> TRNSMIT” mode. The “0.5:Busy” message is displayed during execution.
12-4
Initializing Initialization is executed for data input by the user. [OPERATION] 1) Press the F 4 (INIT) key in “SYSTEM” mode. The initialization screen is displayed. SYSTEM>INIT
PARAM
MEMORY
V7.01X
CMU
CLOCK
Fig. 4-12-69 Initialization 2) Select the initializing item with the tion keys.
F 1
(PARAM) to
F 4
(CLOCK) func-
In “SYSTEM>INIT” mode, valid keys and the sub menu contents are as shown below. Valid keys
Menu
Function
F1
PARAM
Initializes parameter contents.
F2
MEMORY
Erases the user memory.
F3
CMU
Sets the communication parameter to initial value.
F4
CLOCK
Set the clock.
F6
GENERAT
Set the robot model. (usually invalid)
F10
PASSWRD
Makes the
4-185
F 6
setting valid.
CHAPTER 4 Operation
12-4-1
Initializing the Parameter The robot parameter data and axis parameter data are set to initial value. However, the “Display language (JPN/ENG)” items in the robot parameter are not changed. [OPERATION] 1) Press the F 1 (PARAM) key in “SYSTEM>INIT” mode. The “Enter password” message is displayed on the guideline. Input “INI” and then press the key. SYSTEM>INIT>PARAM
V7.01X
Enter password>_
Fig. 4-12-70 Initializing the parameter (1) 2) When the password is correctly input, a confirmation message is displayed on the guideline. SYSTEM>INIT>PARAM ROBOT
V7.01X
= YK400X
D1=M1: aYK400X
D5=M5: no axis
D2=M2: aYK400X
D6=M6: no axis
D3=M3: aYK400X D4=M4: aYK400X Sure to initialize?
YES
NO
Fig. 4-12-71 Initializing the parameter (2) 3) When executing the initialization, press the F 4 When not executing, press the F 5 (NO) key.
4-186
(YES) key.
CHAPTER 4 Operation
12-4-2
Initializing the Memory The user program, point data, shift coordinates and hand definitions are erased.. Before executing the initialization, confirm whether the data which is input currently may be erased. [OPERATION] 1) Press the F
(MEMORY) key “SYSTEM>INIT” mode.
2
SYSTEM>INIT>MEMORY
V7.01X
Source(use/total)
=
1316/100075 bytes
Object(use/total)
=
528/ 53248 bytes
Sequence(use/total)=
0/
Number of program
=
5
=
124
Number of points PROGRAM POINT
SHIFT
2048 bytes
HAND
ALL
Fig. 4-12-72 Initializing the memory 2) Select the intializing item with the F 1 (PROGRAM) to function keys. A confirmation message is displayed on the guideline. SYSTEM>INIT>MEMORY>PROGRAM =
1316/100075 bytes
Object(use/total)
=
528/ 53248 bytes 0/
Number of program
=
5
Number of points
=
124
Sure to initialize?
(PALLET)
V7.01X
Source(use/total)
Sequence(use/total)=
F 6
2048 bytes
YES
NO
Fig. 4-12-73 Initializing the memory (program) 3) When executing the initialization, press the ecuting, press the F 5 (NO) key.
F 4
(YES) key. When not ex-
In “SYSTEM>INIT>MEMORY” mode, valid keys and the sub menu contents are as shown below. Valid keys
Menu
F1
PROGRAM
Erases the program data.
F2
POINT
Erases the point data.
F3
SHIFT
Erases the shift coordinates data.
F4
HAND
Erases the hand definition data.
F5
ALL
Erases the program, point, hand, shift and pallet definition data.
F6
PALLET
Erases the pallet difinition data.
Function
4-187
CHAPTER 4 Operation
12-4-3
Initializing the Communication Parameter The communication parameter is set to initial value. [OPERATION] 1) Press the F 3 (CMU) key in “SYSTEM>INIT” mode. A confirmation message is displayed on the guideline SYSTEM>INIT>CMU
V7.01X
mode,data,rate,stop,parity,code,XON = ONLINE,7,1200,1,EVEN,CR,NO | V ONLINE,8,9600,1,ODD,CRLF,YES Sure to initialize?
YES
NO
Fig. 4-12-74 Initializing the communication parameter 2) When executing the initialization, press the F 4 (YES) key. When not executing, press the F 5 (NO) key. Setting values are shown below. 1. Communication mode = ONLINE 2. Data bit =8 3. Baud rate = 9600 4. Stop bit =1 5. Parity = ODD 6. Termination code =CRLF 7. XON/XOFF control =YES 8. DTR/DSR control =YES 9. RTS/CTS control =NO
12-4-4
Clock Setting A clock function is provided in the controller, for setting the date and time. [OPERATION] 1) Press the F 4 (CLOCK) key in “SYSTEM>INIT” mode. The present date and time are displayed. SYSTEM>INIT>CLOCK
V7.01X
DATE,TIME :92/08/21,10:13:35
DATE
TIME
Fig. 4-12-75 Initialization of clock 4-188
CHAPTER 4 Operation
2) Select the item with the F 1 (DATE) or F 2 (TIME) key. A confirmation message is displayed on the guideline. 3) Input the date or time in the specified format and then press the 0 to 9 , / and : keys to input. Valid keys
12-4-5
Menu
key. Use
Function
F1
DATE
Sets the year/month/day.
F2
TIME
Sets the hour:minute:second.
System Generation The controller axis configuration is set at the time of shipment according to the order specifications. Normally the user will not need to set the system generation with the F 6 (GENERAT) key. Should the memory for the axis configuration be destroyed by serious troubles, the user must set the system generation correctly. In addition, if the system generation settings become necessary due to any other reason, it is advisable to save the parameter data on the current system generation settings into an external storage device. CAUTION
If you should change the system generation by mistake, this may have significantly adverse effects on the robot operation or cause dangerous situation for the operator. Therefore, always consult YAMAHA before changing the system generation settings. Should the system generation settings be changed without consulting YAMAHA or YAMAHA sales representatives, we shall not be liable for any consequential problems. To make the system generation settings (robot and axis configuration) for the controller, follow the procedure outlined below. CAUTION
The system generation settings can be made even when no robot and driver unit are connected. If there is an error between the setting conditions and the controller connections, a warning message is displayed at the end of the procedure. When the system generation settings are made, a message appears asking you to turn the power off and then turn it on again, so any operation requiring the servo power ON cannot be performed. [OPERATION] 1) While holding down the (password), G to be performed.
UPPER
and 4-189
key in “SYSTEM>INIT”mode, press the
F 5
keys in turn. This allows the system generation
CHAPTER 4 Operation
2) Press the F 6 (GENERAT) key. The current system generation settings are displayed. SYSTEM>INIT>GENERAT Robot
V7.01X
= YK250X
D1=M1:aYK250X
D5=M5:no axis
D2=M2:aYK250X
D6=M6:no axis
D3=M3:aYK250X
D7=S1:no axis
D4=M4:aYK250X
D8=S2:no axis
ROBOT
AXIS
CLEAR
HELP
Fig. 4-12-76 Valid keys and the sub menu contents in “MANUAL>INIT>GENERAT” mode are as follows: Valid keys
12-4-5-1
Function
Menu
F1
ROBOT
Performs the system generation per robot.
F2
AXIS
Performs the system generation per axis.
F4
CLEAR
Clears the system generation settings.
F5
HELP
Displays the robot and axis number necessary for the system generation.
F6
AUX
F15
Axis assignment Makes axis assignment.
Sets an auxiliary axis per axis.
Robot Settings This function specifies the robot to be connected. All the robots to be connected should be specified by individual robot number. If you are not sure the robot number, refer to “12-4-5-4 Initialization” to check the correct number. CAUTION
SCARA robot or Loader type robot cannot be specified for the axis which has been set for a single-axis robot. Use the function explained in “12-4-5-2 Axis Setting” or “12-4-5-3 Initialization” to set the axis to “no axis”, then specify the robot to be connected. CAUTION
If you should change the system generation by mistake, this may have significantly adverse effects on the robot operation or cause dangerous situation for the operator. Therefore, always consult YAMAHA before changing the system generation settings. Should the system generation settings be changed without consulting YAMAHA or YAMAHA sales representatives, we shall not be liable for any consequential problems. 4-190
CHAPTER 4 Operation
[OPERATION] 1) Press the F
1
(ROBOT) key, and the following screen appears.
Screen for setting only the main robot : SYSTEM>INIT>GENERAT>ROBOT
V7.01X
R1=MR:no robot
Enter initialize no.>2000_
Fig. 4-12-77 Screen for setting the main and sub robots: SYSTEM>INIT>GENERAT>ROBOT R1=MR:no robot
V7.01X
R2=SR:no robot
Enter initialize no.>2000_
Fig. 4-12-78 2) Use the ↑ keys to move the cursor to “R1”(main robot) or “R2” ↓ (sub robot), then enter the robot number. A confirmation message appears, awaiting the answer. Press the F 4 (YES) when the setting is correct. Press the F 5 (NO) when the setting is not correct. SYSTEM>INIT>GENERAT>ROBOT
V7.01X
R1=MR:YK250X
Change OK?
YES
NO
Fig. 4-12-79 3) To continue the setting, repeat step 2). Press the ESC key to quit the setting, then the screen returns to the previous mode. 4-191
CHAPTER 4 Operation
12-4-5-2
Axis Setting This function specifies the axis to be connected. All the axes to be connected should be specified by individual axis number. If you are not sure the axis number, refer to “12-4-5-4 Help” to check the correct number. CAUTION
When a robot other than MULTI type robots has been set, the first and second axis settings cannot be changed. When an XY cartesian robot has been set, the controller judges as follows: On the first axis, axes 2 to 4 are mounted. On the second axis, axes 3 to 4 are mounted. On the third axis, axis 4 is mounted. If an axis weight in excess of the maximum payload of each axis is specified, the error message is displayed. CAUTION
If you should change the system generation by mistake, this may have significantly adverse effects on the robot operation or cause dangerous situation for the operator. Therefore, always consult YAMAHA before changing the system generation settings. Should the system generation settings be changed without consulting YAMAHA or YAMAHA sales representatives, we shall not be liable for any consequential problems. [OPERATION] 1) Press the F 2 (AXIS) key, and the following screen appears. SYSTEM>INIT>GENERAT>AXIS Robot
V7.01X
= MULTI
D1=M1:aF20-20
D5=M5:no axis
D2=M2:aF14-20
D6=M6:no axis
D3=M3:no axis
D7=S1:no axis
D4=M4:no axis
D8=S2:no axis
Enter initialize no.>4002_
Fig. 4-12-80
4-192
CHAPTER 4 Operation
2) Use the ↑ keys to move the cursor to the desired axis, then enter ↓ the axis number. A confirmation message appears on the guideline, awaiting the answer. Press the F 4 (YES) when the setting is correct. Press the F 5 (NO) when the setting is not correct. SYSTEM>INIT>GENERAT>AXIS Robot
V7.01X
= MULTI
D1=M1:aF20-20
D5=M5:no axis
D2=M2:aF14-20
D6=M6:no axis
D3=M3:aT6-12V
D7=S1:no axis
D4=M4:no axis
D8=S2:no axis
Change OK?
YES
NO
Fig. 4-12-81 3) To continue the setting, repeat step 2). Press the ESC key to quit the setting, then the screen returns to the previous mode.
12-4-5-3
Initialization This function initializes the current system generation settings. CAUTION
If you should change the system generation by mistake, this may have significantly adverse effects on the robot operation or cause dangerous situation for the operator. Therefore, always consult YAMAHA before changing the system generation settings. Should the system generation settings be changed without consulting YAMAHA or YAMAHA sales representatives, we shall not be liable for any consequential problems. [OPERATION] 1) Press the F
4
(CLEAR) key, and the following screen appears.
SYSTEM>INIT>GENERAT>CLEAR
V7.01X
Press F.key to get group for clear.
ALL
MAIN G. SUB G.
Fig. 4-12-82 4-193
CHAPTER 4 Operation
2) Use the F 1 (ALL), F 2 (MAIN G.) or F 3 (SUB G.) keys to select the axis group to be initialized. A confirmation message appears, awaiting the answer. Press the F 4 (YES) to initialize. Press the F 5 (NO) to cancel initialization. SYSTEM>INIT>GENERAT>CLEAR
V7.01X
Press F.key to get group for clear.
Change OK?
YES
NO
Fig. 4-12-83 3) The screen returns to the previous mode after initializing.
12-4-5-4
Help This function is used when referring to the robot or axis number. CAUTION
If you should change the system generation by mistake, this may have significantly adverse effects on the robot operation or cause dangerous situation for the operator. Therefore, always consult YAMAHA before changing the system generation settings. Should the system generation settings be changed without consulting YAMAHA or YAMAHA sales representatives, we shall not be liable for any consequential problems. [OPERATION] 1) Press the F
5
(HELP) key, and the following screen appears.
SYSTEM>INIT>GENERAT>HELP Robot
V7.01X
= YK250X
D1=M1:aYK250X
D5=M5:no axis
D2=M2:aYK250X
D6=M6:no axis
D3=M3:aYK250X
D7=M7(reserve)
D4=M4:aYK250X
D8=M8(reserve)
ROBOT
AXIS
Fig. 4-12-84 2) Use the function keys to select the robot number or single-axis number. 4-194
CHAPTER 4 Operation
12-4-5-4-1 Referring to the robot number [OPERATION] 1) Press F 1 (ROBOT), and the following screen appears. SYSTEM>INIT>GENERAT>HELP>ROBOT Robot
V7.01X
= YK250X
D1=M1:aYK250X
D5=M5:no axis
D2=M2:aYK250X
D6=M6:no axis
D3=M3:aYK250X
D7=M7(reserve)
D4=M4:aYK250X SCARA
D8=M8(reserve)
XY
OTHER
Fig. 4-12-85 2) Use the function key to select the robot you want to refer to. SYSTEM>INIT>GENERAT>HELP>ROBOT
V7.01X
2000: YK250X 2001: YK350X 2002: YK400X 2003: YK500X 2004: YK600X NEXT P. PREV.P.
Fig. 4-12-86 The registered robot numbers are shown on the screen in the following format. : 3) Use F 1 (P. UP) or F 2 (P. DOWN) to switch to the next or previous page and find the robot number.
12-4-5-4-2 Referring to the single-axis number [OPERATION] 1) Press F 2 (AXIS), and the following screen appears. SYSTEM>INIT>GENERAT>HELP>AXIS Robot
V7.01X
= YK250X
D1=M1:aYK250X
D5=M5:no axis
D2=M2:aYK250X
D6=M6:no axis
D3=M3:aYK250X
D7=M7(reserve)
D4=M4:aYK250X MULTI
XY
D8=M8(reserve) OTHER
Fig. 4-12-87 4-195
CHAPTER 4 Operation
2) Use the function key to select the axis type you want to refer to. SYSTEM>INIT>GENERAT>HELP>AXIS
V7.01X
4000: T6-12 4001: T6-06 4002: T6-12V 4003: T6-06V 4010: T7-12 NEXT P. PREV.P.
Fig. 4-12-88 The registered single-axis numbers are shown on the screen in the following format. : 3) Use F 1 (P. UP) or F 2 (P. DOWN) to switch to the next or previous page and find the single-axis number.
12-4-5-5
Auxiliary Axis Setting This setting allows single auxiliary axes to be added. CAUTION
When a robot other than MULTI type robots has been set, the first and second axis cannot be set as an auxiliary axis. No auxiliary axis can be set for the axis on which a SCARA or Loader type robot has been set. CAUTION
If you should change the system generation by mistake, this may have significantly adverse effects on the robot operation or cause dangerous situation for the operator. Therefore, always consult YAMAHA before changing the system generation settings. Should the system generation settings be changed without consulting YAMAHA or YAMAHA sales representatives, we shall not be liable for any consequential problems.
4-196
CHAPTER 4 Operation
[OPERATION] 1) Press the F 6 (AUX) key, and the following screen appears. SYSTEM>INIT>GENERAT>AUX Robot
V7.01X
= MULTI
D1=M1:aF17-20
D5=M5:no axis
D2=M2:aF14-20
D6=M6:no axis
D3=M3:aT6-12
D7=S1:no axis
D4=M4:aT6-06
D8=S2:no axis
SET
RESET
Fig. 4-12-89 2) Use the ↑ keys to move the cursor to the desired axis number, then ↓ make setting with the F 1 (SET) or F 2 (RESET) key. the axis number. When the selected axis is specified as an auxiliary axis, the initial letter “M”/ ”S” (capital letters) of each axis changes to “m”/”s” (small letters). In contrast, when the auxiliary axis is canceled, “m”/”s” (small letters) changes to “M”/”S” (capital letters). SYSTEM>INIT>GENERAT>AUX Robot
V7.01X
= MULTI
D1=M1:aF17-20
D5=M5:no axis
D2=M2:aF14-20
D6=M6:no axis
D3=M3:aT6-12
D7=S1:no axis
D4=M4:aT6-06
D8=S2:no axis
SET
RESET
Fig. 4-12-90 3) To cancel the auxiliary axis setting, press the F 2 (RESET) key in step 2). Press the ESC key to quit the setting, then the screen returns to the previous mode.
12-4-5-6
Axis Assignment The axis assignment can be selected from the following four settings. a) 6 axes (main robot only) b) 6 axes (main robot) + 2 axes (sub robot) c) 4 axes (main robot) + 4 axes (sub robot) d) 2 axes (main robot) + 2 axes (sub robot) *The 5th axis or subsequent axes cannot be used for d). CAUTION
All the current settings will be initialized when axis assignment is performed. 4-197
CHAPTER 4 Operation CAUTION
If you should change the system generation by mistake, this may have significantly adverse effects on the robot operation or cause dangerous situation for the operator. Therefore, always consult YAMAHA before changing the system generation settings. Should the system generation settings be changed without consulting YAMAHA or YAMAHA sales representatives, we shall not be liable for any consequential problems. [OPERATION] 1) Press the F
15
(LAYOUT) key, and the following screen appears.
SYSTEM>INIT>GENERAT>LAYOUT
V7.01X
Press F.key to get axis combination. F1: 6(MAIN) F2: 6(MAIN)+2(SUB) F3: 4(MAIN)+4(SUB) F4: 2(MAIN)+2(SUB) ONLY M. 6+2
4+4
2+2
Fig. 4-12-91 2) Select the desired axis assignment setting with the F (2+2) keys. A confirmation message appears, awaiting the answer. Press the F 4 (YES) to perform the axis assignment. Press the F 5 (NO) to cancel the axis assignment. SYSTEM>INIT>GENERAT>LAYOUT
V7.01X
Press F.key to get axis combination. F1: 6(MAIN) F2: 6(MAIN)+2(SUB) F3: 4(MAIN)+4(SUB) F4: 2(MAIN)+2(SUB) Change OK?
YES
NO
Fig. 4-12-92 3) The screen returns to the previous mode after setting.
4-198
1
(xxxx) to
F 4
CHAPTER 4 Operation
12-5
Self diagnosis Checks controller functions and displays the error history, etc. [OPERATION] 1) Press the F 5 (DIAGNOSIS) key in “SYSTEM” mode. SYSTEM>DIAGNOS
CHECK
HISTRY
V7.01X
BATTERY
Fig. 4-12-93 Self diagnosis Effective keys and submenus for “SYSTEM>DIAGNOSIS” mode. Valid keys
12-5-1
Menu
Function
F1
CHECK
Makes a hardware check.
F2
HISTORY
Displays error log of past 50 cases.
F3
BATTERY
Displays absolute battery voltage.
Hardware check Makes a self-diagnosis check of the hardware. [OPERATION] 1) Press the F
1
key.
SYSTEM>DIAGNOS>CHECK
V7.01X
System check OK !!
Fig. 4-12-94 System check The message “System check OK !!” appears when hardware operation is normal. An error message appears if hardware operation is abnormal.
4-199
CHAPTER 4 Operation
12-5-2
Error log display Displays a log of the past 50 errors that occurred. [OPERATION] 1) Press the F
2
(HISTRY) key.
SYSTEM>DIAGNOS>HISTRY
V7.01X
1.00/04/10,10:15~12.1:Emg.stop on 2.00/04/10,10:14~22.1:AC power low 3.00/04/10,13:14~17.4:D1,Over load 4.00/04/10,12:14~12.1:Emg.stop on 5.00/04/10,10:14~22.1:AC power low NEXT P. PREV.P.
Fig. 4-12-95 Error history Displays the past 5 errors that occurred, in order from the most recent error. Pressing the F 1 (P. UP) key displays gradually older errors in sequence up to a maximum of 50 errors. Error display information appears in the following format. ,
