Hyundai HI4 manual

HYUNDAI Robot Hi4 Hi40402JO1E Robot Operation Manual HR100P Hi4 CONTROLLER HR120S/150S HR015 HR006 HR010L HX130/165 수동출력 CMD 취소 Ry- Rz- Rx- 원호 OFF 직선 명령수정 정지 LCD f4 + 0 ? 교시 / 재생 f2 f3 ARCON ARCOF 1 f1 7 * - . 삭제 프로그램 STEP 후퇴( ) 송출( ) WEAVON WEAVOF 2 3 8 보조점 9 I,V변경 위치수정 [...]

The information presented in the manual is the property of HHI. Any copy or even partial is not allowed without prior written authorization from HHI. HHI reserves the right to modify without prior notification. Printed in Korea - April/2002. 1st Edition Copyright 2002 by Hyundai Heavy Industries Co.,Ltd.[...]

■ H E A D O F F I C E ■ 본 사 1 , J E O N H A - D O N G , D O N G - G U , 울산광역시 동구 전하동 1번지 U L S A N , K O R E A T E L : 8 2 - 5 2 - 230-7901~11 T E L : 052-230-7901~11 F A X : 8 2 - 5 2 - 230-7900 F A X : 052-230-7900 ■ S E O U L O F F I C E ■ 서울사무소 140-2,GYE-DONG, JONGNO-GU, 서울특별시 종로구 ?[...]

--------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- - 1 - Contents Chapter 1. Safety, Operation panel, Teach Pendant 1.1 Saf ety .............................................. ....... 1 - 2 1.1.1 Ge ne ral ........[...]

--------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- - 2 - 2.2 Basic things for step ....................................... 2 - 5 2.2.1 The pa rameter of STEP command line ................. ....... 2 - 5 2.2.1.1 In[...]

--------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- - 3 - 3.4.5 Step r everse copy ............................... ...... 3 - 36 3.4.6 Edit program i n running (H ot edit) ............. ...... 3 - 38 3.5 File ma na[...]

--------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- - 4 - Chapter 5. Application condition 5.1 Conveyor operation .................................... ...... 5 - 3 5.2 Search rang e ................................[...]

--------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- - 5 - 10: Setting the fie ld bus ........................... .. 6 - 26 6.2.2 Ser ial po rt ................................... ...... 6 - 31 1: Teach Penda nt (CN[...]

--------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- - 6 - 6.4.2 Arc ........................................... ..... 6 - 83 6.4.3 Pal letizi ng ................................... ..... 6 - 85 1: Palleti zing patt[...]

--------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- - 7 - 7.18 (18) R123 Robot lo ck ............................. ...... 7 - 22 7.19 (19) R136 M odify accura cy in s teps ............... ...... 7 - 23 7.20 (20) R [...]

--------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- - 8 - 9.5 Welding aux. con. - re try ............................ ...... 9 - 9 9.6 Welding aux. con. - re star t.......................... ...... 9 - 11 9.7 Weldi[...]

--------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- - 9 - 1 1.4 F UNC TIO N .............................................. ..... 11 - 40 11.4.1 A RITHEMATIC F UNCTION ........................ ..... 11 - 40 11.4.2 S[...]

1. Safety, Operation Panel, Teach Pendant (1) Safety ------------------------------------------------------------------------------------------------ --------------------------------------------------------------- ----------------- 1 - 1 Chapter 1.Safety, Operation panel, Teach pendant Contents ━━━━━━━━━━━━━━━━━━[...]

1. Safety, Operation Panel, Teach Pendant (1) Safety ------------------------------------------------------------------------------------------------ --------------------------------------------------------------- ----------------- 1 - 2 Chapter 1. Safety, Operation panel, Teach Pendant 1.1 Safety 1.1.1 General The primary purpose of this Chapter i[...]

1. Safety, Operation Panel, Teach Pendant (1) Safety ------------------------------------------------------------------------------------------------ --------------------------------------------------------------- ----------------- 1 - 3 Maintenance Manual. Hyundai maintains its various application-specific training courses for domestic and foreign[...]

1. Safety, Operation Panel, Teach Pendant (1) Safety ------------------------------------------------------------------------------------------------ --------------------------------------------------------------- ----------------- 1 - 4 HX130V (wall mounting type, 130kg) HX130S (shelf mounting type, 130kg) HX165F (floor mounting type, 165kg) HX165[...]

1. Safety, Operation Panel, Teach Pendant (1) Safety ------------------------------------------------------------------------------------------------ --------------------------------------------------------------- ----------------- 1 - 5 1.1.2 Relevant Safety Standards The Robotics System is designed as per ISO 10218, January 1992 edition that spec[...]

1. Safety, Operation Panel, Teach Pendant (1) Safety ------------------------------------------------------------------------------------------------ --------------------------------------------------------------- ----------------- 1 - 6 1.1.4.2 Safety Marking Identification plates, warning labels and safety symbols are attached to the robot manipu[...]

1. Safety, Operation Panel, Teach Pendant (1) Safety ------------------------------------------------------------------------------------------------ --------------------------------------------------------------- ----------------- 1 - 7 1.1.5. Definition of Safety Functions Emergency Stop Function- IEC 204-1,10,7 There is one emergency stop button[...]

1. Safety, Operation Panel, Teach Pendant (1) Safety ------------------------------------------------------------------------------------------------ --------------------------------------------------------------- ----------------- 1 - 8 1.1.6. Installation of Robot 1.1.6.1 Safety Fence (1) Install Safety Fence away from the working space of robot [...]

1. Safety, Operation Panel, Teach Pendant (1) Safety ------------------------------------------------------------------------------------------------ --------------------------------------------------------------- ----------------- 1 - 9 tightly fixed to the floor and have the relevant structure not to easily get over the safety fence. (3) Safety f[...]

1. Safety, Operation Panel, Teach Pendant (1) Safety ------------------------------------------------------------------------------------------------ --------------------------------------------------------------- ----------------- 1 - 10 (4) In case of installation of operation stand, attach emergenc y stop button on it. Emergency stop shall be av[...]

1. Safety, Operation Panel, Teach Pendant (1) Safety ------------------------------------------------------------------------------------------------ --------------------------------------------------------------- ----------------- 1 - 1 1 1.1.6.3. Robot installation Install robot as per the planning and layout which has been pre viously reviewed a[...]

1. Safety, Operation Panel, Teach Pendant (1) Safety ------------------------------------------------------------------------------------------------ --------------------------------------------------------------- ----------------- 1 - 12 (7) For immediate emergency stop, install emergency stop button within operator's easily accessible distan[...]

1. Safety, Operation Panel, Teach Pendant (1) Safety ------------------------------------------------------------------------------------------------ --------------------------------------------------------------- ----------------- 1 - 1 3 - Connect Grounding line into the grounding bus-bar inside the controller. - In case of direct grounding of th[...]

1. Safety, Operation Panel, Teach Pendant (1) Safety ------------------------------------------------------------------------------------------------ --------------------------------------------------------------- ----------------- 1 - 14 1.1.6.4 Space for robot installation Install robot manipulator, controller, other peripheral equipment. Be sure[...]

1. Safety, Operation Panel, Teach Pendant (1) Safety ------------------------------------------------------------------------------------------------ --------------------------------------------------------------- ----------------- 1 - 1 5 1.1.7. Safety Working Procedures Safety working procedures must b e observed to prevent from any accidents. Sa[...]

1. Safety, Operation Panel, Teach Pendant (1) Safety ------------------------------------------------------------------------------------------------ --------------------------------------------------------------- ----------------- 1 - 16 (6) Superintendent must observe the followings; - Stay at the place where he can see robot entirely and concen [...]

1. Safety, Operation Panel, Teach Pendant (1) Safety ------------------------------------------------------------------------------------------------ --------------------------------------------------------------- ----------------- 1 - 1 7 first the stop status of the robot and further investigate the cause to execute relevant measure. - When the e[...]

1. Safety, Operation Panel, Teach Pendant (1) Safety ------------------------------------------------------------------------------------------------ --------------------------------------------------------------- ----------------- 1 - 18 (17) When you finish the operation work of robot, do cleaning w ork for the area inside the safety fence to rem[...]

1. Safety, Operation Panel, Teach Pendant (1) Safety ------------------------------------------------------------------------------------------------ --------------------------------------------------------------- ----------------- 1 - 1 9 the safety fence during try-out. Unexpected accidents can take place easily due to the unreliable situations. [...]

1. Safety, Operation Panel, Teach Pendant (1) Safety ------------------------------------------------------------------------------------------------ --------------------------------------------------------------- ----------------- 1 - 20 and make the necessary action to the abnormal situations. Unless you make any necessary action, there can be a [...]

1. Safety, Operation Panel, Teach Pendant (1) Safety ------------------------------------------------------------------------------------------------ --------------------------------------------------------------- ----------------- 1 - 2 1 position. (3) The operating mode selector on the controller must be in the manual mode position to block opera[...]

1. Safety, Operation Panel, Teach Pendant (1) Safety ------------------------------------------------------------------------------------------------ --------------------------------------------------------------- ----------------- 1 - 22 (2) Proceed with all the work according to the maintenance an d repair procedures. (3) Check safety conditions [...]

1. Safety, Operation Panel, Teach Pendant (1) Safety ------------------------------------------------------------------------------------------------ --------------------------------------------------------------- ----------------- 1 - 2 3 can be safe from any possible accidents caused by falling down or unexpected moving of robot arm. 1.1.9.3 Nece[...]

1. Safety, Operation Panel, Teach Pendant (1) Safety ------------------------------------------------------------------------------------------------ --------------------------------------------------------------- ----------------- 1 - 24 1.1.10. Safety Functions 1.1.10.1 Safety Control Chain of Operation The robot's safety system is based on [...]

1. Safety, Operation Panel, Teach Pendant (1) Safety ------------------------------------------------------------------------------------------------ --------------------------------------------------------------- ----------------- 1 - 2 5 The Safety Chain of Operation The emergency stop buttons on the operator's panel and on the teach pendant[...]

1. Safety, Operation Panel, Teach Pendant (1) Safety ------------------------------------------------------------------------------------------------ --------------------------------------------------------------- ----------------- 1 - 26 1.1.10.2. Emergency Stop An emergency stop should be activated when people or equipment is located at dagerous [...]

1. Safety, Operation Panel, Teach Pendant (1) Safety ------------------------------------------------------------------------------------------------ --------------------------------------------------------------- ----------------- 1 - 2 7 1.1.10.3. Operating Speed To program the robot, the operating mode switch must be turned to MANUAL position. T[...]

1. Safety, Operation Panel, Teach Pendant (1) Safety ------------------------------------------------------------------------------------------------ --------------------------------------------------------------- ----------------- 1 - 28 1.1.10.6. Monitoring Function 1) Motor Monitoring Function The motors are protected against overload by means o[...]

1. Safety, Operation Panel, Teach Pendant (1) Safety ------------------------------------------------------------------------------------------------ --------------------------------------------------------------- ----------------- 1 - 2 9 1.1.11.2. Tools and Workpiece (1) It must be possible to replace tools, such as milling cutte rs, etc., in a s[...]

1. Safety, Operation Panel, Teach Pendant (1) Safety ------------------------------------------------------------------------------------------------ --------------------------------------------------------------- ----------------- 1 - 30 When you use the robot system for any other or additional purp ose than its designated usage, at first, you mus[...]

1. Safety, Operation Panel, Teach Pendant (2) OP Panel ------------------------------------------------------------------------------------------------ ---------------------------------------------------------------------------------------- 1 - 31 1.2 Operation Panel 1.2.1 External Shape of Operation Panel 1.2.2 Buttons of Operation Panel [ERROR] L[...]

1. Safety, Operation Panel, Teach Pendant (3) Teach Pendant ------------------------------------------------------------------------------------------------ ---------------------------------------------------------------------------------------- 1 - 32 [STOP] Button for stopp ing opera tion. This button is us ed for stopping playback of prog ram. W[...]

1. Safety, Operation Panel, Teach Pendant (3) Teach Pendant ------------------------------------------------------------------------------------------------ ---------------------------------------------------------------------------------------- 1 - 33 1.3 Teach Pendant 1.3.1 External Shape of Teach Pendant SPEED GUN ( Arc On ) 7 8 9 12 3 . 0 AUX A[...]

1. Safety, Operation Panel, Teach Pendant (3) Teach Pendant ------------------------------------------------------------------------------------------------ ---------------------------------------------------------------------------------------- 1 - 34 1.3.2 Screen of Teach Pendant The following is an example display of teach pendant screen in case[...]

1. Safety, Operation Panel, Teach Pendant (3) Teach Pendant ------------------------------------------------------------------------------------------------ ---------------------------------------------------------------------------------------- 1 - 35 1.3.3 Keys of Teach Pendant The followings are the explanation to any keys of teach pendant. [E. [...]

1. Safety, Operation Panel, Teach Pendant (3) Teach Pendant ------------------------------------------------------------------------------------------------ ---------------------------------------------------------------------------------------- 1 - 36 right position of Title Frame. [SHIFT(FAST)] You must use it only toge ther w ith any of other ke[...]

1. Safety, Operation Panel, Teach Pendant (3) Teach Pendant ------------------------------------------------------------------------------------------------ ---------------------------------------------------------------------------------------- 1 - 37 [LCD] When you press it together with [↑ /↓ ] Key simultaneously, you can control the brightn[...]

1. Safety, Operation Panel, Teach Pendant (3) Teach Pendant ------------------------------------------------------------------------------------------------ ---------------------------------------------------------------------------------------- 1 - 38 edit t he factor. If you press this key whi le curs or is located at ro w number, the number of r[...]

2. Basic operation ----------------------------------------------------------------------------------------------- -------------------------------------------------------------------------------------- 2 - 1 Chapter 2. Basic operation Contents ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━?[...]

2. Basic operation ----------------------------------------------------------------------------------------------- -------------------------------------------------------------------------------------- 2 - 2 Chapter 2. Basic operation of robot 2.1 Basic operation Industrial robot is d efined 『 Th e mach ine that is capab le of physi cal operation[...]

2. Basic operation ----------------------------------------------------------------------------------------------- -------------------------------------------------------------------------------------- 2 - 3 2.1.2 How to initiate the system 1. At manual mode , select “ System” [ PF2] → 5: System format → 1. Syste m format. If you initialize[...]

2. Basic operation ----------------------------------------------------------------------------------------------- -------------------------------------------------------------------------------------- 2 - 4 2.1.4 Step and Function The position which is remembered by [REC] key or de fined by a v ariable position data is n amed "STEP". Wor[...]

2. Basic operation ----------------------------------------------------------------------------------------------- -------------------------------------------------------------------------------------- 2 - 5 2.2 Basic things for step Step is a word indicating robot's certain position (or tool's end position). Robot basically, move to othe[...]

2. Basic operation ----------------------------------------------------------------------------------------------- -------------------------------------------------------------------------------------- 2 - 6 2.2.1.1 Interpolation - locus from between Step and Step The interpolation method of [step n] decides the locus from be tween [step n-1] and [[...]

2. Basic operation ----------------------------------------------------------------------------------------------- -------------------------------------------------------------------------------------- 2 - 7 If you use the above explanati on's standard , you can do prog ramming using doub le registration of same point even in case of continuou[...]

2. Basic operation ----------------------------------------------------------------------------------------------- -------------------------------------------------------------------------------------- 2 - 8 2.2.1.3 Speed Designate t he speed of tool end. There are mm/sec, cm/ min, sec, % etc n a unit. Se c designate speed as moving time, % is the [...]

2. Basic operation ----------------------------------------------------------------------------------------------- -------------------------------------------------------------------------------------- 2 - 9 2.2.1.7 Stop condition Execute next co mmand ( step or funct ion ) after stop rob ot's mo vement i f satisfy the condition formula follow[...]

2. Basic operation ----------------------------------------------------------------------------------------------- -------------------------------------------------------------------------------------- 2 - 10 2.2.2 Step position validation/modification method After move robot w ith axi s operation keys, if pre ss [REC] key on teach pendant can veri[...]

2. Basic operation ----------------------------------------------------------------------------------------------- -------------------------------------------------------------------------------------- 2 - 11 2.2.2.2 When the coordinate system is set as Base or Robot At man ual mode, check the t ype of pose record from 'SYSTEM'[PF 2] → [...]

2. Basic operation ----------------------------------------------------------------------------------------------- -------------------------------------------------------------------------------------- 2 - 12 If the robot composition style is not set, the screen will be displayed as follow. UP DOWN FLIP NONFLIP ARM WRIST RIGHTY LEFTY 14:39:38 *** S[...]

2. Basic operation ----------------------------------------------------------------------------------------------- -------------------------------------------------------------------------------------- 2 - 13 2.3 Coordinate system 2.3.1 JOG operation key The following chart shows that the robot 's moving direction in accordance wit h operation[...]

2. Basic operation ----------------------------------------------------------------------------------------------- -------------------------------------------------------------------------------------- 2 - 14 2.3.2 Axis coordinate On the state o f M otor ON a t m anual mode, please c heck the JOG O N LED is lighted or not. When press do wn Coordina[...]

2. Basic operation ----------------------------------------------------------------------------------------------- -------------------------------------------------------------------------------------- 2 - 15 2.3.3 Robot coordinate On the state o f M otor ON a t m anual mode, please c heck the JOG O N LED is lighted or not. When press dow n Coordin[...]

2. Basic operation ----------------------------------------------------------------------------------------------- -------------------------------------------------------------------------------------- 2 - 16 Reference The following f igure shows tha t how to determi ne the robot coor dinate system. Stretch out left hand's thre e fingers ; thu[...]

2. Basic operation ----------------------------------------------------------------------------------------------- -------------------------------------------------------------------------------------- 2 - 17 2.3.4 User coordinate Select user coor dinate from 'Sys tem'[PF2] → 2 : C ontroller parameter → 12 : Coordinate setting → 1 :[...]

2. Basic operation ----------------------------------------------------------------------------------------------- -------------------------------------------------------------------------------------- 2 - 18 2.3.5 Tool coordinate On the state of Motor ON at manual mode, please check the JOG ON LED is lighted or not. When press down Coordinate syst[...]

2. Basic operation ----------------------------------------------------------------------------------------------- -------------------------------------------------------------------------------------- 2 - 19 2.4 Auto tool setting You can make the sam e program to the previ ous program by calibrating automat ically the tool constant without teachin[...]

3. Service menu --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 3 - 1 Chapter 3. Service Menu Contents ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━?[...]

3. Service menu ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ --------------------------------------------------------------- ------------------------- 3 - 2 3.5.7 P rotec t .............................................. 3 - 55 3.5.8 Stor age media form [...]

3. Service menu --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 3 - 3 Chapter 3 Service Menu When you press the "Se rvice [PF1]" on the Manual or Aut o Mode. the following display contents appear. 14:[...]

3. Service menu ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ --------------------------------------------------------------- ------------------------- 3 - 4 3.1 Monitoring Outline It displays encode r v alue of each axis, degrees of angle, c oordinates [...]

3. Service menu --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 3 - 5 Reference  When you select the "Line[PF1 ]", you c an cha nge th e numb er of lines of monitoring function on the display scree[...]

3. Service menu ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ --------------------------------------------------------------- ------------------------- 3 - 6 3.1.0 Monitor OFF Outline It cancel the function of Monitoring that you already select. 3.1.1 Ax[...]

3. Service menu --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 3 - 7 Screen display 3.1.3 Private Output Outline It displays t he stat us of the fixed outpu t sign al. Wh en y ou in put the pr esent fixed outp[...]

3. Service menu ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ --------------------------------------------------------------- ------------------------- 3 - 8 Screen display The following screen displays when you select "4;DIO( 1 - 24 )". Refere[...]

3. Service menu --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 3 - 9 3.1.16 Break Slip Count Outline You ca n select/ displa y the slip count val ue over the range and initializ e it when you use in stud weldi[...]

3. Service menu ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ --------------------------------------------------------------- ------------------------- 3 - 10 Operation method Input the number of slip count by number key and press the [SET]. When the sli[...]

3. Service menu --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 3 - 11 Operation method When you select the page you want, the following screen displ ays the DIO name monitoring. 3.1.18 Conveyor Data (Included [...]

3. Service menu ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ --------------------------------------------------------------- ------------------------- 3 - 12 3.1.19 Analog Data Outline It displays the input voltage, output voltage, speed of anal og outp[...]

3. Service menu --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 3 - 13 3.1.21 Palletize Register Outline It displays th e status of palle tizing oper ation. It displays the s tatus of palletizing, pattern regis[...]

3. Service menu ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ --------------------------------------------------------------- ------------------------- 3 - 14 Screen display 14:39:38 *** M A N U A L *** A:0 S:4 T0 G1 PN:100[*]__ S/F=4/0 Sp:100.00 Robot:H[...]

3. Service menu --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 3 - 15 3.2 Register Outline It disp lays / c hanges the XYZ shif t register, Shift buf fer, On line shift register group, Palletize register, Freq[...]

3. Service menu ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ --------------------------------------------------------------- ------------------------- 3 - 16 3.2.1 XYZ Shift Register Outline It is keeping the tool ang le of po int that i s already taugh[...]

3. Service menu --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 3 - 17 Z 축 Y 축 X 축 B CD A b c a d[...]

3. Service menu ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ --------------------------------------------------------------- ------------------------- 3 - 18 3.2.2 Shift buffers Outline It is a parallel movement with keeping up the tool angle that alrea[...]

3. Service menu --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 3 - 19 A B C b c 작업물 A 작업물 a work A work a[...]

3. Service menu ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ --------------------------------------------------------------- ------------------------- 3 - 20 3.2.3 On-line shift register Group Outline On-line sh ift register group is a register that is [...]

3. Service menu --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 3 - 21 Reference  If set the on-line shift register clear as <ENBL>, from "Cond Set[PF5] - AppliCnd[PF1] - 7. Shift register clear&q[...]

3. Service menu ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ --------------------------------------------------------------- ------------------------- 3 - 22 3.2.4 Palletizing register Outline It can be set freely the content of a palletizing register. [...]

3. Service menu --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 3 - 23 Screen description  Palletize Shift Data : Input shift data for palletizing.  Picking up Shift Data : Input shift data when lifting w[...]

3. Service menu ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ --------------------------------------------------------------- ------------------------- 3 - 24 3.2.4.3 Palletizing Reset Outline Reset the value of the counter, palletizing register forcibly[...]

3. Service menu --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 3 - 25 3.2.5 Frequency condition register Outline It sets freely the content of frequency condition register. For example, when u se th ose functi[...]

3. Service menu ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ --------------------------------------------------------------- ------------------------- 3 - 26 3.2.6 Conveyor Data Outline You can se t the CR parameter a nd simulation sp eed for convey or [...]

3. Service menu --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 3 - 27 Screen Description  Register(CR) : Input the number of conveyor register.  Speed(CS) : Input the number of conveyor speed. ※ If pre[...]

3. Service menu ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ --------------------------------------------------------------- ------------------------- 3 - 28 3.3 Variable Outline You can check or modify the present data of ma in variable and sub variabl[...]

3. Service menu --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 3 - 29 3.4 Edit Program Select the "Program modify" and then displays as follows. 14:39:38 *** Pro g ram modif y *** A:0 S:4 1: Conditio[...]

3. Service menu ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ --------------------------------------------------------------- ------------------------- 3 - 30 3.4.1 Modify writing condition totally Outline You modify the condition in record of many steps[...]

3. Service menu --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 3 - 31 3.4.2 Modify speed in record totally Outline You modify the speed in record of many steps in one program. Screen display Display content ?[...]

3. Service menu ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ --------------------------------------------------------------- ------------------------- 3 - 32 3.4.3 Modify position in record totally Outline You modify the position in record of many steps[...]

3. Service menu --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 3 - 33 14:39:38 ** Position modif y ** A:0 S:4 Program: [ 99 ] Step:[ 1] ~ [ 9] Coord.fmt.: <Cartesian, Axis > (Hidden pose of the step is s[...]

3. Service menu ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ --------------------------------------------------------------- ------------------------- 3 - 34 3.4.4 Step Copy Outline You can copy the part of program or same progr am in the other pro gram[...]

3. Service menu --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 3 - 35 Reference ⑴ The end step No. of the program to copy is bigger than the start step No. ⑵ Input step No. of the program to be copied is t[...]

3. Service menu ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ --------------------------------------------------------------- ------------------------- 3 - 36 3.4.5 Step Reverse-Copy Outline You can c opy the p art of prog ram or same program in the othe[...]

3. Service menu --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 3 - 37 Reference ⑴ The end step No. of the program to copy is bigger than the start step No. ⑵ Input step No. of the program to be copied is t[...]

3. Service menu ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ --------------------------------------------------------------- ------------------------- 3 - 38 3.4.6 Edit program in running (Hot Edit) Outline You can edit the program in the running mode l[...]

3. Service menu --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 3 - 39 Screen display 3.4.3.2 Edit type Outline It i s same as the manual mode, but the fol lowing fun ctions ar e not used. When yo u push the ke[...]

3. Service menu ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ --------------------------------------------------------------- ------------------------- 3 - 40  ORIGINAL PROGRAM is cop ied to the TEMP1 file a nd be modified by user. When user push the [...]

3. Service menu --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 3 - 41 3.4.3.4 Confirm, Accept, Cancel Outline There are 3 types of Confirm, Accept, Cancel in PF menu in Hot Edit. Function  When you push the[...]

3. Service menu ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ --------------------------------------------------------------- ------------------------- 3 - 42 3.4.3.6 Select other program Outline When you push the [Program] key, you can select the other [...]

3. Service menu --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 3 - 43 3.5 File Management When you select File management, the following display occurs. 14:39:38 *** File mana g er *** A:0 S:4 1: S how file na[...]

3. Service menu ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ --------------------------------------------------------------- ------------------------- 3 - 44 3.5.1 Internal memory file name Outline It displays file name, file content, no. of step in the[...]

3. Service menu --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 3 - 45 3.5.2 Program first data Outline It disp lays the remark of step 0., An d when there is not remark data in step 0, it dis plays the remark [...]

3. Service menu ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ --------------------------------------------------------------- ------------------------- 3 - 46 3.5.3 Internal program axis no. Outline It displays the integer, history in internal memory and[...]

3. Service menu --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 3 - 47 3.5.4 Rename Outline You can use this function to change the fil e number. Rename can be ch anged all th e internal memory and file of SRAM[...]

3. Service menu ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ --------------------------------------------------------------- ------------------------- 3 - 48  Input new no. and Press [SET] File Select Method 1) Individual select Select the file indiv[...]

3. Service menu --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 3 - 49  When you select " All file"[PF1], you can select all files.  When you select " All Prog"[PF2], you can select pr[...]

3. Service menu ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ --------------------------------------------------------------- ------------------------- 3 - 50  When you select " Separate"[PF4], you can select '1) select' select. 3)[...]

3. Service menu --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 3 - 51 3.5.5 Copy Outline File can be copied from storage de vice to the othe rs or to itself . File that has been copied does n ot have attr ibut[...]

3. Service menu ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ --------------------------------------------------------------- ------------------------- 3 - 52  Select either internal memory or SRAM card, Press [SET]key. The following i s displayed as [...]

3. Service menu --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 3 - 53 3.5.6 Delete Outline Function to delete selected file. File delete can be carri ed out f or the a ll files of internal memo ry and SRAM car[...]

3. Service menu ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ --------------------------------------------------------------- ------------------------- 3 - 54  The sele cted file is del eted as pr essing (YES) key or cancelled b y pressing (NO)key. ?[...]

3. Service menu --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 3 - 55 3.5.7 Protect Outline Important program can b e protect ed from modificatio n or deletion. Files ca n be protected from any modification or[...]

3. Service menu ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ --------------------------------------------------------------- ------------------------- 3 - 56  Sele ct file and press "Exec ute"[PF5]. Refer to the above method to select file.[...]

3. Service menu --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 3 - 57 Reference ⑴ Constant file is in full protection mode e ven though partial protection is set. ⑵ File that is not program file can not se[...]

3. Service menu ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ --------------------------------------------------------------- ------------------------- 3 - 58 3.5.8 Storage Media Format Outline All the data in ex ternal storage device (SRAM Card Etc) can[...]

3. Service menu --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 3 - 59 3.5.9 Save/Load (SRAM Card) Outline System fil es and program file s in memory of co ntroller can be a ll saved or loaded t o SRAM card Scr[...]

3. Service menu ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ --------------------------------------------------------------- ------------------------- 3 - 60  Enter the name of directory with a rrow keys and press : "C omplete" [PF5]. Curso[...]

3. Service menu --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 3 - 61 3.6 Program Conversion Outline Program transformation is creating new program out of current existing program. Screen display 14:39:38 ** *[...]

3. Service menu ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ --------------------------------------------------------------- ------------------------- 3 - 62 3.6.1 Coordinate transformation Outline After teac hing the progra m, in case o f moving a tar [...]

3. Service menu --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 3 - 63 It calculates the transfer data from the 3 reference step of Program A and B.. Screen display Contents of window  Source 3 p oints progr[...]

3. Service menu ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ --------------------------------------------------------------- ------------------------- 3 - 64 3.6.2 Mirror Image Outline It makes the prog ram with the posi tion data that is t he symmetry [...]

3. Service menu --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 3 - 65 Screen display Contents of window  Source Program : Enter the program number which has teaching points.  Destinatio n Program : Enter[...]

3. Service menu ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ --------------------------------------------------------------- ------------------------- 3 - 66 At this time, "End " means t hat the s tep being out of the ran ge of the soft limit [...]

3. Service menu --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 3 - 67 3.6.3 Off-Line XYZ Shift Outline It shifts the s tep of the teaching completed with in progra m and to m ake other program Example [Paralle[...]

3. Service menu ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ --------------------------------------------------------------- ------------------------- 3 - 68 Screen display Contents of window  Source program : Enter the program number which has taugh[...]

3. Service menu --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 3 - 69 3.7 System Checking Following is displayed in system checking menu. 14:39:38 *** S y stem checkin g * * * A : 0 S : 4 1: System v ersion [R[...]

3. Service menu ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ --------------------------------------------------------------- ------------------------- 3 - 70 3.7.1 System version Outline Displays software version of controller Screen display 14:39:38 **[...]

3. Service menu --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 3 - 71 3.7.2 Run time Outline It displays operating time of robot. Screen display 3.7.2.1 Run time display Screen display Contents of window (1) R[...]

3. Service menu ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ --------------------------------------------------------------- ------------------------- 3 - 72 (2) Cycle time : Number of t he cycle played during the operation time. it is co unted at th e [...]

3. Service menu --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 3 - 73 cycle count, 6: Clear gun data, 7: Clear I wait data, 8: Clear Timer wait data.  Data is cleared as selecting (YES) and following is dis[...]

3. Service menu ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ --------------------------------------------------------------- ------------------------- 3 - 74 3.7.3 Diagnosis of troubles Outline Displays the error diagnosis method of the robot. When erro[...]

3. Service menu --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 3 - 75 or "No"[PF2] key.  When you pr ess “ Yes” [ PF1] or “ No” [ PF2]key by mist ake, press “ Re turn" [PF3]k ey to [...]

3. Service menu ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ --------------------------------------------------------------- ------------------------- 3 - 76 3.7.4 Error logging Outline It displ ays the occurr ed error unt il n ow. It makes the rest ora[...]

3. Service menu --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 3 - 77 Reference  Following is displayed in guide frame as selecting “ Refresh?” [PF1]key.  If (Yes)Key is selected, error history up to[...]

3. Service menu ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ --------------------------------------------------------------- ------------------------- 3 - 78 3.7.5 Stop History Outline It displays the st op history of the ro bot until no w. It helps to [...]

3. Service menu --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 3 - 79 Input/Output, state condition of each signals or data at the stop occurrence. Reference  Following is displayed in guide frame as select[...]

3. Service menu ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ --------------------------------------------------------------- ------------------------- 3 - 80 3.7.6 Operation History Outline It displays an operation history until now. Stop command during[...]

3. Service menu --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 3 - 81 3.8 Date setting (Date, Time) Outline Date setting (Date, Time) can change date/time of controller. Operation method  Use arrow key to m[...]

4 . Condition setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 4 - 1 Chap 4 Condition Setting Contents ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━?[...]

4. Condition setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 4 - 2 Chapter 4 Condition Setting Press "Cond Set"[PF5] key in either playback mode or manual mode. Screen display Modification met[...]

4 . Condition setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 4 - 3 4.1 Cycle type Outline Decide method of playback for the program. ① 1Step : 1step is executed while pressing start button. (Execu ti[...]

4. Condition setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 4 - 4 4.3 Function in step go/back Outline Decide activation of function at step go/back in manual mode. ① Off : Ignores other function exc[...]

4 . Condition setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 4 - 5 4.5 Robot lock Outline Program is only exe cuted without robot move ment. By doi ng this peri pherals and sta tes of In/output and sof[...]

4. Condition setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 4 - 6 4.7 Interpolation base Outline Recording s tep, Interpo lation refer ence change Interpolation selected au tomatically. General interpo[...]

4 . Condition setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 4 - 7  " 0" is set as number o f the user coordin ate, it release the ac tion for the user coordinate system and the n executes[...]

5. Application condition --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 5 - 1 Chapter 5 Application condition Contents ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━[...]

5. Application condition --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 5 - 2 Chapter 5 Application condition In “ Cond Set” [PF5], Press “ AppliCnd” [PF1]. Screen display Operation method Move the hig[...]

5. Application condition --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 5 - 3 5.1 Conveyor operation Outline It determines the movement of robot when robot handles workpiece on conveyor, ① Normal : R obot mo[...]

5. Application condition --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 5 - 4 5.2 Search Range Outline Define the range to be searched when you use search function. X value can be set between 0.0∼3.0 and the[...]

5. Application condition --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 5 - 5 5.4 Spot welding Outline In servo g un appl ication and ac tivating spot weld ing function, regardless setting of defined welding s[...]

5. Application condition --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 5 - 6 5.5 Gun Search reference point record Outline In case of using servo gun or equal izer, refere nce position shall be record ed to r[...]

5. Application condition --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 5 - 7 5.6 Output(DO) signal clear Outline In executing step 0, initialization for c urrent general I/O and welding signal has to be set. [...]

6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 1 Chapter 6 System setting Contents ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━?[...]

6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 2 6.2.2 Ser ial por t ................................... ..... 6 - 31 1: Teach Pe ndant (C NTP) ............................. 6 - 31 2: Pri[...]

6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 3 3: Spot welding data(cond ition,sequ ence) ............ 6 - 76 4: Equa lizing par ameter ............................. 6 - 81 6.4.2 Arc ..[...]

6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 4 Chapter 6 System setting The fol lowing is displayed a s selecti ng “ System” [P F2] of in itial menu in Manual mode. Selection method[...]

6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 5 6.1 User configuration The following condition c an be set in the window below as selecting user parameter. Modification method Place high[...]

6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 6 6.1.1 Display language Outline Select current language at current display on Teaching pendant ① 한글 : Displays Korean language on Tea[...]

6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 7 6.1.3 Start type Outline Define starting method of robot system. Same as press ing “ R5: external start selection (Enable/Disable) of R [...]

6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 8 6.1.5 Confirm when the command delete Outline This function enables you to use this func tion by setting "E nable" or "Disa[...]

6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 9 6.1.7 Dettachment of Teach Pendant Outline It playbacks the teaching pro gram after de ttaching the teach pendent to protect th e program.[...]

6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 10 Reference  It is displayed on t he sc reen of T each pendent in auto m ode a s following according to compo unding “ Sys tem” [PF2[...]

6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 11 6.1.11 STEP SET ALARM TYPE Outline This is a function t hat can o utput the al arm signal (pulse 200msec) when you sel ect the step that [...]

6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 12 6.1.13 Using the collision sensor Outline It se lects one of the meth od that c an stop the robot if the collision s ensor acti ve.. (1) [...]

6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 13 6.2 Controller Parameter It displa ys the foll owing massage on the s creen if you se lect "SYS TEM[PF5] → 2.Controller Parameter&[...]

6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 14 6.2.1 Input/Output signal selection Outline It sets up when you need to change the attribution of the input/output signal. Screen display[...]

6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 15 6.2.1.1 Input signal logic Outline It sets up the positive, negative of the general input signal. Screen display Selection Method ① The[...]

6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 16 6.2.1.2 Output signal Logic Outline It sets up the positive, negative logic of the general output signal. Screen display Selection Method[...]

6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 17 6.2.1.3 The attribution of Output signal Outline It decides the attribution of output signal . If t he n umber of output sign al is norma[...]

6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 18 6.2.1.4 Setting the Pulse table Outline 3: I t sets the content about t he pulse signal of pu lse num ber that input in th e attribution [...]

6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 19 6.2.1.5 Setting the delay table Outline 3: It sets the content about the delay signal of delay number that input i n the attribution of t[...]

6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 20 6.2.1.6 Output signal Assignment Outline It uses the signal after output signal assign in special DO signal. Screen display Reference ⑴[...]

6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 21 ⑵ On e ini tialize: Presently selecte d ou tput assignment signal v alue return to the initialize status. ⑶ Assigned DO s ignal displ[...]

6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 22 Reference ⑴ All Init ialize: It initializ es all of output assi gnment signa l. It displays the following massage on the screen if you [...]

6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 23 6.2.1.8 Setting the Earlier output Outline Usually, the DO signal output after getting to th e step, You can us e this function when you [...]

6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 24 6.2.1.9 DIO Name Edit Outline The user names in each in/out signal. Screen display Operation Method  You p ress [SET] after selecting [...]

6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 25 Reference ⑴ The following massage is displa yed if the highlight bar move to the positi on in the [ ] part.  The following massage t[...]

6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 26 6.2.1.10 Setting the field bus Outline It sets the Fieldbus parameter. Screen display Selecting Method ① You can en ter into the sub-me[...]

6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 27 6.2.1.10.1 Application of the field bus adapter Outline It select whether Fieldbus will use or not. Screen display Screen description ①[...]

6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 28 6.2.1.10.2 Input source selection Outline It sets up from which of the hard wired or field bus the input receives. Screen display Referen[...]

6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 29  If press [SET]key after the standar d [0] input the input source of the screen that is displayed in the present teach pendent change [...]

6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 30 6.2.1.10.4 Output signal assignment Outline It sets each signal group unit how you will map each output. Screen display  Please press [...]

6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 31 6.2.2 Serial port Outline It sets up the use purpose of the serial port, and sets up the RS232C parameter 6.2.2.1 Teach Pendant (CNTP) Ou[...]

6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 32 Screen display Reference  If you press “ Complete” [PF 5] key, Save the changed information. If press [CANCEL] key, Cancel them. 6[...]

6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 33  S ens ...... You can use this function to receive th e s hift value from the vision . ( Interface with the external vision system ) 6[...]

6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 34 6.2.3 Robot Ready Outline The robot outputs robot ready end signal if the robot is ready. The robot ready output si gnal is a DO signal t[...]

6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 35 6.2.4 Home position registration Outline This signal outputs when a robot motion is in this home position after a specific position of th[...]

6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 36 6.2.5 Return to the previous position Outline This is the function that the robot retu rns to the previou s position automatically when t[...]

6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 37 6.2.6 End Relay Output Time Outline It sets up the time until the step 0 execut e again after e nd the program by setting the output time[...]

6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 38 6.2.7 Interlock error time Outline It sets up the maximum waiting time of input signal. Interlock error time output i f t he t ime of in [...]

6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 39 6.2.8 External error output Outline This is the function that outputs the detected error no. to the external device. Screen display  T[...]

6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 40 ① Type 1 (8bit output) It outputs after dividing by 2 group. One is the upper 8 bit, The other is the lower 8 bit af ter the er ror num[...]

6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 41 ② Type 2 (16bit output) It outputs 16bit data after the error number transfers the binary. The strobe signal deciding the data check ti[...]

6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 42 6.2.9 Power Saving : PWM OFF Outline It sets up the wai ting time until the p ower saving functio n start from the last oper ation time. [...]

6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 43 6.2.10 Shift Limit Outline It sets up the limit value of the volume to be shifted. It occurs the error if the shift volume is over the li[...]

6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 44 6.2.11 Setting the user key Outline It u ses this functio n after assignin g some function in f1 ∼ f4 k ey of the teach pendent when th[...]

6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 45 Screen display Reference ⑴ If you press “ Complete” [PF 5]key, Save the changed information . if press [CANCEL] key , Cancel them. [...]

6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 46 6.2.12 Coordination system registration Outline It sets up the User coordination system or pedestal tool coordination system. Screen disp[...]

6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 47 Screen display Screen description  User coordination system No. : This is the number that will use as User coordination system.  Pr[...]

6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 48 6.2.12.2 Pedestal tool coordination system Outline It selects the position of tool end of pedestal tool in the outer of the robot. You ca[...]

6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 49 6.3 Machine Parameter The following screen is displayed if you select the robot parameter. Selection method ① You can enter into the su[...]

6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 50 Z축 Y축 X축 R 1 축중심 Z n Y n Y축 X축 Z n Y n Z축 T n: 툴 각 도 (+방 향 ) R 1 축중심 6.3.1 Tool Data Outline You s houl[...]

6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 51 Screen description  Weight : Record the weight of tool.  Initia : Record the initia of the tool for tool coordination.  Center :[...]

6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 52 Initia calcula tion f or square pil lared tool Ini tia calcu lation for a cyl inderical tool Ix~=~{ ( Ly ^ 2 + Lz ^ 2 ) } / 12 X W Ix~=~I[...]

6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 53  Tool no. to be set : Input the tool number that you want to set again. ⑵ Angle calibration Outline It executes the calibration, ang[...]

6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 54 6.3.2 Axis Constant Outline It register the reference position of each axis. It decides the direction of the linear motion by the axis co[...]

6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 55 6.3.3 Soft Limit Outline It sets to restrict the working range for each axis. It sets the maximum working rang e of the robot when shipme[...]

6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 56 6.3.4 Arm Interference Angle Outline It sets the working limit between the ARM. In case of the robot it restricts the angle between the H[...]

6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 57 6.3.5 Encoder Offset Calibration Outline It calibrates the original point of encoder. It decides the original p oint of the encoder to th[...]

6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 58 Operating Method  The fol lowing message is di splayed if you pr ess [SET] after mov ing the c ursor to the position of the axis where[...]

6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 59 6.3.6 Acceleration/Deceleration Speed Parameter Outline It sets acceleration/deceleration time. It is a parameter that decides the maximu[...]

6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 60 6.3.7 B axis Dead Zone It sets the B axis Dead Zone. The turning center of R1 axis and R2 axis is approximat ely parallel in the vicinity[...]

6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 61 6.3.8 Accuracy Outline It sets the extent of coincidence with a destination position at the playback. The ran ge of accuracy is registere[...]

6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 62 ⑵ Discontinuous step / Continuous step ① Discontinuous step : It means a step to move off on the aimed step. The move-off po int is a[...]

6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 63 ③ The locus of J-L and J-C cornering If the J-L(or J-C) cornering enters in the accuracy range fr o m t h e J s t e p (Previous step ),[...]

6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 64 6.3.9 Speed Outline It decides the record speed in making a program. It is a v alue that is recorde d at the sam e time whe n you recor d[...]

6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 65 6.3.11 Additional load per each axis Outline It r egisters the information of tr ansformer or the supporting structure for wiring wh ich [...]

6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 66 The coordinate system's origin on the each axis refers to the following figure. The X , Y and Z direction of eac h axis ar e set to [...]

6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 67 6.4 Application parameter If you select the application parameter, the following screen is displayed. 14:39:38 *A pp lication p arameter*[...]

6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 68 6.4.1 Spot & Stud Outline It is set to perform the spot & stud welding work. Screen display Reference  Th e weld ing parameter[...]

6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 69 6.4.1.1 Welding parameter Outline It makes t he welding work possible efficient ly to save the infor mation that is necessary when it wel[...]

6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 70  R e-welding count : I n case that the weldin g co mpletion signal does n't be inputted within the time set in th e re-welding wa[...]

6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 71 6.4.1.2 Servo gun parameter Outline It is set to do the spot welding by using the servo gun. The additional axis should be regi stered to[...]

6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 72 Contents of the screen  Large open stroke (mm) : I t design ates the distance that in case of th e manu al openi ng and closing (Enabl[...]

6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 73 check the abnormality of abrasion quantity.  El ectrode exchange abrasion quantity (mm ) : In ca se that the electrode's abrasion[...]

6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 74 after outpu tting the error message such as "E0156 The fixed electro de exceeded t he maximum abrasion quantity". and if it is [...]

6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 75 pressurizatio n table can set the curren t value on the p ressurization of 5 uni t choosed freely. Reference ⑴ Certainly, set a data be[...]

6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 76 6.4.1.3 Spot welding data (condition, sequence) Outline It display s and changes the conten ts of a welding sequence dat a in the applica[...]

6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 77 6.4.1.3.1 Common data Outline It is a data whic h is ap plied in commonn ess without having con cern with the welding condition or sequen[...]

6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 78 6.4.1.3.2 Welding condition Outline It is a d ata tha t de cides th e we lding co ndition a nd t he serv o gun pressurization force so fo[...]

6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 79 6.4.1.3.3 Welding sequence Outline It is a data that decides the welding seque nce of controller in the playback of the spot welding. Scr[...]

6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 80 welding completion wait is also come to an end. 6.4.1.3.4 Data copy Outline It can copy the dat a of welding condition n umber and seque [...]

6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 81 6.4.1.4 Equalizing parameter Outline It is set to do the spot welding by using the equalizerless air gun. The G1 or G2 shou ld be < Eq[...]

6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 82  Fixed elect rode a bration search distance : It is a para meter t hat de cides t he max imum range of the robo t to mov e so as to me[...]

6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 83 6.4.2 Arc Outline It sets a function to do the arc welding. Please refer to the "Operation manual on the HR con troller" for th[...]

6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 84 Contents of the screen 1: High step forward/backward setting It sets th e speed in c ase of using the high sp eed movable function. That [...]

6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 85 6.4.3 Palletizing Outline It sets the information that is necessary to use the palletizing function. The GUN 2 should be set to the palle[...]

6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 86 6.4.3.1 Palletizing pattern register Outline It saves the information that is necessary to use the palletizing function. It inputs the ba[...]

6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 87  1: If the pattern register 1 is selected, the next screen is displayed. Contents of the screen  Disuse/Use : It decides whether to[...]

6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 88 It is possible fo r even number stag e to rotate 0 , 90 and 180 on the basis of the basic pattern. It means 0 = 0 , 1 = 90 and 2 = 18 0 .[...]

6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 89  Last letter-pa per existence y es or no : I t decides the e xistence yes or no of letter - paper at the end.  Letter-paper thickne[...]

6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 90 6.4.3.2 Palette dip angle measurement Outline It is a funct ion that can mea sure the dip angl e easily by makin g out t he teaching prog[...]

6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 91 6.4.6 Conveyor Outline It set s a va riety of parameter to use the conv eyor synchro no us function and also a variety of condition to de[...]

6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 92 6.4.6.1 Conveyor constant setting Outline It s ets a var iety of parameter on the convey or when i ntending to work by using the conveyor[...]

6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 93  Straight li ne conveyor vertical a ngle : It i nputs the an gle the adva ncing directio n of conve yor rotates in th e plus dir ectio[...]

6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 94  Even number work obje ct advance : It decide s the contents to treat it in case that another work ob ject advances into the work spac[...]

6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 95 6.4.6.2 Automatic setting of the conveyor angle and center Outline In case th at the direction of conveyor is n't p aralleled to the[...]

6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 96 6.4.7 : Speed proportion voltage output Outline It makes the anal og voltage in propor tion to the tip veloc ity of robot outputted from [...]

6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 97 Screen display Reference (1) In case of selecting the " SERVICE"[PF1] → 1.Monitering → 19.Analog data, you can do the monit[...]

6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 98 6.5 System format If selecting the initialization, the following screen is displayed. 14:39:38 *** S y stem format *** A:0 S:4 1: System [...]

6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 99 6.5.1 System format Outline It sets the cont rol constant file (ROBOT.C00) to the v alue in th e shipment from the robot shop after de le[...]

6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 100 6.5.2 Robot type selection Outline It sets the machine constan t file (RO BOT.C01) to the value in t he ship ment o f co ntroller from t[...]

6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 101 that the additiona l axis doesn't exist, i f pressing the "Execution" key, the reconfirmatio n message is displayed as fo[...]

6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 102 ⑸ If the error history file(ROBOT.E0 1), stop history file(ROBOT .S01) and operation history file(ROBOT.TR0) exist and the attribution[...]

6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 103 6.5.4 Use setting Outline It is a function that sets the work use. In case of using the palletizi ng function and the robot equali zing [...]

6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 104 6.5.5 Positioner group setting Outline It is a process that re gisters the p ositioner mani pulator and i t can set the additional axis [...]

6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 105 Example2) In case of setting the 1 axis positioner and the 2 axis positioner (I t is corresponde d in ca se that all t he additi onal 3 [...]

6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 106 6.6 Automatic constant setting If selecting the constant setting, the following screen is displayed. 14:39:38 *** Auto Const Set *** A:0[...]

6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 107 6.6.1 The optimization of axis constant and tool length Outline It sets automatically after compensating the constant data of straight l[...]

6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 108  Tool num ber : It is a tool nu mber that wants to set automatically an d it shou ld accord with the tool number recorded in the prog[...]

6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 109 6.6.4 Positioner calibration Outline Please refer to the "User manual on the positioner synchronous function". If not carry in[...]

6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 110 ⑵ The calibration of 2 axis positioner Supposing that it is iden tical with the calibrati on o f 1 axis pos itioner, it is different f[...]

6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 111 ⑤ It recor ds the fifth point after rotating only the 1 a xis at the position of ④ nearly 30 more and then finishes.  If pr essin[...]

6. System setting --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 6 - 112  If pressing the "Ex ecute"[PF5] key, the message of upside is displayed. and at this time, if you want to save it, press t[...]

7. R code --------------------------------------------------------------- --------------------------------- ---------------------------------------------------------------------------------------- 7 - 1 Chapter 7. R Code Contents ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━[...]

7. R code --------------------------------------------------------------- --------------------------------- ---------------------------------------------------------------------------------------- 7 - 2 7.29 (29) R219 Equalizerless gun number se lecti on ..... ...... 7 - 30 7.30 (30) R220 Equalizerless tip consumpt ion pre set .... ...... 7 - 30 7.[...]

7. R code --------------------------------------------------------------- --------------------------------- ---------------------------------------------------------------------------------------- 7 - 3 CHAPTER 7. R CODE Outline It manages general programs without recording in steps. That is it can sets several conditions for controller state. Oper[...]

7. R code --------------------------------------------------------------- --------------------------------- ---------------------------------------------------------------------------------------- 7 - 4 ▶ When you select, [NEXT] the follow ing next message wi ll be di splayed on the screen. ⑷ After choose what you want code, press [SET] key. 14[...]

7. R code --------------------------------------------------------------- --------------------------------- ---------------------------------------------------------------------------------------- 7 - 5 7.1 (1) R0 STEP COUNTER RESET Outline It resets the step counter (step 0) and returns to the step 0 at any step. Besides, it executes.  General [...]

7. R code --------------------------------------------------------------- --------------------------------- ---------------------------------------------------------------------------------------- 7 - 6 7.3 (3) R6 EXTERNAL PROGRAM SELECTION (ENABLE/DISABLE) Outline It sets whether the external program selection setting is enable or disable. It als [...]

7. R code --------------------------------------------------------------- --------------------------------- ---------------------------------------------------------------------------------------- 7 - 7 7.4 (4) R10 RUN TIME DISPLAY Outline It is the function to display Robot's run time. It also can be a ccess at Run time dis play by press down[...]

7. R code --------------------------------------------------------------- --------------------------------- ---------------------------------------------------------------------------------------- 7 - 8  Cycle Counter means the cycle number playback during run time. It counts in step 1, it counts the cycle number in spite of stopping in half way[...]

7. R code --------------------------------------------------------------- --------------------------------- ---------------------------------------------------------------------------------------- 7 - 9 (3) Cycle count clear ..... Reset the total cycle counter. (4) GUN data clear ..... Reset total GUN on time and counter. Screen display After selec[...]

7. R code --------------------------------------------------------------- --------------------------------- ---------------------------------------------------------------------------------------- 7 - 10 7.5 (5) R17 FILE NAME DISPLAY IN INTERNAL MEMORY Outline It displays the fil e name (Robot type, Program No.), file size, Date, file p rotection e[...]

7. R code --------------------------------------------------------------- --------------------------------- ---------------------------------------------------------------------------------------- 7 - 11 7.6 (6) R18 FREQUENCY CONDITION REGISTER DISPLAY/SETTING Outline It displays, sets the content of a frequency condition register. It is the same a[...]

7. R code --------------------------------------------------------------- --------------------------------- ---------------------------------------------------------------------------------------- 7 - 12 7.7 (7) R29 TOOL NUMBER SETTING Outline It changes the selected tool number. Input tool number what you want, press [SET] key. Screen display Refe[...]

7. R code --------------------------------------------------------------- --------------------------------- ---------------------------------------------------------------------------------------- 7 - 13 7.8 (8) R44 CONVEYOR DATA CLEAR Outline It clears Conveyor data ; CP, CR, CS. The cont ent which will be clea red can be dif ferent ac cording to [...]

7. R code --------------------------------------------------------------- --------------------------------- ---------------------------------------------------------------------------------------- 7 - 14 7.9 (9) R45 CONVEYOR REGISTER MANUAL INPUT Outline It sets Conveyor Register (CR) value as a manual inputted value. If this function act ivated, t[...]

7. R code --------------------------------------------------------------- --------------------------------- ---------------------------------------------------------------------------------------- 7 - 15 7.10 (10) R46 MANUAL CONVEYOR LIMIT SWITCH ON Outline It activat es Pulse c ounting in f orce by in putting limit switch ac tivation signal s with[...]

7. R code --------------------------------------------------------------- --------------------------------- ---------------------------------------------------------------------------------------- 7 - 16 7.11 (11) R49 SPEED VARIATION SETTING Outline It sets the value of speed variation during the play back. It pl ayback t o va riate in the range of[...]

7. R code --------------------------------------------------------------- --------------------------------- ---------------------------------------------------------------------------------------- 7 - 17 7.12 (12) R55 PALLETIZE COUNTER RESET Outline It can be used when you use the palletizing function. It resets the contents of the palletize regist[...]

7. R code --------------------------------------------------------------- --------------------------------- ---------------------------------------------------------------------------------------- 7 - 18 7.13 (13) R71 RECORDED SPEED SPECIFICATION METHOD SELECTION Outline It selects speed specification method in step recording. There are 3 types of [...]

7. R code --------------------------------------------------------------- --------------------------------- ---------------------------------------------------------------------------------------- 7 - 19 7.14 (14) R107 PROGRAM HEAD DATA DISPLAY Outline It displays the content of the program head data (step 0). It displays the content of step 1 if i[...]

7. R code --------------------------------------------------------------- --------------------------------- ---------------------------------------------------------------------------------------- 7 - 20 7.16 (16) R116 PROGRAM NUMBER MODIFICATION Outline It changes the program number in the internal memory. First, input the program number to change[...]

7. R code --------------------------------------------------------------- --------------------------------- ---------------------------------------------------------------------------------------- 7 - 21 7.17 (17) R117 PROGRAM DELETE Outline It deletes the program stored in the internal memory. Screen display  Af ter inputting the progr am No. f[...]

7. R code --------------------------------------------------------------- --------------------------------- ---------------------------------------------------------------------------------------- 7 - 22 7.18 (18) R123 ROBOT LOCK Outline It sets the robot lock to ON/OFF. If the robot-lock i s set to ON, it is possible to ex ecute a p rogram witho u[...]

7. R code --------------------------------------------------------------- --------------------------------- ---------------------------------------------------------------------------------------- 7 - 23 7.19 (19) R136 MODIFY ACCURACY IN STEPS Outline It changes the accuracy of the selected step. Screen display  If press 0 ~ 3 key what you want,[...]

7. R code --------------------------------------------------------------- --------------------------------- ---------------------------------------------------------------------------------------- 7 - 24 7.20 (20) R137 MODIFY MX IN STEP Outline It changes/adds MX of the currently selected step. Screen display  After input ting w hat you want key[...]

7. R code --------------------------------------------------------------- --------------------------------- ---------------------------------------------------------------------------------------- 7 - 25 7.21 (21) R138 MODIFY GUN IN STEP Outline It changes/adds the GUN of the currently selected step. Screen display  After input ting 1 or２ key,[...]

7. R code --------------------------------------------------------------- --------------------------------- ---------------------------------------------------------------------------------------- 7 - 26 7.22 (22) R162 SHIFT REGISTER VALUE CHANGE Outline It displays/sets the on-line shift buffer's contents. It is th e same fu nction with "[...]

7. R code --------------------------------------------------------------- --------------------------------- ---------------------------------------------------------------------------------------- 7 - 27 7.24 (24) R204 SPOT WELDING CONDITION MANUAL OUTPUT Outline It outputs spot welding condition manually. Operation method  In case of < Wel d[...]

7. R code --------------------------------------------------------------- --------------------------------- ---------------------------------------------------------------------------------------- 7 - 28 7.25 (25) R210 SERVO GUN NUMBER SELECTION Outline It is a code for selection of gun , in case o f using multi-servo guns. It n eeds to execute man[...]

7. R code --------------------------------------------------------------- --------------------------------- ---------------------------------------------------------------------------------------- 7 - 29 7.27 (27) R212 MOVING-TIP CONSUMPTION PRESET Outline It sets wear amount of servo gun's moving welder tip. Screen display  After input wan[...]

7. R code --------------------------------------------------------------- --------------------------------- ---------------------------------------------------------------------------------------- 7 - 30 7.29 (29) R219 EQUALIZERLESS GUN NUMBER SELECTION Outline It selects gun, in case of equalizerless multi-air guns are using. It needs for manual o[...]

7. R code --------------------------------------------------------------- --------------------------------- ---------------------------------------------------------------------------------------- 7 - 31 7.31 (31) R245 MONITOR MODE SELECTION Outline It displ ays the encoder value, angle and coordinates va lue of ea ch axis and i nput/output status [...]

7. R code --------------------------------------------------------------- --------------------------------- ---------------------------------------------------------------------------------------- 7 - 32 7.32 (32) R269 MEMORY PROTECTION SETTING Outline It sets the program protection in the internal memory. It is the same function with "Service[...]

7. R code --------------------------------------------------------------- --------------------------------- ---------------------------------------------------------------------------------------- 7 - 33 7.33 (33) R286 SOFTWARE VERSION DISPLAY Outline It displays the system environment (Software Version) of HR Controller. The display items are as f[...]

7. R code --------------------------------------------------------------- --------------------------------- ---------------------------------------------------------------------------------------- 7 - 34 7.34 (34) R310 MANUAL OUTPUT OF GO-SIGNAL Outline It outputs 8 signals as 1 group at the same time. Operation method  After inputtin g the grou[...]

7. R code --------------------------------------------------------------- --------------------------------- ---------------------------------------------------------------------------------------- 7 - 35 7.35 (35) R320 SET MAX. SPEED OF STEP GO/BACK Outline It sets the Max. speed when the step go/back in teach mode. It i s possibl e to change from [...]

7. R code --------------------------------------------------------------- --------------------------------- ---------------------------------------------------------------------------------------- 7 - 36 7.36 (36) R323 ROBOT INTERRUPT FUNCTION RECORD Outline While mov ing to target step, it skip to next step as interruption function by d etecting a[...]

7. R code --------------------------------------------------------------- --------------------------------- ---------------------------------------------------------------------------------------- 7 - 37  I f you choose [0 ] for referenc e point setting, ot her parameters (r eference X, re ference Y, reference Z ) will be 0 automa tically, and c[...]

7. R code --------------------------------------------------------------- --------------------------------- ---------------------------------------------------------------------------------------- 7 - 38 Example Operation method After inputting [1], i f press [SET] ke y, it will be appeared on the screen as foll owings  After inputti ng Port No.[...]

7. R code --------------------------------------------------------------- --------------------------------- ---------------------------------------------------------------------------------------- 7 - 39  After inputting the No. of reference X-value with a nu meric key, if press [SET] key, it will be appeared on the screen as followings.  Aft[...]

7. R code --------------------------------------------------------------- --------------------------------- ---------------------------------------------------------------------------------------- 7 - 40 7.37 (37) R341 EXECUTION CODE BACK-UP Outline It ba ckups e xecution codes which are re corded at fla sh memo ry of board BD411 through PCMCIA slo[...]

8. Programming --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 8 - 1 Chapter 8. Programming Contents ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━?[...]

8. Programming --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 8 - 2 Chapter 8. PROGRAM MING Outline Program can be divided into 2 parts, Step and Function. There are two way of recording Step 1) Method of reco[...]

8. Programming --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 8 - 3 8.1 EDIT STEP It is a Command to move manipulator of robot, and most fundamental Command. The position of the end of tool, speed, interpolati[...]

8. Programming --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 8 - 4 8.2 SUMMARY OF OPERATION KEYS Command Address Area Statement Cursor Status Word Cursor Status Command Modif y - As word cursor status. - EN +[...]

8. Programming --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 8 - 5 Factor menu (PF1~PF5) Not display Not display Input/Modify of factor command. ↑ ↓ Move cursor upward and downward Move cursor upward and [...]

8. Programming --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 8 - 6 8.3 EDIT COMMAND 8.3.1 Edition Screen  Address Area It means the area which displays line number (1~9999) and step number(S1~S999).  Co[...]

8. Programming --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 8 - 7 8.4 EXAMPLE - MOVE SENTENCE Method of adding move sentence is as follows ; If press [REC] key, n ew move sentence will b e created or added w[...]

8. Programming --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 8 - 8 If you w ant t o change factors, the procedur e is same as edit with [Comm and Modify] as follows ; In case of adding MOVE sentence, first mo[...]

8. Programming --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 8 - 9 To move cursor to the next factor, use cursor keys. At word mode w hich is cursor i ndicating facto r, current selec ted factor sho wn in inp[...]

8. Programming --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 8 - 10 ※ If there are 5 more menus, at the end of final menu ' * ' mar k will be appe ared. By pressing [ ↑ ], [ ↓ ] keys, it displ[...]

8. Programming --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 8 - 11 [1] [SET] [ Ö ] [ Ö ] - Inputting accuracy. (H=0 ; Same method with Tool number input) Move to MX. < MX > < G1 > [SET] - <M[...]

8. Programming --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 8 - 12 ※ To change contents in Edit frame with contents in Input frame, press [SET] key. If press [SET] key one more time ( that is, the c ontent[...]

8. Programming --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 8 - 13 8.5 Variable, numerical formula and string edit In case that variable, numerical formula and string edit is needed when edi ting an instruct[...]

8. Programming --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 8 - 14 ※ If you input it on the input frame, it as added just in front front of cursor. < Variable > < V > < V% > - Select vari[...]

8. Programming --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 8 - 15 < Numerical formula > - Entry into numerical formula input state. Present value is d isplayed in highlighted in the guid e frame posit[...]

8. Programming --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 8 - 16 “ ‘ ABCDEFGHIJKLMNOP Q RSTUVWXYZ “ ‘ _abc d ef g hk j klmno pq rstuvwx y z “ ‘ +-*/^=<>&|~() , []%!$?{}:;`._@#￦ ㄱ?[...]

8. Programming --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 8 - 17 8.6 Line number edit Step number is create d at the same time when MOVE stat ement (step) is input. Line number is ava ilable within 1∼999[...]

8. Programming --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 8 - 18 8.7 Block edit Is is a function that cop ying and moving to other pl ace or de leting after copying whole lines of program. The con trol sta[...]

8. Programming --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 8 - 19 < Selection > [ Ø ][ Ø ][ Ø ][ Ø ][ Ø ] - Pr ess <Selection> key at the b eginning line of bl ock to sele ct. Move to last [...]

8. Programming --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 8 - 20 [ × ] [ × ] - It moves to front line of the line where co pied area will be pasted by usi ng a cursor key. (45 DELAY 1 line) <Copy> [...]

9. Quick Open Function --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 9 - 1 Chapter 9. Quick Open Function CONTENTS ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━[...]

9. Quick Open Function --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 9 - 2 9.1 FUNCTION SUMMARY OUTLINE In case of teach ing a work program of arc welding, it is required to s et a deta iled arc exclusive fun[...]

9. Quick Open Function --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 9 - 3 In each instruction statement, when [QuickOpen] is pressed, the contents are as followings. instructi on statement file, contents det[...]

9. Quick Open Function --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 9 - 4 9.2 MOVE - step position Outline Press (QuickOpen) key at move instruction. Screen display screen contents  present step position [...]

9. Quick Open Function --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 9 - 5 9.3 WELDING START CONDITION - EXE. AT ASF#=x Outline If you press key, when a cursor is at the ARCON ASF#= i nstruction line, the edi[...]

9. Quick Open Function --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 9 - 6 forward after retractin g i n certai n a mount of dista nce, the voltage/current condition follows the welding start condition. ② S[...]

9. Quick Open Function --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 9 - 7 9.4 WELDING END CONDITION - EXE. AT AEF#= OUTLINE When a cursor is at ARCOF AEF#= in struction line, if you pre ss key, edit screen i[...]

9. Quick Open Function --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 9 - 8 which is conditi on of current an d vol tage value from in ste ady st ate to in end state.  Gas blowing out : It inputs the time w[...]

9. Quick Open Function --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 9 - 9 9.5 WELDING AUXILIARY CONDITION - RETRY Outline If yo u press "aux. condition"[PF1] at t he welding start condition file sc[...]

9. Quick Open Function --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 9 - 10 0,it starts with the current value of welding start condition.  Voltage : It is the o utput value of welding voltage when a ret r[...]

9. Quick Open Function --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 9 - 11 9.6 WELDING AUXILIARY CONDITION - RESTART Outline If you select “ aux. cond ition” [PF1] at the welding start condition screen a[...]

9. Quick Open Function --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 9 - 12 In case that error o ccurs(②) when a welding processes from weld ing start point(①) to welding end point(④), it moves in three[...]

9. Quick Open Function --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 9 - 13 (2) Gas Off : It i s a pr ocessing method when “ Gas status(en able/disable)” input signal is input. ① Disable : It stops with[...]

9. Quick Open Function --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 9 - 14 9.7 WELDING AUXILIARY CONDITION - AUTO. WIRE STICK RELEASE Outline If you sele ct “ auxiliary condition” [P F1] at welding end c[...]

9. Quick Open Function --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 9 - 15 9.8 WEAVING CONDITION FILE Outline If yo u press key, when there is a cu rsor in WEA VON WEA#= instruction line, t he edit screen is[...]

9. Quick Open Function --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 9 - 16  Moving angle : moving angle can be set within -90.0∼90.0 degree.  Moving time : moving time can be set within 0.04∼9.99se[...]

9. Quick Open Function --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 9 - 17 9.9 PROGRAM EDIT IN RUNNING Outline If you press ke y when a robot program is playing back, the program edi t in running (Hot Edit) [...]

9. Quick Open Function --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 9 - 18 9.10 SPOT WELDING FUNCTION Outline When SPOT or M72 (spot welding functio n) is recorded as a fu ncti on in editing program, if you [...]

9. Quick Open Function --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 9 - 19 9.10.2 welding sequence If you select welding sequen ce, following scree n is di splayed. The detail about scree n can be referred t[...]

10. Menu Tree ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ --------------------------------------------------------------- ------------------------- 10 - 1 Chapter 10. Menu Tree CONTENTS ━━━━━━━━━━━━━━━━━━━━━━[...]

10. Menu Tree --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 10 - 2 CHAP. 10 MENU TREE 10.1 MENU LIST This picture displays grou ps that each instruction is located a t initial menu and instruction input. MOV [...]

10. Menu Tree ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ --------------------------------------------------------------- ------------------------- 10 - 3 10.2 Move, I/O Grammar: MOVE <interpola tion> [,<pose>] , S=<speed> , A=<acc[...]

10. Menu Tree --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 10 - 4 Grammar: INPUT <input direction> , <variable> [,<timeout time>] Signal output (DO signal): It is the same as <variable&g[...]

10. Menu Tree ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ --------------------------------------------------------------- ------------------------- 10 - 5 10.3 FLOW control IF <conditional expression> THEN <address> [ELSE <address>] I[...]

10. Menu Tree --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 10 - 6 GOTO <address> ON <number> GOTO <address> [,<address>,...] JUMP(CALL) GOSUB <address> ∼ RETURN <program nu[...]

10. Menu Tree ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ --------------------------------------------------------------- ------------------------- 10 - 7 10.4 ETC. All instruc tion input methods excep t REM a re the same as the o l d M code input meth[...]

10. Menu Tree --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 10 - 8 10.5 ARC ARCON [ASF#=<file number>] ARCON C=<current output value> , {V=<voltage output value>|VP=<voltage ratio>} [,[...]

10. Menu Tree ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ --------------------------------------------------------------- ------------------------- 10 - 9 WEAVON WEV#=<file number> REFP <reference point number> , [<auxiliary point>] A[...]

10. Menu Tree --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 10 - 10 10.6 substitutional Statement It is a form of “ v ariable=expre ssion” . In al l case that arithmeti c stateme nt can be input as well a[...]

11. Robot Language Explanation --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 11 - 1 Chapter. 11 Robot Language Explanation CONTENTS ━━━━━━━━━━━━━━━━━━━━━━━━━?[...]

11. Robot Language Explanation --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 11 - 2 CHAP. 11 ROBOT LANG. EXPLANATION There are two ways to teach an industrial robot greatly. One is an inst ruction code method[...]

11. Robot Language Explanation --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 11 - 3 11.1 basic elements 11.1.1 Line Line number can be added at forefront of line.(optional). 254 characters can be described in[...]

11. Robot Language Explanation --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 11 - 4 11.1.4 Constant Reference (1) Suf fix is not ad ded in basic coordinate system, but suf fix is added in robo t coordin ate s[...]

11. Robot Language Explanation --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 11 - 5 11.1.5 Robot type information Reference (1) 0 bit : It is a n au to. c fg. fun ction. If it is 0 , ty pe i nfo rmation assig[...]

11. Robot Language Explanation --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 11 - 6 11.1.6 Variable 11.1.6.1 Global variable It can be shared and used in whole program. Reference (1) Pose type elements and sh[...]

11. Robot Language Explanation --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 11 - 7 11.1.6.2 Local variable It exists separately in each main program and auxiliary program called. It is impossible to access l[...]

11. Robot Language Explanation --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 11 - 8 11.1.6.3 Input/output variable Reference (1) When you use index as a type of numerical type , write it in [] like DO[], GO[][...]

11. Robot Language Explanation --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 11 - 9 _RN1~16 or _RN[1]~_RN[16] It’ s relevant to number of times register No.1~No.16 $CONVREG Encoder pulse count value of opti[...]

11. Robot Language Explanation --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 11 - 10 11.1.7 Operator example V10! = (V1!^2 + V2!^2 + V3!^2)*2.5 IF(V24!>=V50! AND V10$= “ WELD” (1) Three o perators are [...]

11. Robot Language Explanation --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 11 - 11 11.2 Command line 11.2.1 Substitution Description Substitute the value to the variable. Syntax <Variable>=<Value&g[...]

11. Robot Language Explanation --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 11 - 12 11.2.2 Robot Control 11.2.2.1 MOVE Command Note (1) If Move command is input by using <REC> key of T/P, it becomes hi[...]

11. Robot Language Explanation --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 11 - 13 11.2.2.2 SMOVE Command Note (1) Det ailed about Positione r Synchroniz ing is referred to the Positioner Synchron izing ope[...]

11. Robot Language Explanation --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 11 - 14 11.2.3 I/O 11.2.3.1 I/O Substitution 11.2.3.2 PRINT Command Description Outputs DO signal or inputs the DI signal status. S[...]

11. Robot Language Explanation --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 11 - 15 11.2.3.3 INPUT Command Description I nputs the informati on to variable fr om the Teach P e ndant s creen or seria l port. [...]

11. Robot Language Explanation --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 11 - 16 11.2.4 Program Flow Control 11.2.4.1 GOTO Command 11.2.4.2 GOSUB ∼ RETURN Command 11.2.4.3 JMPP Command Description Jumps[...]

11. Robot Language Explanation --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 11 - 17 11.2.4.4 CALL Command 11.2.4.5 ON∼GOTO Command 11.2.4.6 DELAY Command Description Calls for the specified program. When m[...]

11. Robot Language Explanation --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 11 - 18 11.2.4.7 STOP Command 11.2.4.8 END Command 11.2.4.9 WAIT Command Description Stops the program. If restarted, it is continu[...]

11. Robot Language Explanation --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 11 - 19 11.2.4.10 IF∼ELSEIF∼ELSE∼ENDIF Command 11.2.4.11 FOR∼NEXT Commands Description Jumps according to the Condition. Sy[...]

11. Robot Language Explanation --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 11 - 20 ※ Note : The comman ds inserted betw een the commands su ch as GOS UB∼RETURN, IF∼END IF, FOR∼NEXT must be executed [...]

11. Robot Language Explanation --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 11 - 21 11.2.5 Comments 11.2.6 ARC Welding 11.2.6.1 ARCON Command Description Used for describing the program operation. No effect [...]

11. Robot Language Explanation --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 11 - 22 11.2.6.2 ARCOF Command 11.2.6.3 ARCCUR Command 11.2.6.4 ARCVOL Command Description Outputs the Welding End Command. Syntax [...]

11. Robot Language Explanation --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 11 - 23 11.2.6.5 ARCDC Command 11.2.6.6 ARCDV Command 11.2.6.7 WEAVON Command 11.2.6.8 WEAVOF Command Description Sets the welding [...]

11. Robot Language Explanation --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 11 - 24 11.2.6.9 REFP Command Note (1) REFP Command belongs to the step as the MOVE command. (2) When the REFP command is input usi[...]

11. Robot Language Explanation --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 11 - 25 11.3 Others ※ All the factor values can be used in the Arithmetic Equation. 11.3.1 PRINT Command Introduction If the I si[...]

11. Robot Language Explanation --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 11 - 26 11.3.2 RINTA Command Introduction If input v oltage is sa tisfied fix ed voltage r ange by using analog sen sor, robot wi l[...]

11. Robot Language Explanation --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 11 - 27 11.3.3 SPOTCND Command Introduction Spot weld ing condi tion signa l is used to change the welding current according the th[...]

11. Robot Language Explanation --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 11 - 28 11.3.5 SONL Command Introduction On-line shift is a func tion to shift parallelly the teaching point to an any pla ce of X,[...]

11. Robot Language Explanation --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 11 - 29 11.3.6 TONL1 Command Introduction Online coo rdinate conversion (S lipping) is a funct ion to play back teac hed position c[...]

11. Robot Language Explanation --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 11 - 30 11.3.8 SREQT Command Introduction SREQT is same function as Shif t Requirement (M51). But it makes a differences to jump to[...]

11. Robot Language Explanation --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 11 - 31 11.3.10 SEA Command Introduction Search function (M59) can find the differences of the position of workpiece and correct it[...]

11. Robot Language Explanation --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 11 - 32 Application of Search (1) 1 dimension search As the above picture, 1 dimens ion search can be used in the case of an alike [...]

11. Robot Language Explanation --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 11 - 33 2 dimension sear ch uses search func tion twice and re cords the shift amo unts of point P,Q. The s hift amount of point P [...]

11. Robot Language Explanation --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 11 - 34 Introduction It is a function to measure the abrasion amount of tip. Gun sear ch 1 i s to use for measuremen t the total ab[...]

11. Robot Language Explanation --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 11 - 35 11.3.15 PALPU Command Introduction It is a functi on to shift the position where robo t pick s up the workpie ce after grip[...]

11. Robot Language Explanation --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 11 - 36 Introduction It ma kes shif t am ount to palletize by using the data that rec orded i n pallet izing p attern register. Not[...]

11. Robot Language Explanation --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 11 - 37 11.3.19 CALLPR Command Introduction In case that a rob ot is handling sa me workpiece s that have a diff erent position or [...]

11. Robot Language Explanation --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 11 - 38 11.3.20 SELCRD Command Introduction It is a functi on to select a base coordina tion to s hift. Robot shifts in the base of[...]

11. Robot Language Explanation --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 11 - 39 11.3.21 MIT Code Description All kinds of M.I.T. function codes can be used as required. Syntax M<Code Number> <Fa[...]

11. Robot Language Explanation --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 11 - 40 11.4 Function 11.4.1 Arithmetic Function The functions that have the numeric value returned, are called the arithmetic func[...]

11. Robot Language Explanation --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 11 - 41 11.4.2 String Function The functions that have the string returned, are called the string functions. 11.4.3 Robot Language [...]

11. Robot Language Explanation --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 11 - 42 M I T Function Code Example of corresponding HR - BASIC syntax. M0 DO signal RESET GO1=0 M1∼8 DO signal ON/OFF DO1=1∼DO[...]

11. Robot Language Explanation --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 11 - 43 M I T Function Code Example of corresponding HR - BASIC syntax. M51 Shift Requirements SREQ M52 Online Shift SONL M53 Onlin[...]

11. Robot Language Explanation --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 11 - 44 M I T Function Code Example of corresponding HR - BASIC syntax. M86 Function Jump (Count Conditional) Vp%=Vn%/<Division [...]

12. Signal connection (3) BD481 circuit --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 12 - 1 Chapter 12 Signal Connection INDEX ━━━━━━━━━━━━━━━━━━━━━━━━━━?[...]

12. Signal connection (3) BD481 circuit --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 12 - 2 CHAPTER 12 SIGNAL CONNECTION 12.1 EXTERNAL INPUT SIGNAL (BD430/BD431) 12.1.1 INPUT CIRCUIT - Connector Specificatio[...]

12. Signal connection (3) BD481 circuit --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 12 - 3 - Connection Diagram Common (+) or (-) voltage R RC CO MIN 1,2,3 ,4,5,6,7 ,8 BD430 o r BD431 Board User ' s SM[...]

12. Signal connection (3) BD481 circuit --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 12 - 4 12.1.2 CNIN2 Input Signal Pin No. Symbol Description (for expanded board / for base board) 1 DI01 general-purpose i[...]

12. Signal connection (3) BD481 circuit --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 12 - 5 1) General DI Signal DI1 ∼ DI18 signal connect as followings. 2) External start, External stop It connects extern[...]

12. Signal connection (3) BD481 circuit --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 12 - 6 Connect Discrete/Binary input signal as followings. ※ It is a binary input in case that this signal is open. 4) P[...]

12. Signal connection (3) BD481 circuit --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 12 - 7 12.2 External Output Signal (BD430, BD431) 12.2.1 Output Circuit All output circuit are as followings. - Connector [...]

12. Signal connection (3) BD481 circuit --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 12 - 8 - Connection Diagram BD431 Board : Common (+) or (-) voltage COMOUT1,2,3,4,5,6,7,8 BD431 Board +24V (0V) 0V (+24V) [...]

12. Signal connection (3) BD481 circuit --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 12 - 9 12.2.3 CNOUT2 Output signal Pin Sin g al Discri p tion 1 DO01 General out p ut si g nal 1 2 DO02 General out p ut s[...]

12. Signal connection (3) BD481 circuit --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 12 - 10 1) General DO Signal Connect DO 1∼ DO 8, DO 11 ∼ DO 18 output signal as followings. 24V output load connector [...]

12. Signal connection (3) BD481 circuit --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 12 - 11 2) GUN Signal It is output this signal after arrivi ng to the recorded point (destination poi nt) if it is GUN out[...]

12. Signal connection (3) BD481 circuit --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 12 - 12 4) PROGRAM END It is output when program is ended in playback. Refer to "SYSTEM [PF5] → 2. CONTROL PARAMETE[...]

12. Signal connection (3) BD481 circuit --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 12 - 13 6) EMERGENCY STOP It is output when emergency stop is pressed. 7) STEP SET ALARM SIGNAL It is output this signal w[...]

12. Signal connection (3) BD481 circuit --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 12 - 14 8) INTERLOCK ERROR SIGNAL It is output this signal in case that interlock signal is not input despite of exceeding[...]

12. Signal connection (3) BD481 circuit --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 12 - 15 10) ROBOT RUNNING It is out the confirming signal that robot is running. 11) IN LOW MODE SIGNAL It is output when [...]

12. Signal connection (3) BD481 circuit --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 12 - 16 12) ROBOT READY SIGNAL It is output when automatic operation is enable. Refer to "SYST EM [PF5 ] → 2.CONTRO[...]

12. Signal connection (3) BD481 circuit --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 12 - 17 12.3 BD481 CIRCUIT DRAWING 3M 10220-52A2JL 1 11 2 12 3 13 4 14 5 15 6 16 7 17 8 18 9 19 10 20 B D 481 CNW IF C onn[...]

12. Signal connection (3) BD481 circuit --------------------------------------------------------------- --------------------------------- --------------------------------------------------------------- ------------------------- 12 - 18 PHOENI X TERMI NAL 8 7 6 5 4 3 2 1 10 9 BD481 TBAI O Ter m i nal Bl ock 2 : AI N2 1 : AI N1 3 : AI N3 4 : AI N4 5 [...]