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OPERATING THE ROBOT .................................................................................... 9-1
9-1
Performing Return-to-Origin .................................................................................................. 9-2
9-1-1
9-1-2
9-2
Using Step Operation ............................................................................................................. 9-6
9-3
Using Automatic Operation ................................................................................................... 9-9
9-4
Switching the Execution Program ......................................................................................... 9-11
9-5
Emergency Stop Function ..................................................................................................... 9-12
9-5-1
9-5-2
9-6
Displaying the Variables ....................................................................................................... 9-14
9-7
Displaying the Memory I/O Status ....................................................................................... 9-15
Chapter 10 OTHER OPERATIONS ........................................................................................ 10-1
10-1 Initialization ........................................................................................................................ 10-2
10-2 DIO Monitor Display ........................................................................................................... 10-5
10-2-1 Display from the monitor menu .................................................................................................................. 10-5
10-2-2 Display from the DIO key operation ........................................................................................................... 10-6
10-3 System Information Display ................................................................................................. 10-7
10-4 SERVICE mode function ....................................................................................................... 10-8
10-4-1 Safety settings for SERVICE mode ................................................................................................................ 10-9
10-4-2 Enabling/disabling the SERVICE mode function ......................................................................................... 10-11
10-4-3 Setting the SERVICE mode functions ......................................................................................................... 10-13
10-5 System utilities ................................................................................................................... 10-15
10-5-1 Viewing hidden parameters ....................................................................................................................... 10-15
10-6 Using a Memory Card ........................................................................................................ 10-16
10-6-1 Saving controller data to a memory card ................................................................................................... 10-16
10-6-2 Loading data from a memory card ............................................................................................................. 10-18
10-6-3 Formatting a memory card ........................................................................................................................ 10-20
10-6-4 Viewing the ID number for memory card data .......................................................................................... 10-22
10-7 Duty (load factor) monitor................................................................................................. 10-23
10-7-1 Measuring the duty (load factor) ............................................................................................................... 10-25
Chapter 11 COMMUNICATION WITH PC ........................................................................... 11-1
11-1 Communication Parameter Specifications ............................................................................ 11-2
11-2 Communication Cable Specifications ................................................................................... 11-3
11-2-1 Connecting to the computer with a 25-pin D-sub connector ...................................................................... 11-3
11-2-2 Connecting to the computer with a 9-pin D-sub connector ........................................................................ 11-3
11-3 Communication Command Specifications ........................................................................... 11-4
11-4 Communication Command List ............................................................................................ 11-5
11-5 Communication Command Description ............................................................................... 11-8
11-5-1 Robot movements ........................................................................................................................................ 11-8
11-5-2 Data handling ............................................................................................................................................ 11-21
11-5-3 Utilities ...................................................................................................................................................... 11-33
Chapter 12 MESSAGE TABLES ............................................................................................... 12-1
12-1 Error Messages ..................................................................................................................... 12-2
12-1-1 Error message specifications ........................................................................................................................ 12-2
12-1-2 Command error message ............................................................................................................................. 12-2
12-1-3 Operation error message ............................................................................................................................. 12-3
12-1-4 Program error message ................................................................................................................................ 12-4
12-1-5 System error message .................................................................................................................................. 12-5
12-1-6 Multi-task error message ............................................................................................................................. 12-5
12-2 TPB Error Messages .............................................................................................................. 12-6
12-3 Stop Messages ...................................................................................................................... 12-7
12-3-1 Message specifications ................................................................................................................................ 12-7
12-3-2 Stop messages .............................................................................................................................................. 12-7
12-4 Displaying the Error History ................................................................................................ 12-8
iv
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Return-to-origin by the search method .......................................................................................................... 9-2
Return-to-origin by the mark method ............................................................................................................ 9-4
Initiating an emergency stop ....................................................................................................................... 9-12
Recovering from an emergency stop ............................................................................................................ 9-12
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Troubleshooting
