Download
Share
Print this page
  1. Manuals
  2. Brands
  3. Hirata Corporation Manuals
  4. Controller
  5. 580 Series
  6. Operation manual

Hirata Corporation 580 Series Operation Manual

Teach pendant
Hide thumbs Also See for 580 Series:

Advertisement

Quick Links

Download this manual
580 SERIES CONTROLLER
OPERATION MANUAL
OPERATION MANUAL
OPERATION MANUAL
OPERATION MANUAL
TEACH PENDANT
World Leader in Production Technology
World Leader in Production Technology
World Leader in Production Technology
World Leader in Production Technology
HD-3810E-1

Advertisement

loading
Need help?

Need help?

Do you have a question about the 580 Series and is the answer not in the manual?

Questions and answers

Related Manuals for Hirata Corporation 580 Series

Summary of Contents for Hirata Corporation 580 Series

  • Page 1 HD-3810E-1 OPERATION MANUAL OPERATION MANUAL OPERATION MANUAL OPERATION MANUAL 580 SERIES CONTROLLER TEACH PENDANT World Leader in Production Technology World Leader in Production Technology World Leader in Production Technology World Leader in Production Technology...
  • Page 2 World Leader in Production Technology World Leader in Production Technology World Leader in Production Technology World Leader in Production Technology...
  • Page 3 The information contained herein is the property of Hirata Corporation and shall not be reproduced in whole or in part without prior written approval of Hirata Corporation. The information contained herein is subject to change without notice and should not be constructed as a commitment by Hirata Corporation.
  • Page 4 NOTATIONS Notations Notations Notations Notations 1 1 1 1 Dangers, Dangers, Warnings Dangers, Dangers, Warnings Warnings Warnings, , , , Cautions, and Notes Cautions, and Notes Cautions, and Notes Cautions, and Notes There are four levels of special notations are used in this manual. Table Table 1 1 1 1 Special Notation List Table...
  • Page 5 Notice Notice Notice This manual is quick start guide manual for Hirata HNC-580 series robot controller. This controller is designed to control SCARA (Hirata AR series : horizontal multi-articulated type) and Cartesian manipulators. The Hirata robot operating system is configured as in the following figure.
  • Page 6 CHAPTER 1 ABOUT THIS MANUAL AND NOTICE The basic outline for setting up the robot system is described in this chapter. It may differs depending on robot and controller type. External cables Power cable, servo LINK cable, Motor line, etc. E.S.
  • Page 7 CHAPTER 1 ABOUT THIS MANUAL AND NOTICE Check • Set the conditions of robot operations using System Parameters. Speed, Acceleration/Deceleration, “PULL-UP” motion, “ARCH UP/DOWN” motion, etc. Refer to Chapter 19, “Details of System Parameters” for details. • Check the entered position data in CHECK mode. Refer to Chapter 6, “CHECK Mode”...
  • Page 8 CHAPTER 2 CONNECTING THE TEACH PENDANT CHAPTER 2 CHAPTER 2 CHAPTER 2 CHAPTER 2 Connecting the Teach Pendant Connecting the Teach Pendant Connecting the Teach Pendant Connecting the Teach Pendant Naming and F F F Function Naming and unction of of of of the the T T T T each each P P P Pendant endant...
  • Page 9 CHAPTER 2 CONNECTING THE TEACH PENDANT Emergency Stop (E.S.) button Emergency Stop button is equipped to the Teach-pendant for the purpose of stopping the robot immediately when an abnormal conditions occur. When this button is pressed, the servo amplifiers/drivers are disconnected electrically from the motors of each axis, and the indicator also lights.
  • Page 10 CHAPTER 2 CONNECTING THE TEACH PENDANT LED display ① 『SHIFT』 SHIFT Every time the key is pressed, the 『SHIFT』 LED will switch between ON and OFF. When the 『SHIFT』 LED is lit, the functions of the lower case letters on the pink are selected. ②...
  • Page 11 CHAPTER 2 CONNECTING THE TEACH PENDANT Connecting the Teach Pendant to the Connecting the Teach Pendant to the Connecting the Teach Pendant to the Connecting the Teach Pendant to the Controller Controller Controller Controller Before using the robot, you need to go through following procedure. This chapter describes the step by step procedures to be used before starting the system: Physically connecting the Teach Pendant to the controller...
  • Page 12 CHAPTER 2 CONNECTING THE TEACH PENDANT You will see the following screen and the system is now ready to operate. If you can not get the screen below, repeat the procedure or reboot the system with the Teach Pendant attached. ＴＥＡＣＨ－ＰＥＮＤＡＮＴ...
  • Page 13 CHAPTER 2 CONNECTING THE TEACH PENDANT Configuring the Robot Setup Configuring the Robot Setup Configuring the Robot Setup Configuring the Robot Setup Before operating the robot, it is required to connect the Teach Pendant to the controller and configure the robot setup. 2.3.1 2.3.1 2.3.1...
  • Page 14 CHAPTER 2 CONNECTING THE TEACH PENDANT Mode Mode Select Operation Mode Mode Select Operation Select Operation Select Operation Hirata system is provided with 4 modes. This section describes each function and mode selection tips. Table 2. Table 2.2 2 2 2 Mode Function Mode Function Table 2.
  • Page 15 CHAPTER 2 CONNECTING THE TEACH PENDANT Changing the Mode Selection on the Teach Pendant FUNC While pressing the key on the Teach Pendant, you will see the HIGH mode displayed. Each mode corresponds to the function key below the screen. Press the function, , or corresponds to the mode while the indication is ON.
  • Page 16 CHAPTER 2 CONNECTING THE TEACH PENDANT Emergency Stop Emergency Stop (E.S.) Emergency Stop Emergency Stop (E.S.) (E.S.) (E.S.) Button utton utton utton To stop the robot immediately when an abnormal condition occurs, the E-STOP E-STOP Teach Pendant is equipped with an Emergency Stop (E.S.) button. When this button is pressed, the power supply to the servo unit (servo driver and the motor for each axis) is cut off.
  • Page 17 CHAPTER 2 CONNECTING THE TEACH PENDANT ON/OFF entry The data displayed, “ON” or “OFF”, is the switch data. You can ＊ select “ON” or “OFF” using the key or the numeric keys, . Using the key, “ON” and “OFF” are switched between ＊...
  • Page 18 CHAPTER 2 CONNECTING THE TEACH PENDANT LCD (Liquid Crystal Display) LCD (Liquid Crystal Display) LCD (Liquid Crystal Display) LCD (Liquid Crystal Display) Data and a message are displayed for each mode. The display consists of 80 characters (20 columns×４ lines) Address Ｆ-code Arm position...
  • Page 19 CHAPTER 2 CONNECTING THE TEACH PENDANT R or L: arm position Designates whether the robot moves to the position with a right arm (R) or left arm (L) configuration using “R” or “L” key when operating SCARA (horizontal multi-articulated type) robot. In the operational area, there are positions where a SCARA robot can move either in a right arm (R) or left arm (L) position.
  • Page 20 CHAPTER 2 CONNECTING THE TEACH PENDANT Message line Displays the message, general and error messages. Refer to Chapter 23, “Message” for details. READ While pressing the key in any mode except KEY-IN mode, the display shows the software version built-in the controller. For example, “OLD DATA V5.xx”...
  • Page 21 CHAPTER 2 CONNECTING THE TEACH PENDANT Function Mode Function Mode Function Mode Function Mode FUNC The mode selected by the with blue colored key, such as the HIGH k.in k.out local , and keys, is the function mode. This mode M.OUT can be activated in any other mode.
  • Page 22 CHAPTER 2 CONNECTING THE TEACH PENDANT Screen Screen Screen Screen Name Name Name Name Description Description Description Description Errors are stored to error history from 1 to F. Stores past 15 errors. The error history 1 is the latest error, and it will be sift up in the order when the Alarm history error is occurred.
  • Page 23 CHAPTER 2 CONNECTING THE TEACH PENDANT Explanation of displayed items are as follows: Table 2. Table 2.8 8 8 8 System Monitor Display Items Table 2. Table 2. System Monitor Display Items System Monitor Display Items System Monitor Display Items Item Item Item...
  • Page 24 CHAPTER 2 CONNECTING THE TEACH PENDANT FUNC p.ed ＋ HIGH [p.ed] keys（position edit） Edits the position data collectively. Same function as [s.ed] previously referred. Refer to 8.5, “Editing Position Data in Blocks.” home FUNC ＋ HIGH [home] keys（home mode） Returns the display to the home mode from all other modes. FUNC ＋...
  • Page 25 CHAPTER 2 CONNECTING THE TEACH PENDANT Set the Z-Axis data to “10.” EXAMPLE EXAMPLE EXAMPLE EXAMPLE k.in FUNC : Starts key input ① ＋ HIGH ＊ ↑Z ENTER ENTER : sets “10” to the Z-Axis data ② → → → FUNC k.in : Ends key input...
  • Page 26 CHAPTER 2 CONNECTING THE TEACH PENDANT Input the data. Press the key to select the ｢Motion｣ data. Input the all data following the method given below; ① Input the data. ENTER ② Press the key to enter the input data. The message line displays the message “ENTER OK?”...
  • Page 27 Once A-CAL is done after turning ON the power, it is not necessary to repeat the A-CAL procedure as long as the 『A-CAL』 LED remains ON. The 580 series controller uses the ABS (Absolute) encoder to detect the position, so that the A-CAL is performed only once when the robot is installed.
  • Page 28 CHAPTER 3 A-CAL（AUTOMATIC CALIBRATION） A-CAL Parameters A-CAL Parameters A-CAL Parameters A-CAL Parameters Followings are the data referred when the A-CAL is performed. Refer to Chapter 18, “Details of System Generation” and Chapter 19, “Details of System Parameters” for details. Table Table 3.
  • Page 29 CHAPTER 3 A-CAL（AUTOMATIC CALIBRATION） A-CAL Procedure A-CAL Procedure A-CAL Procedure A-CAL Procedure A-CAL Press the key to perform A-CAL in TEACH and CHECK mode. In the automatic operation, A-CAL is performed by the commands, such as SELECT signal in AUTO mode and A-CAL command in ON-LINE mode, from external devices.
  • Page 30 CHAPTER 3 A-CAL（AUTOMATIC CALIBRATION） A-CAL Keep pressing the key until the A-CAL completes. A-CAL When A-CAL is completed successfully, “A-CAL COMPLETED”will be appeared on screen and a buzzer will sound. If A-CAL could not be completed for some reason, “A-CAL INCOMPLETE”will be appeared and a buzzer will sound.
  • Page 31 CHAPTER 3 A-CAL（AUTOMATIC CALIBRATION） User Action for “ “ “ “ ＊ ＊ ＊ ＊ 0 Not Find 0 Not Find” ” ” ” 3.4.1 3.4.1 3.4.1 3.4.1 User Action for User Action for User Action for 0 Not Find 0 Not Find This error means missing ORIGIN sensor signal input.
  • Page 32 CHAPTER 3 A-CAL（AUTOMATIC CALIBRATION） User Action for “ “ “ “ ＊ ＊ ＊ ＊ 1 Not Off 1 Not Off” ” ” ” 3.4.2 3.4.2 3.4.2 3.4.2 User Action for User Action for User Action for 1 Not Off 1 Not Off This message indicates that the sensor did not turn OFF after the axis left from the sensing range.
  • Page 33 CHAPTER 3 A-CAL（AUTOMATIC CALIBRATION） User Action for “ “ “ “ ＊ ＊ ＊ ＊ 2 Other On 2 Other On” ” ” ” 3.4.3 3.4.3 3.4.3 3.4.3 User Action for User Action for User Action for 2 Other On 2 Other On This error message indicates that the OVERRUN sensor turned ON during A-CAL.
  • Page 34 CHAPTER 3 A-CAL（AUTOMATIC CALIBRATION） User Action for “ “ “ “ *4 Lower *4 Lower” ” ” ” 3.4.4 3.4.4 3.4.4 3.4.4 User Action for User Action for User Action for *4 Lower *4 Lower Sensor tab is adjusted lower than safety margin. To correct the position drift, it is recommended to adjust the sensor tab position.
  • Page 35 CHAPTER 4 KEY-IN MODE CHAPTER 4 CHAPTER 4 CHAPTER 4 CHAPTER 4 KEY-IN Mode KEY-IN Mode KEY-IN Mode KEY-IN Mode General General General General KEY-IN mode enables you to enter the position data with the numeric keys manually. FUNC Set the controller mode to MANUAL and press the keys to enter ＋...
  • Page 36 CHAPTER 4 KEY-IN MODE S-code k.out Press the key, or the key to position the cursor to the S- DOWN code. Set the data with the numeric keys. Arm position +R/R SHIFT Press the key to light up the 『SHIFT』 LED. Press the -R/L key or the key to set the arm position, “R”...
  • Page 37 CHAPTER 4 KEY-IN MODE Basic Operation Example Basic Operation Example Basic Operation Example Basic Operation Example The following is an example to enter new position data into address 50, M=10, F=99, R/L=L, X=500.05, Y=-80, Z=20.1, W=100 FUNC Press the keys to set the Teach Pendant to KEY-IN mode. ＋...
  • Page 38 CHAPTER 4 KEY-IN MODE The following display appears using above procedure. ００５０ Ｍ１０ Ｆ９９ Ｓ００ Ｌ ０ Ｘ ０５００．０５ Ｙ－００８０．００ Ｚ ００２０．１０ Ｗ ０１００．００ ＫＥＹ－ＩＮ ＲＢ１ ［ＷＯＲＬＤ］ Fig.4..2 2 2 2 Data Setting Display (Robot 1 with 4 Axes) Fig.4 Data Setting Display (Robot 1 with 4 Axes) Fig.4...
  • Page 39 CHAPTER 4 KEY-IN MODE Data Correction Data Correction Data Correction Data Correction To correct wrong data; Move the cursor to the position where the correct data is to be input and entered. To cancel all data before entering; READ Press the key and the display shows the data stored in the current address.
  • Page 40 CHAPTER 5 TEACH MODE CHAPTER 5 CHAPTER 5 CHAPTER 5 CHAPTER 5 TEACH Mode TEACH Mode TEACH Mode TEACH Mode General General General General This mode enables you to manipulate the robot and perform teaching by hand or with the axis key .
  • Page 41 CHAPTER 5 TEACH MODE 5.2.2 5.2.2 5.2.2 5.2.2 X (A) and Y (B)-Axes Operation in RO-TEACH Mode X (A) and Y (B)-Axes Operation in RO-TEACH Mode X (A) and Y (B)-Axes Operation in RO-TEACH Mode X (A) and Y (B)-Axes Operation in RO-TEACH Mode +R/R -R/L In RO-TEACH mode, X (A)-Axis is operated by the...
  • Page 42 CHAPTER 5 TEACH MODE 5.2.5 5.2.5 5.2.5 5.2.5 R-Axis Operation (Robot with 6 Axes) R-Axis Operation (Robot with 6 Axes) R-Axis Operation (Robot with 6 Axes) R-Axis Operation (Robot with 6 Axes) The R-Axis is controlled in both LI-TEACH and RO-TEACH modes as well SHIFT SHIFT as Z-Axis.
  • Page 43 CHAPTER 5 TEACH MODE S-code k.out Press the key or the key to move the cursor to the position DOWN where the data is to be entered with the numeric keys. Coordinates system display FUNC local Press the keys or the key to move the cursor to the ＋...
  • Page 44 CHAPTER 5 TEACH MODE Basic Operation Procedure Basic Operation Procedure Basic Operation Procedure Basic Operation Procedure Following are the basic operation procedures in TEACH mode. This mode enables the robot to move. Misoperation may cause injury and interference with other devices. Intensive care is required when operating the robot.
  • Page 45 CHAPTER 5 TEACH MODE A-CAL ENTER ・ If you press the key before completion of the A-CAL operation (when the A-CAL indicator is OFF) in step (10), “A-CAL INCOMPLETE !!” is displayed on the message line and the data cannot be entered.
  • Page 46 CHAPTER 6 CHECK MODE CHAPTER 6 CHAPTER 6 CHAPTER 6 CHAPTER 6 CHECK Mode CHECK Mode CHECK Mode CHECK Mode General General General General CHECK mode enables you to check the position data, which has been entered in the KEY-IN or TEACH mode, by physically moving the robot. FUNC Change the controller mode to MANUAL and press the keys to...
  • Page 47 CHAPTER 6 CHECK MODE 6.2.4 6.2.4 6.2.4 6.2.4 Display in CHECK Mode Display in CHECK Mode Display in CHECK Mode Display in CHECK Mode In CHECK mode, the position data shows the current position of each axis in same manner in TEACH mode. ００５０　Ｍ１０　Ｆ９９　Ｓ００　Ｒ　０...
  • Page 48 CHAPTER 6 CHECK MODE Perform A-CAL . It is not necessary to perform A-CAL if it is A-CAL completed or the 『A-CAL』 LED is OFF. Set the speed in CHECK mode. Enter the address which you wish to confirm the position. READ Enter the address with the numeric keys and press the key.
  • Page 49 CHAPTER 7 ON-LINE MODE CHAPTER 7 CHAPTER 7 ON-LINE Mode ON-LINE Mode CHAPTER 7 CHAPTER 7 ON-LINE Mode ON-LINE Mode The robot is controlled by communication with external devices in this mode. The robot performs automatic operation. FUNC Change the controller mode to AUTO and press the keys to enter ＋...
  • Page 50 CHAPTER 7 ON-LINE MODE AUTO Mode AUTO Mode AUTO Mode AUTO Mode In AUTO mode, the HNC controller controls automatic robot operation by exchanging signals with an external PLC and has 16 ports for DI and DO. Their assignment is fixed. There are two ways for positioning.
  • Page 51 CHAPTER 7 ON-LINE MODE When the AUTO mode is changed to another mode, the READY signal will be turned OFF. If this signal is turned OFF during the PTP operation, the READY signal will be turned OFF and the robot stops. •...
  • Page 52 CHAPTER 7 ON-LINE MODE HOLD（IN3）: Servo lock signal This is for the servo lock signal. While the robot is outputting a PCA signal, this signal locks (ON) or frees (OFF) the robot. When the PCA (servo lock) signal is OFF, the only axes equipped with a brake will be held by a brake instead.
  • Page 53 CHAPTER 7 ON-LINE MODE • In Positioning mode These signals are accepted during the rising edge of the START signal. This signals are evaluated as binary numbers. When you want to specify ADDRESS 10, set to ON IN9 and IN11. Then, set the START (IN1) signal ON as following.
  • Page 54 CHAPTER 7 ON-LINE MODE The following table shows the setting of the inching axes, each setting (IN8-IN15) and IN6. Table 7. Table 7.5 5 5 5 Inching Axes Setting Inching Axes Setting Table 7. Table 7. Inching Axes Setting Inching Axes Setting IN10 IN10 IN10...
  • Page 55 CHAPTER 7 ON-LINE MODE ERROR（OUT1）: Error indication signal When the controller detects a fault and stops operation, this signal is turned ON. While this signal is ON, the display on the Teach Pendant indicates an error message and an error code is output to one of the MOUT signals.
  • Page 56 CHAPTER 7 ON-LINE MODE When an error occurs, the A-CAL signal (OUT7) and the CPOUT signal (OUT6) are invalid as they are assigned to the error bits for R and C-Axes. An error code is output to the MOUT signals (OUT6-OUT15) with error indication signal (ERROR: OUT1).
  • Page 57 CHAPTER 7 ON-LINE MODE ZONE（OUT5）: Z-Axis zone output When the Z-Axis moves past the position set by the System Parameter, ｢RESPONSE｣→｢RESPONSE｣→｢SAFE. ZONE｣, this signal is ON. When moving down, the signal is OFF. Z-Axis OUT5=ON ｢SAFE. ZONE｣ value OUT5=OFF Fig.7. Fig.7.
  • Page 58 CHAPTER 7 ON-LINE MODE MOUT0-MOUT7（OUT8-OUT15）: M-data output signal The MOUT signals are related to the M-data, which is the output pattern to the output port of the robot driver, as shown in Table 7.9. Table 7. Table 7.9 9 9 9 M-data Output Signal M-data Output Signal Table 7.
  • Page 59 CHAPTER 7 ON-LINE MODE 7.1.3 7.1.3 7.1.3 7.1.3 Random Access Random Access Random Access Random Access This method enables you to move the robot to the specified address by switching the START signal ON and then OFF. In the following description, signal exchange with PLC is assumed. For the meaning of the individual signals, refer to 7.1.1, “DI signals”...
  • Page 60 CHAPTER 7 ON-LINE MODE Positioning timing chart involving ERROR (Mode selector) AUTO mode AUTO AUTO(OUT3) AUTO output SELECT(IN0) SELECT READY(OUT0) READY PCA(OUT2) START(IN1) START ADDRESS IN6-15 ADDRESS INCH PTP/INCH MOUT0 OUT8 MOUT ERROR(OUT1) ERROR HOLD(IN3) HOLD ERROR occurrence ERROR reset Fig.7.
  • Page 61 CHAPTER 7 ON-LINE MODE • t4: Positioning time Traveling time from current point to next point (only if the next position is the same as current position, t4: ≈70msec.） • t5: 64msec Time for positioning confirmation until the robot has positioned within the accuracy. •...
  • Page 62 CHAPTER 7 ON-LINE MODE Timing chart for ordinary positioning（Sequential access） (Mode selector) AUTO AUTO mode AUTO output AUTO(OUT3) SELECT SELECT(IN0) READY READY(OUT0) PCA(OUT2) NEXT NEXT(IN2) START START(IN1) ADDRESS ADDRESS(IN6-15) PTP/INCH POS/INCH(IN4) MOUT MOUT0-7(OUT8-15) ERROR ERROR(OUT1) HOLD HOLD(IN3) Fig.7. Fig.7. Fig.7. Fig.7.7 7 7 7 Sequential Access Sequential Access Sequential Access...
  • Page 63 CHAPTER 7 ON-LINE MODE on “hand shake” (i.e., an exchange of information) between the HNC controller and the PLC. ・EMERGENCY STOP (E.S.) error is not reset by SELECT OFF. When E.S. state is released, the robot is reset automatically and will be in the initial status of AUTO mode.
  • Page 64 CHAPTER 7 ON-LINE MODE INCH POS/INCH (IN4) INCH START(IN1) Inputs addresses (IN6～IN15) * Address stored positions are selected in the NEXT(IN2) system data Checks addresses. HOLD Addresses incremented/ Error Servo-lock Releases servo-lock PCA(OUT0)OFF MOUT(OUT8～15) Not used. Readout of target stored data Data check Error M-data check...
  • Page 65 CHAPTER 7 ON-LINE MODE Go to ① when SELECT is Robot movement (PTP, CPC) OFF during PTP or CPC movement. In Pass PTP or CPC movement, MOUT changes Positioning error at each position. Error SELECT(IN0) START、NEXT PCA(OUT0) Stores address NEXT(IN2) Fig.7.
  • Page 66 CHAPTER 7 ON-LINE MODE 7.1.6 7.1.6 7.1.6 7.1.6 Positioning Data Load From Memory Card in Auto Mode Positioning Data Load From Memory Card in Auto Mode Positioning Data Load From Memory Card in Auto Mode Positioning Data Load From Memory Card in Auto Mode When the position memories stored in the controller are not sufficient for your application, the data stored in the optional memory card can be downloaded to the controller using the DI signal in AUTO mode.
  • Page 67 CHAPTER 7 ON-LINE MODE Extended AUTO Mode Extended AUTO Mode Extended AUTO Mode Extended AUTO Mode To enter extended AUTO mode, set the data by System Generation, ｢ORIGIN｣→｢SET-UP SYSTEM｣→｢AUTO/ON-LINE｣ to “EXT AUTO.” This mode is almost same as the AUTO mode except that the assignment of DI signals.
  • Page 68 CHAPTER 7 ON-LINE MODE The function of downloading the position data from the memory card is not supported in extended AUTO mode ON-LINE Mode ON-LINE Mode ON-LINE Mode ON-LINE Mode ON-LINE mode enables a robot to perform automatic operation by using a host computer and HAC (Hirata Assembly cell Controller) via RS232C interface.
  • Page 69 CHAPTER 8 DATA EDITING CHAPTER 8 CHAPTER 8 CHAPTER 8 CHAPTER 8 Data Editing Data Editing Data Editing Data Editing Entering END Point (M-Data=??) Entering END Point (M-Data=??) Entering END Point (M-Data=??) Entering END Point (M-Data=??) After creating position data in KEY-IN or TEACH mode, an END point (M- data=??) should be specified.
  • Page 70 CHAPTER 8 DATA EDITING Inserting Position Data Inserting Position Data Inserting Position Data Inserting Position Data After creating position data in KEY-IN mode or TEACH mode and if you want to insert the position data, perform the following steps. Note that newly inserted position data influences the data which have already been taught.
  • Page 71 CHAPTER 8 DATA EDITING Deleting Position Data Deleting Position Data Deleting Position Data Deleting Position Data If you want to delete certain position data after creating position data in KEY-IN or TEACH mode, perform the following steps. Note that deletion of position data influences the data that have already been taught.
  • Page 72 CHAPTER 8 DATA EDITING Copying Position Data Copying Position Data Copying Position Data Copying Position Data To copy position data into other addresses, perform the steps described be- low. FUNC Set the Teach Pendant to KEY-IN mode ( ＋ HIGH READ Enter the source address, and press the key.
  • Page 73 CHAPTER 8 DATA EDITING There are five commands available as the ｢MODE COMMAND｣. ＊ And each command can be selected by the key or one of the s.ed through numeric keys. ① MOVE : Moves a block. ② INS : Inserts a block. ③...
  • Page 74 CHAPTER 8 DATA EDITING 8.5.3 8.5.3 8.5.3 8.5.3 Inserting Position Data Block (INS) Inserting Position Data Block (INS) Inserting Position Data Block (INS) Inserting Position Data Block (INS) Data located in the ｢START ADDRESS｣ through ｢END ADDRESS｣ are inserted to the ｢SET ADDRESS｣ with this command. The data originally located in the ｢SET ADDRESS｣...
  • Page 75 CHAPTER 8 DATA EDITING 8.5.4 8.5.4 8.5.4 8.5.4 Deleting Position Data Block (DEL) Deleting Position Data Block (DEL) Deleting Position Data Block (DEL) Deleting Position Data Block (DEL) Use this command to delete a position data block located in the ｢START ADDRESS｣...
  • Page 76 CHAPTER 8 DATA EDITING 8.5.6 8.5.6 8.5.6 8.5.6 Initializing Position Data Block (INIT) Initializing Position Data Block (INIT) Initializing Position Data Block (INIT) Initializing Position Data Block (INIT) When this command is executed, the data specified by ｢START ADDRESS｣ through ｢END ADDRESS｣ are initialized. ００１０...
  • Page 77 CHAPTER 9 INPUT/OUTPUT OPERATIONS CHAPTER 9 CHAPTER 9 CHAPTER 9 CHAPTER 9 INPUT/OUTPUT Operations INPUT/OUTPUT Operations INPUT/OUTPUT Operations INPUT/OUTPUT Operations DI/DO Monitor DI/DO Monitor DI/DO Monitor DI/DO Monitor FUNC Pressing the keys activates DI/DO monitor mode and the ＋ HIGH following display appears on the screen.
  • Page 78 CHAPTER 9 INPUT/OUTPUT OPERATIONS Manually Outputting M-Data Signals Manually Outputting M-Data Signals Manually Outputting M-Data Signals Manually Outputting M-Data Signals In KEY-IN, TEACH, or CHECK mode, the controller gives to its output signals the outputs corresponding to the values set as M-data. When output signals of the controller are used, you can check the operations of other components through operation of the output signals in CHECK mode or during teaching.
  • Page 79 CHAPTER 10 HOLD FUNCTION CHAPTER 10 CHAPTER 10 CHAPTER 10 CHAPTER 10 HOLD Function HOLD Function HOLD Function HOLD Function Currently this function is not used for this system. Normally, all axes are held in TEACH and CHECK mode. However, when the coordinates system display is set to “8”, the HOLD function will be cancelled and only the axes equipped with a brake are held.
  • Page 80 CHAPTER 11 POSITIONING ADDRESS HISTORY CHAPTER 11 CHAPTER 11 CHAPTER 11 CHAPTER 11 Positioning Address History Positioning Address History Positioning Address History Positioning Address History The controller saves the addresses of the data determined during positioning in automatic operation. The controller saves such addresses at the time when the START or NEXT signal enters the leading edge.
  • Page 81 CHAPTER 11 POSITIONING ADDRESS HISTORY Error Code Error Code Description Description Error Code Error Code Description Description Travel distance too short Conflict in M-data Position data destroyed Final positioning not possible Motor not responding to speed command Over-speed Driver error detected Servo amplifier/driver is unable to servo lock Interlock input (This is not an error message, but indicated as a notice.)
  • Page 82 CHAPTER 12 AUTOMATIC CREATION OF POSITION DATA & PARAMETERS CHAPTER 12 CHAPTER 12 CHAPTER 12 CHAPTER 12 Automatic Creation of Position Automatic Creation of Position Automatic Creation of Position Automatic Creation of Position Data & Parameters Data & Parameters Data & Parameters Data &...
  • Page 83 CHAPTER 12 AUTOMATIC CREATION OF POSITION DATA & PARAMETERS 12.1.1 12.1.1 12.1.1 12.1.1 AR-TYPE AR-TYPE AR-TYPE AR-TYPE This item is used to calculate intrinsic values of SCARA type (a horizontal multi-articulated) robot. The initial angle and arm length can be automatically calculated.
  • Page 84 CHAPTER 12 AUTOMATIC CREATION OF POSITION DATA & PARAMETERS FUNC Press the keys simultaneously. Select ｢1. CALC.｣ on HIGH the screen by pressing the key when the screen display is as shown in Fig.12.1, Robot Calculate Mode. Select ｢1.AR TYPE｣ on the screen when the screen display is as shown in Fig.12.2, Calculate Mode.
  • Page 85 CHAPTER 12 AUTOMATIC CREATION OF POSITION DATA & PARAMETERS Enter the data. The steps for each data entry are the same as follows: ① Enter the data. ENTER ② Press the key if the data is correct. “ENTER OK?” appears on the message line and a buzzer sounds. ENTER Press the key again to confirm the data.

  • Page 86: Table Of Contents

    CHAPTER 12 AUTOMATIC CREATION OF POSITION DATA & PARAMETERS Ｐ３ Ｐ２ Ｐ１ Fig.12. Fig.12.5 5 5 5 Teaching Example (Viewed from Robot Top) Teaching Example (Viewed from Robot Top) Fig.12. Fig.12. Teaching Example (Viewed from Robot Top) Teaching Example (Viewed from Robot Top) Select a mode other than AUTO for the robot.

  • Page 87: Ｌｏｗｅｒ Ｍ Ｄａｔａ

    CHAPTER 12 AUTOMATIC CREATION OF POSITION DATA & PARAMETERS Specify data. Input method is the same for all the items. To input, ① Enter a value to be set. ENTER ② Confirm that the specified value is correct and press the key.

  • Page 88: Ｙ Ｗｏｒｋ Ｎｕｍｂｅｒ

    CHAPTER 12 AUTOMATIC CREATION OF POSITION DATA & PARAMETERS • ｢X WORK NUMBER｣ Specify the number of rows between P1 and P2 (on X-Axis). Refer to example① in Fig.12.9 and example② in Fig.12.10. • ｢Y WORK NUMBER｣ Specify the number of lines between P1 and P3 (on Y-Axis). Refer to example①...
  • Page 89 CHAPTER 12 AUTOMATIC CREATION OF POSITION DATA & PARAMETERS • ｢ORDER 0-7｣ When developing position data, specify the sequence of work positioning to be executed. You can select one to be executed from the 8 orders illustrated in Fig.12.11, ｢ORDER 0-7｣ below. P1, P2, and P3 are the teaching points.
  • Page 90 CHAPTER 12 AUTOMATIC CREATION OF POSITION DATA & PARAMETERS • ｢PATTERN 0-15｣ When “2” is specified for ｢WORK STEP 1-2｣, specify a shifting pattern of the matrix. This item is valid only when “2” is specified for ｢WORK STEP 1-2｣. Each parallelogram drawn with a solid line indicates the matrix formed based on the actual points P1, P2 and P3 specified by teaching.

  • Page 91: Ｐａｔｔｅｒｎ ０－１５

    CHAPTER 12 AUTOMATIC CREATION OF POSITION DATA & PARAMETERS ｢ＰＡＴＴＥＲＮ ０－１５｣＝８ ｢ＰＡＴＴＥＲＮ ０－１５｣＝９ ｢ＰＡＴＴＥＲＮ ０－１５｣ ｢ＰＡＴＴＥＲＮ ０－１５｣ ＝１０ ＝１１ ｢ＰＡＴＴＥＲＮ ０－１５｣ ｢ＰＡＴＴＥＲＮ ０－１５｣ ＝１２ ＝１３ ｢ＰＡＴＴＥＲＮ ０－１５｣ ｢ＰＡＴＴＥＲＮ ０－１５｣ ＝１４ ＝１５ Fig.12.13 13 13 13 ｢ ｢ ｢ ｢ PATTERN 0-15 Fig.12.
  • Page 92 CHAPTER 12 AUTOMATIC CREATION OF POSITION DATA & PARAMETERS • ｢ADDR STEP 0-255｣ The number of steps to be skipped for developing position data addresses should be specified. If you input “0” for this item when “0” is specified for ｢Z UPPER DATA｣ explained above, the system automatically sets your input to “1.”...

  • Page 93: Pressing The

    CHAPTER 12 AUTOMATIC CREATION OF POSITION DATA & PARAMETERS The steps for developing these patterned data blocks are described below. Set the coordinates to “0 (world coordinates).” Refer to “2.4 Mode Select Operation.” Teach to the robot system the original basic series of movements. At this time, teach the position from which the robot starts the operation.
  • Page 94 CHAPTER 12 AUTOMATIC CREATION OF POSITION DATA & PARAMETERS • ｢END ADDRESS｣ Specify the last address of the block the pattern of which will be developed. In the case of the example on previous page, the address is 903. • ｢OPEN ADDRESS｣...
  • Page 95 CHAPTER 12 AUTOMATIC CREATION OF POSITION DATA & PARAMETERS 12.3 12.3 12.3 12.3 Memory Data (MEMORY) Memory Data (MEMORY) Memory Data (MEMORY) Memory Data (MEMORY) Currently this function is not used for the system. 12.4 12.4 DISPLAY OFFSET Automatic Calculation DISPLAY OFFSET Automatic Calculation 12.4 12.4...
  • Page 96 CHAPTER 12 AUTOMATIC CREATION OF POSITION DATA & PARAMETERS FUNC Press the keys to display Fig.12.1, Robot Calculate Mode ＋ HIGH s.ed screen. Select ｢4. DISP｣ by pressing the key, and display shows as following figure. ＤＩＳＰ．ＯＦＦ． ＣＡＬＣ．ＭＯＤＥ １．ＤＩＳＰＬＡＹ １ ２．ＤＩＳＰＬＡＹ...
  • Page 97 CHAPTER 12 AUTOMATIC CREATION OF POSITION DATA & PARAMETERS • ｢DISPLAY Z1｣ Displays the System Parameter, ｢OFFSET｣→｢DISPLAY OFFSET1｣→｢DISP.Z1｣. • ｢DISPLAY W1｣ Displays the System Parameter, ｢OFFSET｣→｢DISPLAY OFFSET1｣→｢DISP.W1｣. After the automatic calculation, the calculated value for ｢DISPLAY W1｣ is rewritten and displayed on the screen.
  • Page 98 CHAPTER 12 AUTOMATIC CREATION OF POSITION DATA & PARAMETERS p.ed Pressing the key ｢5. SERVO｣ displays the following on the screen: ＳＥＲＶＯ ＰＡＲＡＭ．ＴＵＮＥ １．Ａ ＰＡＲＡＭ ２．Ｂ ＰＡＲＡＭ ３．Ｚ ＰＡＲＡＭ ４．Ｗ ＰＡＲＡＭ ５．Ｒ ＰＡＲＡＭ ６．Ｃ ＰＡＲＡＭ Fig.12. Fig.12. Fig.12. Fig.12.18 18 18 18 SERVO SERVO SERVO SERVO...
  • Page 99 CHAPTER 12 AUTOMATIC CREATION OF POSITION DATA & PARAMETERS Input data. Inputting method is the same for all the items. To input, ① Enter the value to be set. ENTER ② Confirm that the data to be set is correct and press the key.
  • Page 100 CHAPTER 12 AUTOMATIC CREATION OF POSITION DATA & PARAMETERS 12.6 12.6 12.6 12.6 Expanded Zone Assignment (BP/ZONE) Expanded Zone Assignment (BP/ZONE) Expanded Zone Assignment (BP/ZONE) Expanded Zone Assignment (BP/ZONE) The data specified here are valid only when an expanded interface is used.
  • Page 101 CHAPTER 12 AUTOMATIC CREATION OF POSITION DATA & PARAMETERS When one of the numeric keys is pressed, the shaded portion of the illustration below appears. To display the ｢LOWER (ZONE)｣ and the following items on the screen, press the DOWN to scroll.
  • Page 102 CHAPTER 12 AUTOMATIC CREATION OF POSITION DATA & PARAMETERS When you press the key (｢9. INITIALIZE｣) on the Fig.12.20, BP/SERVO screen, “ZONE/BP INIT OK?” appears on the message line. To initialize all of the data set for the above items, press the ENTER key.
  • Page 103 CHAPTER 13 MEMORY CARD CHAPTER 13 CHAPTER 13 CHAPTER 13 CHAPTER 13 Memory Card Memory Card Memory Card Memory Card As a medium to store information in the controller, an optional memory card can be used. This chapter explains how to use memory cards and the commands.
  • Page 104 CHAPTER 13 MEMORY CARD 13.3 13.3 13.3 13.3 File Name List File Name List File Name List File Name List When saving information, you have to specify a name for the file using numbers to save it under the name. The valid range of file names under which you can save your files is 0000001 to 9999999.
  • Page 105 CHAPTER 13 MEMORY CARD 13.4 13.4 13.4 13.4 ALL-LOAD Mode ALL-LOAD Mode（ （ （ （ MEMCARD ALL-LOAD Mode ALL-LOAD Mode MEMCARD MEMCARD → → → → ROBOT MEMCARD ROBOT ROBOT ROBOT） ） ） ） In this mode, the system loads all the system data, servo parameters, and position data from 0 to 999 (for standard model) to the robot controller.
  • Page 106 CHAPTER 13 MEMORY CARD 13.6 13.6 13.6 13.6 EDIT Mode EDIT Mode EDIT Mode EDIT Mode In this mode, reading, writing, or deleting files saved on the memory card is possible. When the screen display is as shown in Fig.13.1, Memory Card screen, select the key ｢3.
  • Page 107 CHAPTER 13 MEMORY CARD The file types are described below. : Position data : System data (data for the System Generation and the System Parameter) Srvo : Servo parameters : Optional data Main : Main program *) : Sub-program *) Hand : Hand program *) Time : Timer data *) *) when HARL-U1...
  • Page 108 CHAPTER 13 MEMORY CARD Specify a value for ｢START ADDRESS｣ for loading the file. However, the loading steps are different depending on the file type. When a file is saved, the file type is determined. • Pos: When the file is a position data file Specify addresses of the robot, to which the position data of the saved file is to be loaded.
  • Page 109 CHAPTER 13 MEMORY CARD 13.6.3 13.6.3 13.6.3 13.6.3 SAVE Command SAVE Command SAVE Command SAVE Command Use this command to save a specified information onto the memory card. When the screen display is as shown in Fig.13.4, EDIT screen, select the key ｢3.
  • Page 110 CHAPTER 13 MEMORY CARD Specify the range of the file to be saved. However, the steps to save the range are different depending on the file type. • Pos: When the file is a position data file Specify an address in the space for ｢START ADDR｣ from which saving process starts, and a stop address for ｢STOP ADDR｣...
  • Page 111 CHAPTER 13 MEMORY CARD Specify the name of a file to be copied in the space for ｢SOURCE NAME｣. ① Enter the file name. ② Confirm that the entered file name (specified data) is correct. ENTER Then, press the key. The message “ENTER OK?” is displayed on the message line with a buzzer sound.
  • Page 112 CHAPTER 13 MEMORY CARD 13.6.6 13.6.6 13.6.6 13.6.6 DUMP Command DUMP Command DUMP Command DUMP Command With this command, you can see the HEX code list (in hexadecimal digit) of the file that is saved on the memory card. A position data file has a 4-byte header that indicates the start address of the file.
  • Page 113 CHAPTER 13 MEMORY CARD 13.6.7 13.6.7 13.6.7 13.6.7 FIND Command FIND Command FIND Command FIND Command To check if a specified file exists on the memory card, use this command. This command helps you easily locate a certain file among many files. Select the key ｢7.
  • Page 114 CHAPTER 13 MEMORY CARD 13.7 13.7 13.7 13.7 Card Utility Mode (UTIL) Card Utility Mode (UTIL) Card Utility Mode (UTIL) Card Utility Mode (UTIL) s.ed On the Memory Card screen shown in Fig.13.1, select the key ｢4. UTIL｣. The display changes as follows: ＣＡＲＤ　ＵＴＩＬＩＴＹ...
  • Page 115 CHAPTER 13 MEMORY CARD 13.7.2 13.7.2 13.7.2 13.7.2 CHECK Command CHECK Command CHECK Command CHECK Command With this command, data on the memory card can be checked. task Select the key ｢2. CHECK｣ on the UTILITY screen, shown in Fig.13.15. The message “MEMCARD CHECK OK?” appears. ENTER Press the key to execute the following tests:...
  • Page 116 CHAPTER 13 MEMORY CARD 13.7.5 13.7.5 13.7.5 13.7.5 FORMAT Command FORMAT Command FORMAT Command FORMAT Command With this command, the memory card is formatted and the number of files to be held is changed depending on the storage capacity of the card. Storage capacity 64 KB : 39 files...
  • Page 117 CHAPTER 13 MEMORY CARD 13.8 13.8 13.8 13.8 VERIFY MODE (VERIFY) VERIFY MODE (VERIFY) VERIFY MODE (VERIFY) VERIFY MODE (VERIFY) In this mode, data stored on the memory card and those stored in the robot controller are compared for verification. On the Memory Card screen p.ed shown in Fig.13.1, select the key ｢5.
  • Page 118 CHAPTER 13 MEMORY CARD Possible Cause Possible Cause Possible Cause Possible Cause Error Message Error Message Error Message Error Message Recovery Action Recovery Action Recovery Action Recovery Action The same file name is specified as the SOURCE and DESTINATION when copying. DUPLICATE FILE NAME Change the DESTINATION file name to a different one from the SOURCE file name.
  • Page 119 CHAPTER 13 MEMORY CARD 13.10 13.10 13.10 13.10 Memory Card Specifications Memory Card Specifications Memory Card Specifications Memory Card Specifications The valid period in terms of data storage for 128 KB memory cards is 2.5 years, and 4 years for 64 KB memory cards, respectively. Table 13.3 3 3 3 Memory Card Specifications Table 13.
  • Page 120 CHAPTER 14 W-AXIS SENSOR STOP CHAPTER 14 CHAPTER 14 CHAPTER 14 CHAPTER 14 W-Axis Sensor Stop W-Axis Sensor Stop W-Axis Sensor Stop W-Axis Sensor Stop This is the positioning function to stop W-Axis when the input signal is turned ON. Currently this function is not used for this system.
  • Page 121 CHAPTER 15 OPERATION METHOD FOR VISION IN AUTO MODE CHAPTER 15 CHAPTER 15 CHAPTER 15 CHAPTER 15 Operation Method for Vision in Operation Method for Vision in Operation Method for Vision in Operation Method for Vision in AUTO Mode AUTO Mode AUTO Mode AUTO Mode Currently this function is not used for this system.
  • Page 122 CHAPTER 16 ROBOT OPERATION CHAPTER 16 CHAPTER 16 CHAPTER 16 CHAPTER 16 Robot Operation Robot Operation Robot Operation Robot Operation The robot operations can be categorized into three types as shown below. PTP operation Pass PTP operation CPC operation Each of these operations can be determined by M-data, S-code, F-code and system data of each position.
  • Page 123 CHAPTER 16 ROBOT OPERATION When the level at current point A is higher than the level (value) specified for ｢PULL-UP｣ (Example 3) First, the Z-Axis moves to the destination and to the level (value) specified for ｢PULL-UP｣ at the destination, then the Z-Axis lowers. The way in which actual robot moves is A→B’→B.
  • Page 124 CHAPTER 16 ROBOT OPERATION When the level of current point A is higher than the level (value) specified for ｢PULL-UP｣ (Example 3) First, the Z-Axis lowers to the level (value) specified for ｢ARCH DOWN｣ while moving horizontally, then lowers. ｢ARCH DOWN｣ operation is designed to prohibit the Z-Axis from completely lowering before starting to move horizontally.
  • Page 125 CHAPTER 16 ROBOT OPERATION 16.2 16.2 16.2 16.2 Pass PTP Operation Pass PTP Operation Pass PTP Operation Pass PTP Operation When the M-data is a value in the thirties and the pass operation is used, the robot moves to the position but no positioning is performed there, and then moves to the next position address for positioning.
  • Page 126 CHAPTER 16 ROBOT OPERATION 16.2.2 16.2.2 16.2.2 16.2.2 Speed of Pass PTP Operation Speed of Pass PTP Operation Speed of Pass PTP Operation Speed of Pass PTP Operation The speed of pass PTP operation varies depending on the distance between the teaching points.
  • Page 127 CHAPTER 16 ROBOT OPERATION 16.2.4 16.2.4 16.2.4 16.2.4 Relationship between M-Data and Teaching Points Relationship between M-Data and Teaching Points Relationship between M-Data and Teaching Points Relationship between M-Data and Teaching Points The illustration below shows how the robot motions change depending on the M-data for teaching points.
  • Page 128 CHAPTER 16 ROBOT OPERATION 16.3 16.3 16.3 16.3 CPC Operation CPC Operation CPC Operation CPC Operation CPC operation is to control the routes of motions taking place along a straight line, circle, arc, or a free curve formed by smoothly connecting given teaching points.
  • Page 129 CHAPTER 16 ROBOT OPERATION Limitation on specifying speed 2 When several motions take place continuously, some operation time is required to prepare for the following movement. The time required is 0.07 seconds when a linear motion follows, and 0.19 seconds to prepare for a circular motion. Each required time can be converted into a distance as follows on the condition that the moving speed is 200mm/s;...
  • Page 130 CHAPTER 16 ROBOT OPERATION When the M-data value for the point P3 is other than 80 and 81, even when the value of M-data for the point P2 is either 80 or 81, the system interpolates the two points to form a straight line, not an arc. To hold the W-Axis in a certain pose, the same identical data must be specified for W-Axis.
  • Page 131 CHAPTER 16 ROBOT OPERATION P0(Motion start) P31(Motion completes) Fig.16. Fig.16. Fig.16. Fig.16.9 9 9 9 Example of Robot Operation Example of Robot Operation Example of Robot Operation Example of Robot Operation For the P1 and P30 in the above illustration, the same point should be specified.
  • Page 132 CHAPTER 16 ROBOT OPERATION 16.4 16.4 16.4 16.4 Functions of M-Data and S-Code Functions of M-Data and S-Code Functions of M-Data and S-Code Functions of M-Data and S-Code 16.4.1 16.4.1 List of M-Data Functions List of M-Data Functions 16.4.1 16.4.1 List of M-Data Functions List of M-Data Functions There are three types of robot operations (PTP operation, pass PTP...
  • Page 133 CHAPTER 16 ROBOT OPERATION S-code S-code Function Function Note Note S-code S-code Function Function Note Note Z-Axis current position – Z Axis data Moves only Z-Axis. Moves only A, B, and W-Axes. Moves only W-Axis. Position where W-Axis is moved to = Moves only W-Axis relatively.
  • Page 134 CHAPTER 16 ROBOT OPERATION Below are the tables listing the modified functions of M-data and S-codes depending on the setting of ｢M DATA｣ in the System Generation. Table 16. Table 16. Table 16. Table 16. 4 4 4 4 ｢ ｢ ｢ ｢ M DATA M DATA M DATA M DATA｣...
  • Page 135 CHAPTER 16 ROBOT OPERATION 16.5 16.5 16.5 16.5 F-Code F-Code F-Code F-Code The F-code specifies the positioning speed in each motion of robot. It is the ratio (percentage) specified for the speed setting items of ｢MOTION｣ group in System Parameter menu .
  • Page 136 CHAPTER 17 SYSTEM DATA CHAPTER 17 CHAPTER 17 CHAPTER 17 CHAPTER 17 System Data System Data System Data System Data 17.1 17.1 17.1 17.1 Outline Outline Outline Outline System data are semi-fixed data required to operate robots, specifically they are the data intrinsic to robots used and data to optimize the robots accordingly with the system.
  • Page 137 CHAPTER 17 SYSTEM DATA 17.2 17.2 17.2 17.2 Configuration of System Data Configuration of System Data Configuration of System Data Configuration of System Data The configuration of system data is shown below. LIMIT ADDRESS MAX System Generation (SG) AREA LIMIT MAINTE EXPANSION A EXPANSION B...
  • Page 138 CHAPTER 17 SYSTEM DATA 17.3 17.3 17.3 17.3 Setting/Changing Data Setting/Changing Data Setting/Changing Data Setting/Changing Data Before attempting to specify values, read Chapter 18, “Details of System Generation” and Chapter 19, “Details of System Parameters” thoroughly. Whenever a system data error occurs, be sure to perform “default copying (copying default values)”...
  • Page 139 CHAPTER 17 SYSTEM DATA Press the key ｢1. SET-UP SYSTEM｣. The display changes as follows. ＯＲＩＧＩＮ－ＳＥＴ ＵＰ ＴＲＡＮＳＦＥＲ ＲＡＴＥ　［９６００］ ＯＮ－ＬＩＮＥ ＳＥＬＥＣＴ　　　　 ０ ＳＴＯＰ ＳＥＬ ［ ＳＴＡＴＵＳ］ Fig.17. Fig.17.5 5 5 5 SET-UP DATA Screen Fig.17. Fig.17. SET-UP DATA Screen SET-UP DATA Screen SET-UP DATA Screen①...
  • Page 140 CHAPTER 17 SYSTEM DATA When changing system data on a data screen, use the Teach Pendant as described below. ・Press the key on the data screen. The cursor moves to the first data on the data screen. ・Press the key to move the cursor down to the data on the line DOWN immediately below the current line.
  • Page 141 CHAPTER 17 SYSTEM DATA ｢LIMIT｣ group menu FUNC ＋ keys HIGH ｢MAINTE｣ group menu FUNC ＋ keys HIGH FUNC ＋ keys HIGH ｢ORIGIN｣ group menu FUNC ＋ keys HIGH SHIFT ｢ADJUST｣ group menu When 『SHIFT』LED is OFF FUNC SHIFT ＋ keys HIGH When 『SHIFT』LED is ON...
  • Page 142 CHAPTER 18 DETAILS OF SYSTEM GENERATION CHAPTER 18 CHAPTER 18 CHAPTER 18 CHAPTER 18 Details of System Generation Details of System Generation Details of System Generation Details of System Generation The details of System Generation, which comprises a part of system data, are described.
  • Page 143 CHAPTER 18 DETAILS OF SYSTEM GENERATION ① For SCARA (horizontal multi-articulated) robot: The value indicates an angle of B-Axis, with its origin at the time of A-CAL as the reference. The relationship among the data is as shown below. 0 0 0 0 ≦ ≦ ≦ ≦ LOWER LMT B LOWER LMT B LOWER LMT B ＜...
  • Page 144 CHAPTER 18 DETAILS OF SYSTEM GENERATION ｢UPPER LMT B｣ ｢LOWER LMT B｣ • Number of entry digits : 7 • Valid range : -7999.999 to 7999.999 • Minimum unit : ±0.001 • Standard setting : ｢UPPER LMT B｣: 1000 ｢LOWER LMT B｣: 0 As a safety measure, the software limits the maximum and minimum working areas of B-Axis (Y-Axis).
  • Page 145 CHAPTER 18 DETAILS OF SYSTEM GENERATION ② For Cartesian robot: Sets the operating stroke value of the Y-Axis for ｢UPPER LMT B｣. When area limiting is not required, set as follows: ｢UPPER LMT B｣= the stroke of Y-Axis ｢LOWER LMT B｣= 0 ｢UPPER LMT Z｣...
  • Page 146 CHAPTER 18 DETAILS OF SYSTEM GENERATION ｢UPPER LMT R｣ (10) ｢LOWER LMT R｣ • Number of entry digits : 7 • Valid range : -7999.999 to 7999.999 • Minimum unit : ±0.001 • Standard setting : ｢UPPER LMT R｣: 720 ｢LOWER LMT R｣: 0 The maximum working area of R-Axis is limited.
  • Page 147 CHAPTER 18 DETAILS OF SYSTEM GENERATION 18.2.2 18.2.2 18.2.2 18.2.2 EXPANSION B EXPANSION B EXPANSION B EXPANSION B Currently not used. ｢INTIAL W｣ ｢LENGTH W｣ ｢AXIS UP/DOWN｣ ｢ANGLE REV.｣ 18.2.3 18.2.3 18.2.3 18.2.3 MAINTENANCE DATA MAINTENANCE DATA MAINTENANCE DATA MAINTENANCE DATA Data in this group sets data used for maintenance.
  • Page 148 CHAPTER 18 DETAILS OF SYSTEM GENERATION ｢POS ERROR SEL｣ Currently not supported. Specifies whether or not positioning error is detected. Values 0 : Detects. 1 : Does not detect. (displaying “WARNING”) ｢AB SLOWDOWN TIM｣ Currently not supported. Manually sets timing to slow-down for A, B, and W-Axes. With 0 setting, the system automatically controls.
  • Page 149 CHAPTER 18 DETAILS OF SYSTEM GENERATION (11) ｢Z SLOWDOWN TIM｣ Currently not supported. Manually sets timing to slow-down for Z-Axis. With 0 setting, the system automatically controls. (12) ｢STATION NO｣ • Number of entry digits : 3 • Valid range : 0 to 999 •...
  • Page 150 CHAPTER 18 DETAILS OF SYSTEM GENERATION 18.3.1 18.3.1 18.3.1 18.3.1 SET-UP SYSTEM SET-UP SYSTEM SET-UP SYSTEM SET-UP SYSTEM ｢TRANSFER RATE｣ • Standard value : 9600 [bps] Select the data transfer speed for RS-232C (selecting a character- form value). When the value has been changed, turn OFF the power supply for controller power and then turn it ON again.
  • Page 151 CHAPTER 18 DETAILS OF SYSTEM GENERATION ｢STOP｣ • Standard value : STOP Selects a function of the STOP signal (IN5). (selecting a character- form value) Values STOP : Stops when STOP signal turns ON and restarts with START or NEXT signal input after STOP signal (IN5) turns OFF.
  • Page 152 CHAPTER 18 DETAILS OF SYSTEM GENERATION ｢INCHING SELECT」 • Number of entry digit : 1 • Minimum unit • Standard value Values 0 : Validates limitations on inching. When overrun or area limit is input during inching, the inching operation is stopped. : Uses special functions such as offsetting by a S-code (S-code: 1-89).
  • Page 153 CHAPTER 18 DETAILS OF SYSTEM GENERATION (10) ｢EMERGENCY STOP｣ • Standard value: KEEP The value is currently invalid. Normally the A-CAL is constantly retained. Select either character-form value for A-CAL for emergency stops. Press the key to select. Values KEEP : Retains the A-CAL.
  • Page 154 CHAPTER 18 DETAILS OF SYSTEM GENERATION ｢INCHI DIR. A｣ : Inching direction for A-Axis (X-Axis) ｢INCHI DIR. B｣ : Inching direction for B-Axis (Y-Axis) (10) ｢INCHI DIR. Z｣ : Inching direction for Z-Axis (11) ｢INCHI DIR. W｣ : Inching direction for W-Axis (12) ｢INCHI DIR.
  • Page 155 CHAPTER 18 DETAILS OF SYSTEM GENERATION ｢A AXIS SEL｣: Selects A-Axis (X-Axis). ｢B AXIS SEL｣: Selects B-Axis (Y-Axis). ｢Z AXIS SEL｣: Selects Z-Axis. (10) ｢W AXIS SEL｣: Selects W-Axis. (11) ｢R AXIS SEL｣: Selects R-Axis. (12) ｢C AXIS SEL｣: Selects C-Axis. •...
  • Page 156 CHAPTER 18 DETAILS OF SYSTEM GENERATION INITIAL B INITIAL A Fig.18. Fig.18.3 3 3 3 INITIAL A Fig.18. Fig.18. INITIAL A INITIAL A INITIAL A Fig.18. Fig.18.4 4 4 4 INITIAL Fig.18. Fig.18. INITIAL INITIAL B B B B INITIAL ｢LENGTH A｣...
  • Page 157 CHAPTER 18 DETAILS OF SYSTEM GENERATION 18.5 18.5 18.5 18.5 CAPABILITY CAPABILITY CAPABILITY CAPABILITY Use this group when checking the specifications of the robot main unit or memory data intrinsic to the robot. 18.5.1 18.5.1 18.5.1 18.5.1 ROBOT CAPABILITY ROBOT CAPABILITY ROBOT CAPABILITY ROBOT CAPABILITY Displays the individual settings for the encoders.
  • Page 158 CHAPTER 18 DETAILS OF SYSTEM GENERATION 18.5.2 18.5.2 18.5.2 18.5.2 EXPANSION A EXPANSION A EXPANSION A EXPANSION A The following data are system data for expansion to be specified when applicable data items are added. Therefore, specify “0” for the following items unless our company requests otherwise.
  • Page 159 CHAPTER 19 DETAILS OF SYSTEM PARAMETERS CHAPTER 19 CHAPTER 19 CHAPTER 19 CHAPTER 19 Details of System Parameters Details of System Parameters Details of System Parameters Details of System Parameters 19.1 19.1 19.1 19.1 MOTION MOTION MOTION MOTION The items in this group set conditions of robot operations and motions. 19.1.1 19.1.1 MOTION...
  • Page 160 CHAPTER 19 DETAILS OF SYSTEM PARAMETERS ｢ARCH UP｣ • Number of entry digits : 7 • Valid range : 0 up to the value of the maximum working area of Z-Axis • Minimum unit : 0.001 • Standard value In PTP operation, the robot starts horizontal shift after the Z-Axis is raised, and lowers Z-Axis after the horizontal shift is finished.
  • Page 161 CHAPTER 19 DETAILS OF SYSTEM PARAMETERS ｢ARCH DOWN｣ • Number of entry digits : 7 • Valid range : 0 up to the value of the maximum working area of Z-Axis • Minimum unit : 0.001 • Standard value In PTP operation, the robot starts horizontal shift after the Z-Axis is raised, and lowers Z-Axis after the horizontal shift is finished.
  • Page 162 CHAPTER 19 DETAILS OF SYSTEM PARAMETERS ｢INS DIS.｣ • Number of entry digits : 7 • Valid range : 0 up to the value of the maximum working area of Z-Axis • Minimum unit : 0.001 • Standard value : 20 Sets the distance for which the PTP insertion motion is performed.
  • Page 163 CHAPTER 19 DETAILS OF SYSTEM PARAMETERS When the speed of Z-Axis immediately before moving into the distance set for ｢INS DIS.｣ is set lower than the ｢INS SPEED｣, the lower speed will control. For example, if Z-Axis is lowering at 50 and the speed set for ｢INS SPEED｣...
  • Page 164 CHAPTER 19 DETAILS OF SYSTEM PARAMETERS ｢UP SPEED｣ • Number of entry digits : 3 • Valid range : 0 to 99 • Minimum unit • Standard value : 20 Sets the speed of moving-up for PTP slow-up motion. The robot moves the distance specified in (6) ｢UP DIS.｣ above at a speed specified in this step.
  • Page 165 CHAPTER 19 DETAILS OF SYSTEM PARAMETERS 19.1.2 19.1.2 19.1.2 19.1.2 AXIS SPEED AXIS SPEED AXIS SPEED AXIS SPEED ｢SPEED A, B (X, Y) W｣ (Speed of axes, A, B (X, Y) W) ｢SPEED Z｣ (Speed of Z-Axis) • Number of entry digits : 3 •...
  • Page 166 CHAPTER 19 DETAILS OF SYSTEM PARAMETERS 19.1.3 19.1.3 19.1.3 19.1.3 CPC CONSTANT CPC CONSTANT CPC CONSTANT CPC CONSTANT ｢CPC SPEED｣ • Number of entry digits : 3 • Valid range : 0 to 999 • Minimum unit • Standard value : 100 Sets speed for interpolation (CPC operation).
  • Page 167 CHAPTER 19 DETAILS OF SYSTEM PARAMETERS 19.2 19.2 19.2 19.2 RESPONSE RESPONSE RESPONSE RESPONSE 19.2.1 19.2.1 19.2.1 19.2.1 ACCEL ACCEL ACCEL ACCEL The accelerating/decelerating time is determined by the robot type, and set by configuration. (Refer to 20.4, Assigning Motors to Robot Axes.”) The accelerating/decelerating time set in the configuration is treated as the minimum time required.
  • Page 168 CHAPTER 19 DETAILS OF SYSTEM PARAMETERS ｢ACCEL A｣ ｢ACCEL B｣ ｢ACCEL Z｣ ｢ACCEL W｣ ｢ACCEL R｣ ｢ACCEL C｣ • Number of entry digits : 3 • Valid range : 0 to 100 • Minimum unit • Standard value : 80 Each of the above is to slow-down acceleration/deceleration of the axis.
  • Page 169 CHAPTER 19 DETAILS OF SYSTEM PARAMETERS 19.2.2 19.2.2 19.2.2 19.2.2 AXIS INP PULSE AXIS INP PULSE AXIS INP PULSE AXIS INP PULSE This group is not used. In the past, the group was used to specify posi- tioning accuracy, which now is specified by servo parameters. Refer to 12.5, “Setting Servo Parameters (SERVO),”...
  • Page 170 CHAPTER 19 DETAILS OF SYSTEM PARAMETERS ・ The setting becomes invalid when A-CAL has not been completed. With A-CAL incomplete, output of OUT5 is always OFF. ・ In KEY-IN mode, OUT5 will not change. ・ When PULL-UP function of Z-Axis is used, specify for ｢SAFE. ZONE｣ a value greater than the setting of ｢PULL-UP｣...
  • Page 171 CHAPTER 19 DETAILS OF SYSTEM PARAMETERS ｢EXPANSION 1｣ Not used. ｢COMPLAINCE｣ Not used. ｢DD INDEX GAIN｣ Not used. ｢PTP CONST AB｣ Not used. ｢PTP CONST Z｣ Not used. (10) ｢PTP CONST W｣ Not used. 19.3 19.3 19.3 19.3 OFFSET OFFSET OFFSET OFFSET ｢DISPLAY OFFSET｣...
  • Page 172 CHAPTER 19 DETAILS OF SYSTEM PARAMETERS ｙ Work coordinates Δx＝｢DISP. X｣ ｘ Δy＝｢DISP. Y｣ ΔR＝｢DISP. R｣ ΔR (Δx， Δy) World coordinates Fig.19. Fig.19. Fig.19. Fig.19.11 11 11 11 ｢ ｢ ｢ ｢ OFFSET OFFSET OFFSET OFFSET｣ ｣ ｣ ｣ ｢DISP. X1｣ (Display X1) ｢DISP.
  • Page 173 CHAPTER 19 DETAILS OF SYSTEM PARAMETERS ｢DISP. X＊｣ is for offsetting X-Axis for display and ｢DISP. Y＊｣ is for offsetting Y-Axis for display, each specified in “mm,” while “DISP. R＊” is for offsetting by rotating the coordinate for display specified in degree (angle). Since each ｢DISPLAY OFFSET｣...
  • Page 174 CHAPTER 19 DETAILS OF SYSTEM PARAMETERS (13) ｢DISP. W1｣ (Display W1) (14) ｢DISP. W2｣ (Display W2)） (15) ｢DISP. W3｣ (Display W3) • Number of entry digits : 7 • Valid range : W-Axis -540.000 to 540.000 • Minimum unit : ±0.001 •...
  • Page 175 CHAPTER 19 DETAILS OF SYSTEM PARAMETERS (24) ｢TOOL Z3｣ Currently not supported. Specify data to switch display referenced with a coordinate system with the origin at the tool’s working center. Three types are available, allowing three different displays for the three tools.
  • Page 176 CHAPTER 19 DETAILS OF SYSTEM PARAMETERS With ｢I/O ASSIGNMENT｣ set to 4, by selecting ｢ORIGIN｣→ ｢SET-UP SYSTEM｣→｢I/O ASSIGNMENT｣ in System Generation menu, and when the robot is positioned at one of the addresses specified for the items above, OUT4 is output. You can specify four points.
  • Page 177 CHAPTER 19 DETAILS OF SYSTEM PARAMETERS ｢AREA AX｣ (Area Output A(X)) ｢AREA BY｣ (Area Output B(Y)) • Number of entry digits : 7 • Valid range SCARA (horizontal multi-articulated) robot : -360.000°to 360.000° Cartesian robot : -7999.999mm to 7999.999mm • Minimum unit : ±0.001 •...
  • Page 178 CHAPTER 19 DETAILS OF SYSTEM PARAMETERS ② Cartesian robot With each setting below, OUT4 is output when the tip is at a position in a shaded area. Example 1: ｢AREA AX｣= 100 mm ｢AREA BY｣= 150 mm Example 2: ｢AREA AX｣= -100 mm ｢AREA BY｣= 150 mm A-CAL position A-CAL position Example 1...
  • Page 179 CHAPTER 19 DETAILS OF SYSTEM PARAMETERS 19.5 19.5 19.5 19.5 REMOTE REMOTE REMOTE REMOTE The groups in REMOTE display data set by S command (SAVE) of the HRCS-RⅣ . You cannot enter data for items in these groups. Data that can be displayed are those in ｢MOTION｣ and ｢RESPONSE｣ groups.
  • Page 180 CHAPTER 19 DETAILS OF SYSTEM PARAMETERS 19.5.3 19.5.3 19.5.3 19.5.3 REMOTE MOTION REMOTE MOTION REMOTE MOTION REMOTE MOTION ｢CPC SPEED｣ ｢CPC F.F.GAIN｣ ｢SPLINE SPEED｣ ｢A-CAL SPEED｣ ｢INCHING SPEED｣ ｢EXPANSION 1｣ ｢PTP WEIGHT｣ ｢EXPANSION 2｣ ｢LOCAL COORDINATE｣ (10) ｢W AXIS ACCEL｣ (11) ｢W AXIS DECEL｣...
  • Page 181 System Configuration System Configuration System Configuration Controllers of HNC-580 series can control more than one robot. However, this requires work to configure the system to conform to the application (system configuration). When the Teach Pendant shows the following display, the system area is destroyed.
  • Page 182 CHAPTER 20 SYSTEM CONFIGURATION 20.2 20.2 20.2 20.2 Starting Configuration Starting Configuration Starting Configuration Starting Configuration Set the DIP switch 1 (in Fig. 20.3) to OFF and turn ON the power. This brings the condition ready for configuring the system. At this time, you cannot perform any regular operations at all.
  • Page 183 CHAPTER 20 SYSTEM CONFIGURATION To set data, the following two ways are available: ｢1. AUTO SETTING｣ : Sets data when you select a robot type/model from the preset robot list given by the controller. ｢2. MANUAL SETTING｣ : Allows you to set each value manually one by one from motor setting, when you use a robot type not listed in the preset list.
  • Page 184 CHAPTER 20 SYSTEM CONFIGURATION 20.3 20.3 20.3 20.3 Registering Motors for Axes Registering Motors for Axes Registering Motors for Axes Registering Motors for Axes Register motors used for each axis by specifying in motor/driver configuration mode. Up to 16 motors can be registered. The items to be specified are listed in the table below.
  • Page 185 CHAPTER 20 SYSTEM CONFIGURATION How to specify data and register motors manually are described below. With the System Configuration screen displayed as in Fig.20.5, task press the key ｢2. MANUAL SETTING｣. The screen display changes as shown below. ＭＡＮＵＡＬ ＳＥＴＴＩＮＧ １．ＭＯＴＯＲ／ＤＲＩＶＥＲ...
  • Page 186 CHAPTER 20 SYSTEM CONFIGURATION 20.4 20.4 20.4 20.4 Assigning Motors to Robot Axes Assigning Motors to Robot Axes Assigning Motors to Robot Axes Assigning Motors to Robot Axes In this section, motors registered in 20.3, “Registering Motors for Axes” are assigned to individual axes of the robot to be used in robot configuration mode.
  • Page 187 CHAPTER 20 SYSTEM CONFIGURATION How to specify data and assigning motors are described below. With the Manual Setting screen displayed as in Fig. 20.8, press the task key ｢2. ROBOT CONFIG｣. The screen display changes as shown below. ＲＯＢＯＴ ＣＯＮＦＩＧＵＲＡＴＩＯＮ １．ＲＯＢＯＴ...
  • Page 188 CHAPTER 20 SYSTEM CONFIGURATION After setting for all the items, press the key. The message, “SAVE CONFIG OK?” is displayed. When everything is OK, press ENTER key. If you do not wish to save the settings, press the key to cancel this process. When the data setting is completed, “COMPLETED”...
  • Page 189 CHAPTER 20 SYSTEM CONFIGURATION Message Message Description Description Corrective Action Corrective Action Message Message Description Description Corrective Action Corrective Action The motor specified for C-Axis Set the motor No. for ｢MOTOR NO REGISTRY C AXIS has not been registered. NO.” Then, set for ｢C AXIS NO.｣ The number of revolutions is Correct the ｢MOTOR REV.｣...
  • Page 190 CHAPTER 20 SYSTEM CONFIGURATION 20.8 20.8 20.8 20.8 Checking the Settings Checking the Settings Checking the Settings Checking the Settings You can start system configuration without changing the DIP switch setting. The procedure for checking the system configuration data is given below. Carry out the steps in 2.2, “Connecting the Teach Pendant to the Controller”...
  • Page 191 CHAPTER 21 INITIALIZING SYSTEM DATA CHAPTER 21 CHAPTER 21 CHAPTER 21 CHAPTER 21 Initializing System Data Initializing System Data Initializing System Data Initializing System Data 21.1 21.1 21.1 21.1 Outline Outline Outline Outline System data are semi-fixed data required to operate robots, specifically they are the data intrinsic to robots used and data to optimize the robots accordingly with the system.
  • Page 192 CHAPTER 21 INITIALIZING SYSTEM DATA For this reason, if such initial data and/or arm lengths are changed after teaching, the original positions cannot be reproduced. For the following items, default copying (copying of the default values) will not be executed if the current value of each item is within a permissible variation range of the default value.
  • Page 193 CHAPTER 21 INITIALIZING SYSTEM DATA Set for the ｢INITIAL A｣ to ｢INITIAL B｣ so that the respective values of A, B and W-Axes become 0 when the robot poses as shown below. ｢INITIAL A｣ to ｢INITIAL B｣ can be reached by selecting ｢ORIGIN｣→｢AXIS DIRECTION｣...
  • Page 194 CHAPTER 22 INITIALIZING POSITION DATA CHAPTER 22 CHAPTER 22 CHAPTER 22 CHAPTER 22 Initializing Position Data Initializing Position Data Initializing Position Data Initializing Position Data Initialize position data of the robot when: Steps for initializing robot position data are described below. Position data are destroyed.
  • Page 195 CHAPTER 23 MESSAGE CHAPTER 23 CHAPTER 23 CHAPTER 23 CHAPTER 23 Message Message Message Message The following tables are the messages displayed on the message line on the Teach Pendant. Also, error messages are displayed. Refer to these mes- sages for trouble-shooting. 23.1 23.1 General Message...
  • Page 196 CHAPTER 23 MESSAGE 23.2 23.2 23.2 23.2 Warning Message Warning Message Warning Message Warning Message Table 23.2 2 2 2 Warning Message Table 23. Warning Message Table 23. Table 23. Warning Message Warning Message Message Mode Description A- CAL is not executed correctly. TEACH “A-CAL ERR.------”...
  • Page 197 CHAPTER 23 MESSAGE 23.3 23.3 23.3 23.3 Error Message Error Message Error Message Error Message Table 23. Table 23.3 3 3 3 Error Message Error Message Table 23. Table 23. Error Message Error Message Error Message Mode Description Corrective Action TEACH Refer to Chapter 3, “A-CAL (Automatic A-CAL INCOMLETE...
  • Page 198 CHAPTER 23 MESSAGE Error Message Mode Description Corrective Action CHECK Battery voltage on the CPU board be- Replace the battery. CPU LOW BATTERY ON-LINE comes low. Battery type: H-3339 KEY-IN Try again to write. When the error DATA CHECK ERROR !! Either the independent check character or TEACH repeats, the memory card itself has been...
  • Page 199 CHAPTER 23 MESSAGE Error Message Mode Description Corrective Action KEY-IN FILE NOT FOUND !! TEACH The specified file cannot be found. Check for the correct file name. (Memory card abnormal) CHECK KEY-IN Execute FORMAT command in UTILITY FORMAT ERROR !! TEACH The memory card is not initialized.
  • Page 200 CHAPTER 23 MESSAGE Error Message Mode Description Corrective Action TEACH Copy the default value of system data. Servo Parameters are abnormal or not be SERVO DATA ERROR CHECK Enter the correct value to the Servo entered. ON-LINE Parameters. TEACH Check the power for the servo ampli- SERVO ON ERROR CHECK Unable to be in servo lock condition...
  • Page 201 CHAPTER 24 SYSTEM GENERATION CHAPTER 24 CHAPTER 24 CHAPTER 24 CHAPTER 24 System Generation System Generation System Generation System Generation 24.1 24.1 24.1 24.1 LIMIT group LIMIT group LIMIT group LIMIT group 24.1.1 24.1.1 ADDRESS MAX ADDRESS MAX 24.1.1 24.1.1 ADDRESS MAX ADDRESS MAX Minimum...
  • Page 202 CHAPTER 24 SYSTEM GENERATION 24.2 24.2 24.2 24.2 MAINTENANCE Group MAINTENANCE Group MAINTENANCE Group MAINTENANCE Group 24.2.1 24.2.1 24.2.1 24.2.1 EXPANSION A EXPANSION A EXPANSION A EXPANSION A Minimum Minimum Standard Standard Minimum Minimum Standard Standard Parameter Parameter Description Description Digit Digit Note...
  • Page 203 CHAPTER 24 SYSTEM GENERATION 24.3 24.3 ORIGIN Group ORIGIN Group 24.3 24.3 ORIGIN Group ORIGIN Group 24.3.1 24.3.1 SET-UP SYSTEM SET-UP SYSTEM 24.3.1 24.3.1 SET-UP SYSTEM SET-UP SYSTEM Minimum Minimum Minimum Minimum Standard Standard Standard Standard Parameter Parameter Parameter Parameter Description Description Description...
  • Page 204 CHAPTER 24 SYSTEM GENERATION 24.4 24.4 24.4 24.4 ADJUST Group ADJUST Group ADJUST Group ADJUST Group 24.4.1 24.4.1 24.4.1 24.4.1 AR TYPE ADJUST AR TYPE ADJUST AR TYPE ADJUST AR TYPE ADJUST Minimum Minimum Standard Standard Minimum Minimum Standard Standard Parameter Parameter Description...
  • Page 205 CHAPTER 24 SYSTEM GENERATION 24.5 24.5 CAPABILITY Group CAPABILITY Group 24.5 24.5 CAPABILITY Group CAPABILITY Group 24.5.1 24.5.1 ROBOT CAPABILITY ROBOT CAPABILITY 24.5.1 24.5.1 ROBOT CAPABILITY ROBOT CAPABILITY Minimum Minimum Minimum Minimum Standard Standard Standard Standard Parameter Parameter Parameter Parameter Description Description Description...
  • Page 206 CHAPTER 25 SYSTEM PARAMETERS CHAPTER 25 CHAPTER 25 CHAPTER 25 CHAPTER 25 System Parameters System Parameters System Parameters System Parameters 25.1 25.1 25.1 25.1 MOTION Group MOTION Group MOTION Group MOTION Group 25.1.1 25.1.1 25.1.1 25.1.1 MOTION MOTION MOTION MOTION Minimum Standard Parameter...
  • Page 207 CHAPTER 25 SYSTEM PARAMETERS 25.2 25.2 RESPONSE RESPONSE 25.2 25.2 RESPONSE RESPONSE 25.2.1 25.2.1 ACCEL ACCEL 25.2.1 25.2.1 ACCEL ACCEL Minimum Standard Parameter Description Digit Note Set value Value value Acceleration/Deceleration selec- ACCEL SELECT AUTO Character-form value tion A-Axis acceleration/deceleration ACCEL A 0 to 100 slow down...
  • Page 208 CHAPTER 25 SYSTEM PARAMETERS 25.3 25.3 OFFSET OFFSET 25.3 25.3 OFFSET OFFSET 25.3.1 25.3.1 DISPLAY OFFSET1 DISPLAY OFFSET1 25.3.1 25.3.1 DISPLAY OFFSET1 DISPLAY OFFSET1 Minimum Standard Parameter Description Digit Note Set value unit value DISP.X1 X-Axis displayed OFFSET1 -7999.999 to 7999.999 ±0.001 DISP.Y1 Y-Axis displayed OFFSET1...
  • Page 209 CHAPTER 25 SYSTEM PARAMETERS 25.4 25.4 SET-UP SET-UP 25.4 25.4 SET-UP SET-UP 25.4.1 25.4.1 EXPANSION A EXPANSION A 25.4.1 25.4.1 EXPANSION A EXPANSION A Minimum Standard Parameter Description Digit Note Set value unit value Pass PTP Select Pass PTP selection Not supported.
  • Page 210 CHAPTER 25 SYSTEM PARAMETERS 25.5 25.5 REMOTE REMOTE 25.5 25.5 REMOTE REMOTE 25.5.1 25.5.1 MOTION MOTION 25.5.1 25.5.1 MOTION MOTION Minimum Standard Parameter Description Digit Note Set value unit value (Displayed data) Z-Axis PULL-UP PULL-UP Display only distance at PTP (Displayed data) Z-Axis ARCH UP ARCH UP Display only...
  • Page 211 CHAPTER 25 SYSTEM PARAMETERS 25.5.3 25.5.3 25.5.3 25.5.3 RESPONSE RESPONSE RESPONSE RESPONSE Minimum Standard Parameter Description Digit Note Set value unit value (Displayed data) CPC (interpola- CPC SPEED Display only tion) speed setting CPC F.F.GAIN (Displayed data) F.F. gain Display only SPLINE SPEED (Displayed data) Spline speed Display only...
  • Page 212 APPENDIX Appendix Appendix Appendix Appendix Appendix A Appendix A Appendix A Appendix A I/O Allocation I/O Allocation I/O Allocation I/O Allocation The following table describes the DI/DO signal allocation and description for each signal during the automatic operation in AUTO mode. Table A.
  • Page 213 APPENDIX The MOUT signals are related to the M-data, which is the output pattern to the output port of the robot driver. M-data can be set from 0 to 99 and output in the combinations below (BCD ). The first digit is described by the MOUT 0-3 signal and the MOUT 4-7 signal for the second digit.
  • Page 214 APPENDIX Appendix B Appendix B Extended AUTO Mode I/O Assignment Extended AUTO Mode I/O Assignment Appendix B Appendix B Extended AUTO Mode I/O Assignment Extended AUTO Mode I/O Assignment To enter extended AUTO mode, set the data by System Generation, ｢ORIGIN｣→｢SET-UP SYSTEM｣→｢AUTO/ON-LINE｣...
  • Page 215 APPENDIX Appendix C Appendix C Error Code Error Code Appendix C Appendix C Error Code Error Code When an error occurs in the controller during automatic operation, error message are displayed on the Teach Pendant (Refer to 23.3, “Error Message.”) and the error codes below are outputs to external devices simultaneously.
  • Page 216 APPENDIX Appendix D Appendix D Motor Code Motor Code Appendix D Appendix D Motor Code Motor Code Preprogrammed motor code parameters set to system configuration are shown below. Table A. Table A.7 7 7 7 Motor Code Table Motor Code Table Table A.
  • Page 217 APPENDIX Appendix E Appendix E Data Backup and Data Load Data Backup and Data Load Appendix E Appendix E Data Backup and Data Load Data Backup and Data Load Table A. Table A.8 8 8 8 Back Up and Data Load Table A.

This manual is also suitable for:

Hnc-580 series