Programming Pendant - YASKAWA Motoman UP6 Instructions Manual

Programing Programming
Functions
Language
Robot Motion Con-
trol
Speed Setting
Program Control
Instructions
Operation Instruc-
tions
Variable
Variable Type
I/O Instructions
6.3

Programming Pendant

Material
Dimensions
Displayed
Units
Others
Interactive programming
Robot language: INFORM II
Joint coordinates, Linear/Circular interpolations, Tool coordi-
nates
Percentage for joint coordinates, 0.1mm/s units for interpola-
tions, Angular velocity for T.C.P. fixed motion
Jumps, Calls, Timer, Robot stop, Execution of some instruc-
tions during robot motion
Preparing the operation instructions for each application
(Arc-ON, Arc-OFF, etc.)
Global variable, Local variable
Byte type, Integer type, Double precision type, Real number
type, Position type
Discrete I/O, Pattern I/O processing
Reinforced thermoplastic enclosure with a detachable sus-
pending strap
200(W) × 348(H) × 61.8(D) mm
40 characters 12 lines
Multilingual function (English, Japanese, Hankul)
Backlight
3 position deadman switch, RS-232C × 1 port
6-5
6.3 Programming Pendant