1. Manuals
  2. Brands
  3. Shibaura Manuals
  4. Controller
  5. ROIbot BA-II Series
  6. Operating manual

Shibaura ROIbot BA-II Series Operating Manual

Hide thumbs
Table of Contents

Advertisement

Quick Links

Download this manual
Front cover
S E R I E S
CONTROLLER
MODEL: CA20-M10/M40
CA20-S10/S40
Operating Manual (Basic Section)
Operating Manual (Basic Section)
Keep this manual at hand after operators have read it thoroughly.

Advertisement

Table of Contents
loading
Need help?

Need help?

Do you have a question about the ROIbot BA-II Series and is the answer not in the manual?

Questions and answers

Related Manuals for Shibaura ROIbot BA-II Series

Summary of Contents for Shibaura ROIbot BA-II Series

  • Page 1 Front cover S E R I E S CONTROLLER MODEL: CA20-M10/M40 CA20-S10/S40 Operating Manual (Basic Section) Operating Manual (Basic Section) Keep this manual at hand after operators have read it thoroughly.
  • Page 3 Introduction Thank you for selecting the ROIbot BA  series. To ensure correct usage, read this instruction manual before starting use of the ROIbot BA  series. For information on the actuators in ROIbot BA  series, refer to the Actuator Operating Manual supplied with the actuator.

  • Page 4: Table Of Contents

    Contents Chapter 1 General Safety Instruction 1.1 Important messages ···································································· 1-1 1.2 Safe Operation ············································································ 1-6 1.2.1 Auxiliary safety precautions before ROIbot installation ····················· 1-6 1.2.2 Precautions for installing the ROIbot ············································ 1-7 1.2.3 Precautions for operation of the ROIbot ········································ 1-7 1.3 Warranty ····················································································...
  • Page 5 Chapter 3 General Programming 3.1 Explanation of operation modes ···················································· 3-1 3.1.1 Explanation of RUN mode ·························································· 3-3 3.1.2 Explanation of PRGM mode ······················································· 3-4 3.1.3 Return to Origin ······································································· 3-5 3.2 General programming ·································································· 3-6 3.2.1 Basic programming ·································································· 3-10 3.2.2 Position data input ····································································...
  • Page 6 5.4 Details on multitasking ································································· 5-6 5.4.1 Task status ············································································· 5-6 5.4.2 Transition of states ··································································· 5-6 5.4.3 Transfer of data between tasks ··················································· 5-7 5.4.4 Task priority ············································································ 5-7 Chapter 6 Easy Mode 6.1 PRGM mode of easy mode ···························································· 6-2 6.1.1 How to enter and leave the easy mode ·········································...
  • Page 7 8.3 Changing of speed during operation (Override) ······························· 8-6 Chapter 9 Pulse train input mode 9.1 System ······················································································· 9-1 9.1.1 System configuration method ····················································· 9-1 9.1.2 Specifications of pulse train input mode ········································ 9-2 9.2 Input/output signals ····································································· 9-3 9.2.1 Input/output connector signal names and pin numbers ····················· 9-3 9.2.2 Functions of each input/output signal ···········································...
  • Page 8 10.2.14 Return to origin complete output ·············································· 10-17 10.2.15 Input wait output ··································································· 10-18 10.2.16 Pausing (temporarily stopped) output ········································ 10-18 10.2.17 READY output ····································································· 10-18 10.2.18 Individual task positioning complete output ································· 10-18 10.2.19 Individual task return to origin complete output ···························· 10-18 10.2.20 Battery alarm output ······························································...
  • Page 9 11.5.2 How to set selection table extension ·········································· 11-34 11.5.3 Assignment of input signals and tables ······································ 11-35 11.6 Maximum torque limit function ··················································· 11-38 11.6.1 Overview ·············································································· 11-38 11.6.2 Specifications for the maximum torque limit function ···················· 11-38 11.6.3 Setting of the maximum torque limit function ······························· 11-38 11.6.4 Setting of a maximum torque limit value ·····································...
  • Page 10 13.2.15 Designation of READY output bit ············································· 13-8 13.2.16 Designation of palletizing input bit ············································ 13-8 13.2.17 Expansion input/output during external point designation mode Valid/Invalid ········································································· 13-8 13.2.18 Setting of task positioning output ·············································· 13-8 13.2.19 Setting of task return to origin output········································· 13-9 13.2.20 Setting of CC-Link ································································...
  • Page 11 Chapter 14 Monitoring 14.1 Program step No. monitoring ······················································ 14-2 14.2 Input/output monitoring ······························································ 14-3 14.3 Counter and timer monitoring ······················································ 14-5 14.4 Coordinate monitoring ································································ 14-6 14.5 Origin sensor/encoder Z-phase pulse monitoring ·························· 14-8 Chapter 15 Search Function 15.1 Search of sequential step No. ······················································ 15-1 15.2 Search of tag No.
  • Page 12 17.7 BA I/O Compatibility Mode ·························································· 17-8 17.7.1 Selection method of BA I/O compatibility mode ··························· 17-8 17.7.2 Operation specifications for return to origin complete output and positioning complete output ·············································· 17-9 17.8 Movement operation on coordinate table setting screen ··············· 17-11 Chapter 18 Commands (Setting acceleration/deceleration) ················································...
  • Page 13 Chapter 19 Error messages 19.1 Error Display······················································································· 19-1 19.2 Error Table ························································································· 19-2 19.3 Flashing of status display LED ····························································· 19-8 Chapter 20 BA-C series 20.1 Specification ··········································································· 20-1 20.2 Explanation of each part ··························································· 20-2 20.3 Connections ············································································ 20-6 20.4 Selecting the power supply ·······················································...
  • Page 14 21.6 Spare parts ··············································································· 21-5 21.6.1 Controller spare parts ······························································ 21-5 21.6.2 Axis spare parts ····································································· 21-5...

  • Page 15: Chapter 1 General Safety Instruction

    : Gives you helpful information. NOTE : Means that the description of glossaries is written and the corresponding page is indicated. Use only SHIBAURA-MACHINE-authorized replacement parts. WARNING This equipment is designed and built in accordance with applicable WARNING safety standards in effect on the date of manufacture.
  • Page 16 QUALIFIED PERSONS ONLY Only qualified persons are to install, operate or service this equipment according to all applicable codes and established safety practices. A qualified person must: 1) Carefully read the entire instruction manual. 2) Be skilled in the installation, construction or operation of the equipment and aware of the hazards involved.
  • Page 17 DANGER HAZARDOUS VOLTAGE will cause severe injury, death, fire, explosion and property damage.  Disconnect and lock out primary and control circuit power before servicing.  This equipment contains capacitors which stay charged after power has been shut off. Wait for a minimum of 3 minutes before servicing. DANGER MOVING PARTS will cause severe injury, death or property damage.
  • Page 18 ELECTRICAL SHOCK WARNING  This equipment must be properly grounded as per the national electrical code to prevent potential of electric shock and to reduce to possibility of electrical noise causing an operational error. HOT SURFACE CONTACT may result in burn injury. WARNING ...
  • Page 19 CAUTION AMBIENT POTENTIAL OR EQUIPMENT DAMAGE  Do not install in area where the ambient temperature exceeds 40°C or where equipment is subjected to extreme temperature changes that could condensation or where the equipment is subjected to direct sunlight. Keep the ambient temperature of controller at 0 to 40°C. ...

  • Page 20: Safe Operation

     1.2 Safe Operation Take measures to satisfy the following items when using the ROIbot BA series.  1.2.1 Auxiliary safety precautions before ROIbot installation (1) Install a safety fence to prevent people from entering the area of ROIbot operation. 1.

  • Page 21: Precautions For Installing The Roibot

     1.2.2 Precautions for installing the ROIbot (1) Allow ample clearance for teaching the ROIbot, maintenance operations and inspection. (2) The ROIbot controller, other control devices must be installed outside the ROIbot's zone of operation, but within easy access of the operator. (3) The pressure gauge, oil pressure gauge and other indicators must be located so the operator can monitor them easily.
  • Page 22 (3) To secure the zone of ROIbot operation, take measures such as but not limited to the following. 1) Assign a guard to watch the ROIbot operating area to prevent unauthorized persons from entering the operating zone. The guard should be trained to activate emergency stop devices.

  • Page 23: Warranty

     1.3 Warranty  1.3.1 Warranty period The warranty period for this product is any of the following periods, whichever expires first: 1) 24 months after the shipment from our plant 2) 18 months after the installation at your site 3) 4000 hours of operation ...
  • Page 24 This page is blank. 1 – 10...

  • Page 25: Chapter 2 Devices

    Chapter 2 Devices  2.1 Features This ROIbot is a new concept arm robot controller for which the Built Block System (BBS) idea has been incorporated to the popular "ROIbot Series". [Features of axis unit]  Combinations with BBS method A built block method (building block method) combination is possible by selecting unit parts such as the axis unit, angle bracket and cable.
  • Page 26  Corresponding to globalized production bases Input voltages from 100 to 120VAC or 200 to 240VAC can be handled. * CA20-M40 and S40 can handle 200 to 230 VAC.  Incorporation of ROIbot language popular for its simple teaching method Besides teaching with a personal computer, the ROIbot Series Teach Pendant (TPH-4C, TPH-2A) can be used to overcome the ROIbot language and correspond to multitasking.

  • Page 27: System Components And Specifications

     2.2 System components and specifications  2.2.1 System components BA  axes UP to 4 axes BAⅡ軸　最大 4 軸まで ☆オプション Option ＊お客様にてご用意ください。 Supplied by user ☆ティ－チングペンダント 　 Teach Pendant TPH-4C, TPH-2A * 　　　TPH-2A コントロ－ラ コントロ－ラ Controller Controller ケ－ブル cable ケ－ブル...

  • Page 28: Controller Specifications

     2.2.2 Controller specifications The ROIbot series BA  controller can control one axis with the master unit, but when a slave unit is connected with a link cable, up to four axes can be controlled. Refer to section 2.2.2. (2) for the slave unit specifications.

  • Page 29: Master Unit Specifications

    (1) Master unit specifications ROIbot BA  series Applicable robot CA20-M40 Controller type CA20-M10 (Note 1) Number of controllable One axis, or two to four axis control with slave unit connection axes Motor capacity 100W 200W 400W (Note 2) Drive method AC servomotor Control method PTP, Semi-closed loop control...

  • Page 30: Slave Unit Specifications

    NOTE (Note 1) To use CA20-M40, be sure to use regenerative electrical-discharge unit ABSU-4000. (Note 2) The applicable motor capacity is displayed on the controller front panel. Connection with the motor with different capacity causes the motor to burn out. Do not connect the motor with different capacity. (Note 3) The number of general-purpose input/output points will be reduced when the signals using the general-purpose input/output terminals are assigned.

  • Page 31: Various Units And Options

    (3) Various units and options The following units and options are available for the ROIbot. (☆Option) Part name Type Application ☆Teach Pendant For programming TPH-4C, TPH-2A Expansion input/output unit CA20-EX-A20 Expanded input: 12 points, output: 8 points Input/output cable CA10-IC-A0 For master unit and slave unit Input/output cable (for expansion input/output) CA10-IC-B0 For expansion input/output unit...

  • Page 32: Explanation Of Each Part

     2.3 Explanation of each part  2.3.1 External dimensions and explanation of each part (1) External dimensions CA20-M10 CA20-M40 CA20-S10 CA20-S40 (2) Names of each part Battery holder ⑪Battery input connector SW 1 SW 2 ⑧Terminator setting switch ⑨Station No. setting switch ①Status display LED Window for expansion input/output unit...

  • Page 33: Function Of Each Part

     2.3.2 Function of each part ① Status display LED This LED displays the status of the controller. The green LED lights when the power is ON, and the red LED lights when an error has occurred. ② Teach Pendant connector This connector is used to connect a Teach Pendant or a communication cable (option) for connecting a personal computer.
  • Page 34 ⑪ Battery input connector This connector is used to connect the battery harness (option). This is used when using the absolute encoder. ⑫ Analog monitor connector: Note: This connector is used for adjustment by manufacturer. Do not connect the equipment to this connector. 2 –...

  • Page 35: Explanation Of Expansion Input/Output Unit

     2.3.3 Explanation of expansion input/output unit (1) External dimensions (2) Names of each part Installation hook (four positions) 取付用フック（4ヶ所） Expansion input/output PCB 拡張入出力基板 Main unit 本体接続用コネクタ connection connector 拡張入出力コネクタ Expansion input/output connector The expansion input/output can be connected to the master unit or slave unit. 2 –...

  • Page 36: Explanation Of Teach Pendant

     2.3.4 Explanation of Teach Pendant Emergency stop switch Function keys Command and numeric keypad Move keys (ten keys) Model: TPH-4C  ESC key The operator can use this key to exit the function key mode.  F1 to F4 key These keys perform various functions.
  • Page 37  STOP key Program execution is terminated after the current step is completed.  SEQUN/PALET key This key is used to toggle between the sequential mode and palletizing mode. When the key is pressed, the mode will alternate.  HELP key An explanation of the current function is displayed.
  • Page 38  ENT key Writes commands and other data into a step in the program.  Emergency stop switch Push-lock and turn-reset switch. Pressing this switch causes the robot to enter the emergency stop state. To clear emergency stop, turn the switch clockwise to unlock the switch, and then press the CLEAR key.

  • Page 39: Procedures From Installation To Operation

     2.4 Procedures from installation to operation The procedures for installing the ROIbot to operating the ROIbot are as follow. Reference page 1) Installing the axis Axis Installation Section 2) Installing the controller Section 2.4.1 3) Connecting the emergency stop circuit Section 2.4.5 4) Connecting the axis and controller Section 2.4.4...

  • Page 40: Installing The Controller

     2.4.1 Installing the controller The controller uses a natural cooling method through convection. When installing the controller, place it vertically as shown below, and leave a space of 30mm* or more around it so that the ventilation holes on the top and bottom are not blocked. If the ventilation is insufficient, the sufficient performance will not be achieved, and faults could occur.

  • Page 41: Supply Power And Grounding

     2.4.2 Supply power and grounding The power voltage supplied to the CA20-M10/S10 can be either 100VAC system or 200VAC system by changing the VOLTAGE SELECT terminal's short bar on the terminal board. The power voltage supplied to the CA20-M40/S10 can only be 200 VAC system. 100VAC system: Single-phase 100VAC to 120VAC ±10% 50/60Hz CA20-M10/S10 200VAC system: Single-phase 200VAC to 240VAC ±10% 50/60Hz...
  • Page 42  Frame ground (FG) This terminal is connected to the cabinet. To prevent electric shocks, carry out Class 3 grounding by connecting the dedicated wire. A surge absorbing element is provided between the controller's power line CAUTION and cabinet. Confirm that the supply power is 290V or less between the power line and grounding, and then connect.

  • Page 43: Improvement Of Noise Resistance

     2.4.3 Improvement of noise resistance A line filter is built into the controller, but using the following measures to further improve the noise resistance is recommended.  Insert a power line insulation transformer (1:1) or noise filter. Noise filter To controller's To controller's input/output...

  • Page 44: Connecting The Axis And Controller

     2.4.4 Connecting the axis and controller Connect the axis and Teach Pendant to the controller as shown below. Link cable Master unit Teach Pendant Slave unit Axis Emergency stop switch Power cord Programmable controller, etc. Example of wiring for two-axis combination Hand tool Items marked with a * are to be prepared by the user.
  • Page 45  Control of multiple axis The master unit can control one axis by itself, but by connecting a slave unit for one to three axes with link cables, up to four axes can be controlled. (1) Connecting the controller To connect the master unit and slave unit, use the communication connectors (COMM1, COMM2) on the front side, and connect a link cable between COMM2 on the master unit to COMM1 on slave unit 1, and between COMM2 on salve unit 1 to COMM1 on slave unit Master unit...
  • Page 46 (4) Setting terminator When multiple units are connected, the end of the communication line must be treated so that the communication will be accurate. This end treatment is possible by setting a terminator and setting the terminator setting switch on the unit to ON. When using three or four axes, turn ON bit 1 and bit 2 of the terminator setting switch on the unit (master unit and slave unit with open COMM2) at the end of the communication line.

  • Page 47: Connecting The Emergency Stop Circuit

     2.4.5 Connecting the emergency stop circuit Before using the ROIbot, always connect the emergency stop circuit to the enclosed input/output connector. If this circuit is not connected, the controller will enter the emergency stop state. For details, refer to section 10.1.2 (1). ...

  • Page 48: Setting The Robot Type

     2.4.7 Setting the Robot Type Inputting the Robot Type enables you to automatically set various parameter values according to the axis to be used. STEP 1 When the power is turned ON, the first display is T O S H I B A M A C H I N E T E A C H I N G P E N D A N T shown for two seconds.
  • Page 49 STEP 5 Use the key to select the station No. (0 to 3). Press to return to STEP 4. STEP 6 Use the numeric keypad to enter the Robot type and press . The robot type will be set. Press to repetitiously display STEP 4 and STEP 5, and press to return to...

  • Page 50: Setting The Software Limit And Return To Origin

     2.4.8 Setting the software limit and Return to Origin Software limits can be defined to prevent the ROIbot from overrunning its maximum safe operating limits within the range of the ROIbot axes. The software limit is set to the positive and negative range of movement of a motor drive shaft. The limits on the movement range can be changed easily by software, but it is not easy to do so using hardware.
  • Page 51 STEP 6 Use the numeric keypad to enter the minus soft limit coordinates and press (Normally 0 is input for the minus soft limit.) Next, press twice, enter the program mode, press and enter the RUN mode. PRGM The station No. is a number assigned to each unit and the soft limit is a value set for each unit.

  • Page 52: Servo Gain Adjustment

     2.4.9 Servo gain adjustment There are two kinds of gain in the servo mechanism of this ROIbot: position gain and speed gain. They are set through parameter 1. Generally, a larger servo gain enables higher speed response in the servo mechanism and a smaller servo gain enables smooth movement of the ROIbot.

  • Page 53: Absolute Encoder Backup

     2.4.10 Absolute encoder backup All AC servomotors with BA II axis mount the absolute encoder. The encoder is backed up with a battery, etc. to constantly monitor the motor operation even when the power to the controller is shut off. This enables smooth starting without the need for return to origin when starting the system or recovering from emergency stop.
  • Page 54  Lithium battery specification Item Description Remarks Lithium battery Thionyl chloride lithium Part name battery CA20-EB-05 Main unit of battery: ER3V Type No. (Toshiba Battery) Nominal voltage and 3.6V 1000mAh capacity 14.5  26mm 50±5 Main unit of battery (Excluding protrusion) Specification Outside Harness...
  • Page 55  Backup specification Item Specification Remarks 3.6VDC (Standard) The controller surface LED Backup voltage 6.5VDC (Maximum) flickers at 2.7 VDC or less 2.5VDC (Minimum) (voltage drop alarm). When the controller 20A (Standard) is not energized 30A (Maximum) Current 25°C consumption Up to 2 mA instantaneously When the controller 3A (Standard)

  • Page 56: Moving The Roibot

     2.5 Moving the ROIbot Now, let's try moving the ROIbot with a simple program following the flow chart below. Connect the emergency stop No. 1 (Refer to circuit. section 2.4.5) Connect the axis and controller. No. 2 (Refer to Set the station No.
  • Page 57 When the software limit is set and Return to Origin movement is completed following the key operation procedures explained in section 2.4.8, the display below is shown. The display indicates that the controller is now in sequential AUTO mode corresponding to the No. 5 stage of the flow chart.
  • Page 58 STEP 3B The cursor moves to point a (absolute coordinate), so just press [ P R G M ] 0 0 0 2 a S N O = 0 0 0 M O V P V = 0 0 C N T [ 0 0 ] P O S T STEP 3C The cursor moves to point table No.
  • Page 59 STEP 5 As in STEP 3A to STEP 3H, enter MOVP as [ P R G M ] shown at left. Here, 2 is input as the point table 0 0 0 4 a S N O = 0 0 2 No., and the coordinate X=200 and Y=200 data M O V P V = 0 0 C N T [ 0 0 ] is input.
  • Page 60  Program execution STEP 9 Press to enter the sequential AUTO [ A U T O ] PRGM mode. Now, press 0 0 0 1 START S P D V = 0 1 STEP 10 The program will be executed as it is displayed on the screen.

  • Page 61: Chapter 3 General Programming

    Chapter 3 General Programming  3.1 Explanation of operation modes The ROIbot is provided with the following types of operation modes. Sequential mode RUN mode AUTO mode Continuous operation Palletizing mode Single operation STEP mode PRGM mode PARA mode Easy mode RUN mode AUTO mode Continuous operation...
  • Page 62 M to 1 mode Movement from matrix-type point configured with X and Y axes (source side: S) to set position (destination side: D)  M to M mode Movement from matrix-type point configured with X and Y axes (source side: S) to matrix-type point configured with X and Y axes (destination side: D) Refer to Chapter 7 for details on the palletizing mode.

  • Page 63: Explanation Of Run Mode

     3.1.1 Explanation of RUN mode The RUN mode is a mode that operates the robot. The mode can be divided into the AUTO mode and STEP mode. Both the AUTO and STEP modes can be operated in the sequential, easy and palletizing modes.

  • Page 64: Explanation Of Prgm Mode

     3.1.2 Explanation of PRGM mode The PRGM mode is used to program the various operations for sequential, easy and palletizing modes with the Teach Pendant or to set the point tables for the external point designation mode. The program screen differs for each mode, so follow the cursor that appears on the Teach Pendant and input the data.

  • Page 65: Return To Origin

     3.1.3 Return to Origin In the sequential RUN mode, if the absolute encoder is being used, the program can be executed without Return to Origin unless recovering from an encoder related error (NOTE). When using the incremental encoder, the commands other than the axis related commands (MOVP, MVB, MVE, MVM,) will execute the program even without the Return to Origin, so if the program is programmed to execute a HOME command before the axis related command is executed, Return to Origin will not be required by pressing the...

  • Page 66: General Programming

     3.2 General programming The operation system diagrams of the Teach Pendant in each mode are shown in this section. Key operation system diagram for BA II type Sequential/palletizing T/P ON Auto mode/step mode Power Override Task RESET Extension Monitor changeover Extension Monitor...
  • Page 67 Mode set 1: Single mode input bit designation 2: Continuous start input bit designation 3: Escape input bit designation 4: Pause input bit designation 5: Program selection input bit designation 6: return to origin input bit designation 7: In-pause output bit designation 8: Input waiting output bit designation 9: Teach pendant display language Japanese/English 10: Disable/Easy/Point/Pulse 1/Pulse 2...
  • Page 68 Key operation system diagram for easy mode [RUN mode] Auto mode/Step mode Override RESET Extension Extension Monitor OPTION T/P ON T/P OFF Branch designation PRGM mode Program setting End/continue Parameter mode Sequential mode Refer to the system diagram of the sequential mode. However, the parameter mode can not be used.
  • Page 69 Key operation system diagram for pulse train mode [RUN mode] Monitor Extension OPTION PRGM mode Edit Memory clear Extension Parameter mode Sequential mode Refer to the system diagram of the sequential mode. However, the parameter mode can not be used. [JOG operation] Direct output Specified Bit 1 ON/OFF...

  • Page 70: Basic Programming

     3.2.1 Basic programming This section explains basic ROIbot programming, using examples of a Teach Pendant display. The following illustration shows a display of sequential mode in PRGM (program) mode. Operation mode Parameters for commands [ P R G M ] X = 0 0 0 0 .
  • Page 71  Tag No. Tag No. [ P R G M ] 0 0 0 2 T A G 0 0 1 In sequential mode, the tag No. (1 to 999) can be written in steps from No. 0001 to No. 2000. Tag Nos.

  • Page 72: Position Data Input

     3.2.2 Position data input The following three methods can be used to input the position data for the coordinate table (used in the sequential mode, external point designation mode), easy mode and palletizing mode. (1) Remote teaching When you are programming while the ROIbot is in servo-lock, use this method to move the ROIbot to the desired location.
  • Page 73 (1) Remote teaching procedures Remote teaching procedures of the position data are given below. These procedures can be executed during programming in PRGM mode. [Coordinate table input screen] STEP 1 Move the cursor to the position shown at left, DIRECT and press Cursor position Easy mode coordinate input...
  • Page 74 [Common screen] STEP 2 Remote teaching screen is displayed and JOG operation can be executed in remove teaching mode. Toggling of speed operation can be executed by pressing LOW (low speed) and HIGH (high speed) NOTE  Movement of the axes in JOG operation is done by pressing the keys for the first axis and the keys for the second axis.
  • Page 75 (2) Direct Teaching Procedures The method to carry out direct teaching of the position data in the PRGM mode is described below. [Coordinate table input screen] FREE STEP 1 Press "FREE" will LOCK displayed. The axis will be in servo-free condition.
  • Page 76 [Common screen] STEP 2 Direct Teaching screen is displayed and Direct Teaching can be executed. [Coordinate table input screen] STEP 3 Move the axis manually to a desired position and press . The current coordinates will be entered. Easy mode coordinate input screen Palletizing mode coordinate input screen...
  • Page 77 (3) MDI (Manual Data Input) method The method to teach the position data in the PRGM mode with MDI is described below. [Coordinate table input screen] STEP 1 Move the cursor to the point shown at the left, enter the set coordinates with the numeric keypad, and press Cursor position Easy mode coordinate input...
  • Page 78 [Coordinate table input screen] STEP 2 Move the cursor to the point shown at the left, enter the set coordinates with the numeric keypad, and press Cursor position Easy mode coordinate input screen Cursor position Palletizing mode coordinate input screen Cursor position NOTE Surely set the coordinate value within the stroke of the axis being used.

  • Page 79: Memory Clear (Initialization)

     3.2.3 Memory Clear (Initialization)  The memory in the controller that stores the programs and parameters can be initialized (cleared). NOTE When the memory is initialized, the various parameters in the memory will be initialized, and the sequential, palletizing and easy mode programs will all be cleared. ...
  • Page 80 STEP 6 Follow the instructions on the screen, and turn the controller power OFF. NOTE  After the memory is initialized, the robot type "510100" (single axis specifications) parameter will be set. When using a type other than "510100", set the robot type again.
  • Page 81 (2) Method to initialize the memory without turning the Teach Pendant ON (T/P ON) after turning the power ON The memory of the ROIbot can be initialized without turning the T/P ON (validating the Teach Pendant) after the main power is turned ON. Use this method when an error occurs and the memory cannot be initialized from the PRGM (program) mode.

  • Page 82: Mov System Command Words And Parameters

     3.2.4 MOV system command words and parameters The MOV system commands and their parameters which can be used on the machine are herein described. If any of the MOV system commands is commanded, the relevant axis will be moved as commanded, and there are 5 kinds of the commands as follows.
  • Page 83 Absolute coordinate position (a) and relative coordinate position (i) When the absolute coordinate position (a) is selected, the target position becomes the coordinate position according to the origin point (coordinate X=0, Y=0). When the relative coordinate position (i) is selected, the target position becomes the relative movement amount from the axis position at the time of the command execution start.
  • Page 84 Position (POST) and course (COSE) If a position (POST) is selected for movement to a target position on the way when consecutive MOV system commands are executed, control waits at the target position until robot positioning is completed, and moves to the next point when the positioning is completed.

  • Page 85: Chapter 4 Sequential Mode

    Chapter 4 Sequential Mode  4.1 Sequential PRGM mode Sequential programs are structured of a command words written in as series of steps.  4.1.1 How to enter and leave PRGM (program) mode The PRGM mode is used for programming, setting parameters, and for controlling direct output.

  • Page 86: Editing Of Steps In Sequential Program

     4.1.2 Editing of steps in sequential program  In sequential programming, steps can be inserted or deleted either individually or as a block. Individual step deletion/insertion First, define the program step No. to be inserted or deleted, and display it on the screen. Refer to section 15.1 for details on searching for the step No.
  • Page 87  In sequential programming, a series of steps can be deleted in a block. To delete a block, set the program mode and press . The following display will HELP appear. (Refer to section 4.1.1.) STEP 1 When this instruction appears, press STEP 2 Press To return to the initial screen in the PRGM...

  • Page 88: Copy Editing Of Sequential Programs

     4.1.3 Copy editing of sequential programs A series of steps can be copied in a block from one program and entered into another. Set the program mode and press . The following display will appear. (Refer to section HELP 4.1.1.) STEP 1 When this instruction appears, press...

  • Page 89: Clearing Of Sequential Programs

     4.1.4 Clearing of sequential programs All of the sequential programs in the controller memory can be cleared (all steps can be returned to NOP). For multitasking, the program of the currently displayed task will be cleared. Change the task before carrying out the following steps.
  • Page 90 The sequential program and palletizing programs can be cleared in a batch. The sequential program that can be used from the palletizing program is the main task (task No.1), so the programs of tasks other than the main task will not be cleared with this operation. In this case, press at STEP 2, and display the following screen.

  • Page 91: Help Function In Entering A Command

     4.1.5 HELP function in entering a command When function keys are used to enter a command in PRGM mode, pressing displays HELP the input number of each command. Press . The following display appears: STEP 1 Press when this display is shown. HELP Cursor STEP 2...

  • Page 92: Method To Restart Operation Of Sequential Mode

     4.1.6 Method to restart operation of sequential mode after turning power OFF With this ROIbot, even if the power is turned OFF, the program can be restarted from the step where the program was stopped when the power was turned OFF. However, this is only limited to when the program was stopped with the Teach Pendant or by inputting stop with the system before the power was turned OFF.
  • Page 93 <Example> [Starting of sequential program] Program start Program execution Press on Teach Pendant STOP Program stop input stop signal Controller power Branch Branching will occur according to the restart status in the according to each mode setting. condition During restart When restart related When restart related When restart related...

  • Page 94: Palletizing Work With Mvm Commands

     4.1.7 Palletizing work with MVM commands In the palletizing mode described in Chapter 7, palletizing operation can be carried out by just setting various data and not using commands. However, if a mode is used for the palletizing operation, there will be some restrictions to the degree of operation freedom.
  • Page 95 P2 direction D side matrix (destination side) Y axis S side set point P1 direction X axis (1) Explanation of MVM table The MVM table is used to set the matrix (pallet, etc.) shape, etc. For the matrix shape as shown above, the parameters are set in the MVM table as shown below.
  • Page 96 (2) Relation of P0, P1, P2 coordinate setting and operation pattern Even if the same program is executed, the operation pattern can be changed by changing the coordinate settings of P0, P1 and P2 set in the MVM table. The following is an operation example of when the 1 to M program given on the next page is executed.
  • Page 97 MVM table setting counter Movement destination point when MVM command is executed with the Details of counter Details of counter counter details given on the left. No. 1 No. 2 (4) Example of palletizing work program using MVM commands P2 direction Details of MVM table D side matrix (destination side) P0: 1 point coordinates...
  • Page 98 [Explanation of changing counter details] The counter details when the MINI command is executed are initialized to "1". When the MVM command is executed, point will be moved to. The LOOP command will increment the counter No. 1 details by one during the movement from point When moving from the counter No.
  • Page 99 STEP 5 Write the MVM command. With this command, [ P R G M ] the point on the D side (destination) will be 0 0 0 5 S G R P = 0 1 moved to. M V M V = 0 0 P O S T D I S T STEP 6...

  • Page 100: Sequential Run Mode

     4.2 Sequential RUN mode This ROIbot can be operated with the following methods.  Continuous operation, signal operation of the AUTO mode  STEP mode  4.2.1 AUTO mode of sequential mode (1) Continuous operation Carry out operation in the STEP mode and confirm the operation before starting operation in the AUTO mode.

  • Page 101: Single Operation

    STEP 5 When program command completed, the program will return to step No. 0001, program step 1 will display, and the operation will stop. Operation with external signals Use the following procedure to carry out operation with the external signals. Refer to section 17.1 on how to disconnect the Teach Pendant.

  • Page 102: Step Mode Of Sequential Mode

     4.2.2 STEP mode of sequential mode The STEP mode is used to execute the program in the controller one step at a time. When multiple tasks are operated using the multitasking function, one step of the task displayed on the Teach Pendant will be executed and then will stop. The other tasks will stop when the step being executed is stopped at the time the displayed tasks have stopped.

  • Page 103: Changing Of Speed During Operation (Override)

    The search function can be used in this mode. This is handy for confirming the jump conditions, etc., in the program by using the tag No. search. Refer to Chapter 15 for details on the search function. NOTE The timing of the input signal and output signal during operation with the STEP mode will be differ compared to operation during the AUTO mode.
  • Page 104 This page is blank. 4 – 20...

  • Page 105: Chapter 5 Multi-Task

    Chapter 5 Multi-task  5.1 Multitasking Multitasking refers to executing multiple tasks simultaneously. The multitasking referred to with this controller refers to executing multiple programs simultaneously. This multiple execution of programs is asynchronous operation in which the programs do not interfere with each other.

  • Page 106: Multitasking Usage Methods

     5.3 Multitasking usage methods Each task program is the same as the conventional sequential program. The multitasking settings and the programming methods will be described below.  5.3.1 Multitasking specifications Mode Only sequential mode Max. No. of tasks Max. No. of axes 4 Note that only two axes can be used per task 2,000 (total of all tasks) No.

  • Page 107: Starting And Stopping Tasks

    (4) Setting the positioning output The system output positioning completed output (pin No. 13) will turn ON when the positioning of all axes is completed. The output that turns ON when a specific axis completes positioning can be designated with a port and bit described in section 11.2.18 Setting of positioning complete output. (5) Setting the Return to Origin complete output The system output Return to Origin completed output (pin No.

  • Page 108: Multitasking Operation

     5.3.4 Multitasking operation The method for creating and running a multitasking program will be explained in this section. The case for controlling two steps of 2-axis combinations such as X-Y and four controllers will be described. STEP 1 Set the task and axis combination with the task axis setting in the PARA mode.

  • Page 109: Applying Timing Between Tasks

    STEP 5 Next, enter the program in task No. 2. Enter the sequential PRGM mode, and press . The display shown on the left will C H A N G E T A S K appear. Use the numeric keypad to enter the task No. 2, [ 0 1 ] - >...

  • Page 110: Details On Multitasking

     5.4 Details on multitasking Information important for efficiently using the multitask function is described below.  5.4.1 Task status With the multitasking, multiple task can be executed simultaneously by executing other task during the task's open time. The following four task states exist. (1) Stopped state State in which nothing is occurring.

  • Page 111: Transfer Of Data Between Tasks

    (4) Execution state and ready state The task with the highest task processing priority of the task in the ready state will enter the execution state in the following cases.  When the execution state task enters the wait state. The task that is waiting will enter the ready state when a waiting occurs.
  • Page 112 This page is blank. 5 – 8...

  • Page 113: Chapter 6 Easy Mode

    Chapter 6 Easy Mode Easy mode is a mode in which movement to each point, and simple sequential operation such as operation of the hand after completing movement can be done without creating a program. In other words, the movement commands, calling of the hand operation subroutine, and designation of the step to be executed next are configured as a pair of steps per program, allowing programming and execution to be carried out without a complicated configuration.

  • Page 114: Prgm Mode Of Easy Mode

     6.1 PRGM mode of easy mode Before using the easy mode, validate the easy mode in the mode setting. Refer to section 6.1.1 for the setting method.  6.1.1 How to enter and leave the easy mode Display the easy mode setting screen in the PARA mode. (Refer to section 13.2.10.) STEP 1A [How to enter the easy mode] [ P A R A ] M 1 0...

  • Page 115: Editing Easy Mode Program

     6.1.2 Editing easy mode program The items input for the easy mode are as follow. (1) Program No. 1 to No. 8 setting Program No. 1 ------- Program step 001 to 100 Program No. 2 ------- Program step 101 to 200 Program No.
  • Page 116 A flow chart of the easy mode operation is shown below. START Start subroutine execution Move to point 001 Hand subroutine execution End? Move to point 002 Hand subroutine execution End? Move to point 003 Hand subroutine execution End? Repetition counter = Designated No.
  • Page 117 (10) Setting of reservation tag No. The hand subroutine creates a random program in the sequential program, but when carrying out predetermined operation such as pick & place of the work (operation to move the air cylinder vertically, pick up the work by opening/closing the chuck, and placing the work), a subroutine program with fixed details can be used.
  • Page 118 Connection of external devices when using reservation tag No. +COM3 Limit switch General-purpose input External power +COM1 supply General-purpos Solenoid e output Cylinder rise/lower Hand open/close Solenoid –COM1 6 – 6...
  • Page 119 Layout of limit switches in reservation tag No. Limit switch : Cylinder rise LS1: Cylinder rise detection LS2: Cylinder lower detection LS2: Hand close detection LS4: Hand open detection : Cylinder lower NOTE Use normal open switches for : Hand close the limit switches LS1 to LS4.
  • Page 120 Programming in easy mode The method for programming the easy mode is given below.  Input of point coordinates, speed and hand subroutine tag No. Select the easy mode with the mode setting, and display the initial screen of the PRGM mode (easy).
  • Page 121 STEP 4 Use the numeric keypad and enter the point [ E A S Y ] 0 1 X = 0 0 0 0 . 0 0 0 0 2 V = 0 0 Y = 0 0 0 0 . 0 0 coordinates, speed No.
  • Page 122 [Counter condition branching] STEP 5 Use the numeric keypad to enter the step No. to be branched with the counter conditions, and then press . (0 to 999) NEXT Branching will not take place if 000 is set. [ E A S Y ] 0 1 STEP 6 Use the numeric keypad to enter the No.
  • Page 123 Setting of start subroutine, end subroutine and repetition conditions When is pressed on the easy mode screen, the following setting and display screen will display. STEP 1 Use the numeric keypad to enter the start tag No., and then press .
  • Page 124  End setting In the easy mode, a setting to indicate the end of the operation at the final step of the series of operations (including cycle operation) must be set regardless of the operation pattern. For example, with an operation pattern of point A to point B to point C is carried out as shown below, the step point C at the end of the cycle will be the end step.
  • Page 125  No. of programs and No. of steps The No. of programs and No. of steps used in the easy program are shown below. Program No. Step No. No. of programs.: 8 (No. 1 to No. 8) No. of steps: 100 steps/program 001 to 100 101 to 200 201 to 300...
  • Page 126 An example of a program in the easy mode is shown below. [Example] C (Passing) D (Failing) Pick up the workpiece at point A, check for passing or failing at point B. If general-purpose input port (Inspec- tion) 01-1 turns "ON" at point B, place work at point D (failing part), and if "OFF", place work at point C (passing part).

  • Page 127: Copy Editing Of Easy Mode

     6.1.3 Copy editing of easy mode A random program in the easy mode can be copied to another easy program. Enter the PRGM mode (sequential) and press . (Refer to section 6.1.1.) HELP The following screen will display. STEP 1 From this state, press [ P R G M ] F 1 : E X T E N S I O N H E L P...

  • Page 128: Clearing Of Easy Mode Programs

     6.1.4 Clearing of easy mode programs All of the easy programs in the controller can be cleared. Enter the PRGM mode (sequential) and press . (Refer to section 6.1.1.) The following HELP screen will display. STEP 1 From this state, press [ P R G M ] F 1 : E X T E N S I O N H E L P F 2 : D I R E C T O U T...

  • Page 129: Run Mode Of Easy Mode

     6.2 RUN mode of easy mode This ROIbot can be operated with the following methods.  Continuous operation, single operation of the AUTO mode  STEP mode NOTE Operation cannot be restarted after the power is turned OFF in the easy mode. ...

  • Page 130: Single Operation

    is pressed, the program will stop after completing the step currently being executed. STOP To restart the program, press START NOTE If the EMERGENCY STOP button is pressed, the robot will coast to a stop. The stopping distance will differ according to the load size, speed and inertia. ...

  • Page 131: Step Mode Of Easy Mode

     6.2.2 STEP mode of easy mode STEP mode is used to execute the program in the controller one step at a time. Use this mode to confirm the easy program operation, etc., before executing the program in the AUTO mode. Before using the STEP mode, the easy mode must be validated with the mode setting on the easy mode setting screen.

  • Page 132: Changing Of Speed During Operation (Override)

     6.2.3 Changing of speed during operation (override) The entire program execution speed can be delayed by using the override function. This allows the program to be confirmed at a low speed. STEP 1 Enter the RUN mode and press .

  • Page 133: Chapter 7 Palletizing Mode

    Chapter 7 Palletizing mode The palletizing is a mode exclusive for moving and loading. This program can be executed just by setting the parameters. The following types of modes are prepared in the palletizing mode.  Movement from set position to matrix-type point on X and Y axes direction (1 to M mode) ...
  • Page 134 S side P0 D side P0  M to 1 mode S side matrix S side P0 D side S side matrix  M to M mode D side matrix 7 – 2...

  • Page 135: Basic Flow Chart Of Palletizing Mode

     7.1 Basic flow chart of palletizing mode  The execution order of this palletizing mode is as follows. After the start signal is input, the start program tag No. is referred to. If the tag No. is "000", the start program is passed, and if it is other than "000", the program jumps to the step of the tag No.

  • Page 136: Prgm Mode In Palletizing Mode

     7.2 PRGM mode in palletizing mode The PRGM (program) screen in the palletizing mode is configured of 14 screens. The screens are common in all modes, but the screens that do not need to be set for the 1 to M mode or M to 1 mode will not display.
  • Page 137 Operation example: 1 to M The place of 2-axis combination is shown below for example. Set the coordinates 1 in the D side Set the coordinates 4 in the D side P0 coordinates P0 coordinates Set the coordinates 3 in the D side Set the coordinates 6 in the D side P1 coordinates P1 coordinates...
  • Page 138  If the No. of S sides and D sides differs in the M to M mode, the palletizing operation will be continuously repeated. (If the D side pallet is full, the first point of the D side pallet will be returned to.) This operation will be repeated until the work at the final point of the S side reaches the final point on the D side.

  • Page 139: How To Enter And Leave The Prgm Mode

     7.2.1 How to enter and leave the PRGM mode The PRGM mode is used for programming. The method for entering and leaving the PRGM mode in the palletizing mode will be described in this section. STEP 1 Turn the power ON. When the display shown at P O W E R F 1 : T / P O N the left appears after the initial screen press...

  • Page 140: Editing Palletizing Mode Program

     7.2.2 Editing palletizing mode program The programming screen using the M to M mode is shown below. SEQUN Enter the PRGM (program) mode and press . (Refer to section 7.2.1.) PALET Mode selection 1–M M–1 STEP 1 When pressed, mode will Palletizing...
  • Page 141 STEP 6 Use the numeric keypad to enter the No. of the [ P R G M ] 0 6 S O A P P R O A C H speed to be applied when moving toward the S side and then press .
  • Page 142 STEP 12 Use the numeric keypad to enter the No. of the [ P R G M ] 1 2 D I A P P R O A C H speed to be applied when moving toward the D side and then press .

  • Page 143: Copy Editing Of Palletizing Mode

     7.2.3 Copy editing of palletizing mode A random program in the palletizing mode can be copied to another palletizing program. Enter the PRGM mode (sequential mode) and press HELP The following screen will display. (Refer to section 4.1.1.) STEP 1 From this state, press [ P R G M ] F 1 : E X T E N S I O N H E L P...

  • Page 144: Clearing Of Palletizing Mode Programs

     7.2.4 Clearing of palletizing mode programs Enter the PRGM mode (sequential) and press . (Refer to section 4.1.1.) The following HELP screen will display. STEP 1 From this state, press [ P R G M ] F 1 : E X T E N S I O N H E L P F 2 : D I R E C T O U T F 3 : E D I T...
  • Page 145  7.2.5 How to restart operation after turning power OFF in palletizing mode During palletizing with this ROIbot, work can be restarted with the following conditions even if the power is turned OFF while the program execution is stopped. Set the restart input bit in the mode setting. (Refer to section 13.2.2.) Using the status setting (input ON) step No.

  • Page 146: Run Mode Of Palletizing Mode

     7.3 RUN mode of palletizing mode This ROIbot can be operated with the following methods.  AUTO mode Continuous operation Single operation  STEP mode  7.3.1 AUTO mode of palletizing mode (1) Continuous operation Continuous operation will automatically execute the program in sequence. When running the program for the first time after creating it, verify the operation of the program using the STEP mode before starting continuous operation.
  • Page 147   STEP 4 The program execution will start when The No. of pieces START The set No. of being executed will pieces will display. pressed. display. [ A U T O ] P 1 = 0 0 0 0 ( 0 0 0 0 ) P 2 = 0 0 0 0 ( 0 0 0 0 ) ...
  • Page 148 Operation with external signals Use the following procedure to carry out operation with the external signals. The Teach Pendant must be disconnected from the controller or turned OFF to carry out operation with external signals. (Refer to section 17.1.) 1. Turn the palletizing input signal ON. The palletizing input signal must be set with the mode setting.

  • Page 149: Single Operation

    (2) Single operation During single operation, the program will stop once after the axis movement or output related operation is executed. To start or restart the program, input the start signal or press START Normally this is used to verify a program. An example of single operation is given below.
  • Page 150 STEP 2 This is the sequential mode's RUN mode. [ A U T O ] Press HELP 0 0 0 1 N O P STEP 3 When this screen displays, press . The [ R U N ] F 1 : A U T O / S T E P STEP mode will be entered.

  • Page 151: Changing Of Speed During Operation (Override)

     7.3.3 Changing of speed during operation (override) The entire program execution speed can be delayed by using the override function. This allows the program to be confirmed at a low speed. STEP 1 Enter the RUN mode and press .
  • Page 152 This page is blank. 7 – 20...

  • Page 153: Chapter 8 External Point Designation Mode

    Chapter 8 External Point Designation Mode  8.1 Explanation of external point designation mode The external point designation mode does not use the controller's command language and instead, the positioning movement takes place according to the signals input from the input/output connector.
  • Page 154 Table 1. Input ports when using expansion input/output Function Port 01-1 Speed table designation 2 input Port 01-2 Speed table designation 2 input Acceleration/deceleration table Port 01-3 designation input Coordinate system designation Port 01-4 input Port 02-1 Point table designation 2 input Port 02-2 Point table designation 2...
  • Page 155 (1) Point (coordinate) table designation method  When not using the expansion input/output, a maximum of 4 bits (16 points) can be designated.  When using the expansion input/output, 10 bits (999 points) can be designated. When not using expansion input/output (When not using pause input) When not using expansion input/output (When using pause input)
  • Page 156 (2) Speed table designation method  When not using the expansion input/output, the speed table is fixed to No. 1.  When using the expansion input/output, 12 bits (3 steps) can be designated. Speed table designation input Designated speed table 1: ON 0: OFF Refer to section 13.5.2 for the method of setting the speed table.

  • Page 157: Operation Method Of External Point Designation Mode

     8.2 Operation method of external point designation mode In the external point designation mode, operation can be carried out with system inputs and general-purpose inputs or with the Teach Pendant.  8.2.1 Execution with input/output An example of the settings and operation procedures in the external point designation mode is shown below.

  • Page 158: Operation With Teach Pendant

     8.2.2 Operation with Teach Pendant In this mode, each point can be moved to using the Teach Pendant. When the Teach Pendant is turned ON in the external point designation mode, the following screen will display. Display the coordinate table to be moved using Position data NEXT -NEXT...

  • Page 159: Chapter 9 Pulse Train Input Mode

    Chapter 9 Pulse train input mode  9.1 System  9.1.1 System configuration method When operating with the pulse train input mode, the master unit controls the movement amount and speed according to the pulse train input supplied from an external source. Thus, operations such as return to origin, acceleration/deceleration control and protection with soft limit are carried out by the externally provided controller.

  • Page 160: Specifications Of Pulse Train Input Mode

     9.1.2 Specifications of pulse train input mode ROIbot BA  series Applicable robot Parameter memory FRAM (Various parameters required for operation are saved) Command input method 2-clock method, 1-clock method Command pulse frequency Max. 500kHz (NOTE1) Signal Servo ON, Reset, Counter clear Input Specifications 24VDC 10mA...

  • Page 161: Input/Output Signals

     9.2 Input/output signals  9.2.1 Input/output connector signal names and pin numbers When the pulse train input mode is designated in the mode selection, the input/output connector will be changed to the following functions. Signal name Signal name +COM1 COM3 General-purpose output port 1-1 * General-purpose input port 1-1 *...

  • Page 162: Functions Of Each Input/Output Signal

     9.2.2 Functions of each input/output signal (1) Error output This turns ON when an error occurs in the controller. Refer to Chapter 19 for the error types and process methods. (2) Positioning complete output This turns ON when the deflection of the cumulative value of the command pulse (pulses from external controller) and cumulative value of the feed-back pulses (pulses of motor encoder in axis) is smaller than the in-position value set with the parameters.
  • Page 163 (7) Reset input This resets an error that has occurred in the controller. Error reset OFF: Normal (8) +CLK/±CLK(P) (N), -CLK/SIGN(P) (N) The 2-clock method or 1-clock method can be selected for the command pulse input method using the Teach Pendant. 2-clock 1-clock method...
  • Page 164 2-clock method With this method, the movement direction and movement amount are designated with the + clock and – clock, and operation is carried out. Signal Pin No. Signal waveform Movement direction name 33, 34 +CLK Motor モータ側 side 35, 36 -CLK 33, 34 +CLK...
  • Page 165 Timing of each signal  Power ON sequence Servo free Servo lock Servo ON signal Counter clear signal 2s or more 30ms Power ON or more  Recovery sequence from error or emergency stop Servo lock Servo free Servo lock Servo ON signal Counter clear signal Reset signal...

  • Page 166: Example Of Input/Output Signal Connection

     9.2.3 Example of input/output signal connection 150 Ω +CLK/ ± CLK(P) 150 +CLK/±CLK(P) +CLK/ ± CLK(N) +CLK/±CLK(N) ツイストペア Twisted pair シールド線 shield wire 150 Ω 150 -CLK/SIGN(P) -CLK/SIGN(P) -CLK/SIGN(N) -CLK/SIGN(N) Pulse generator, etc. パルス発振器等 COM4 カウンタクリア Counter clear サーボオン Servo ON リセット...
  • Page 167 NOTE Both line driver interface and open collector interface can be handled with the pulse train input. However, use with the line driver interface is recommended to improve the reliability against noise, etc.  Line driver interface 150 150 150 Ω ★...

  • Page 168: Operation Methods

     9.3 Operation methods  9.3.1 Designation of pulse train input mode To run the master unit with this mode, the pulse train input mode must be set in the PARA mode settings using the Teach Pendant. Refer to section 13.2.10 for details on the settings. There is a 1-clock method and 2-clock method for the pulse train input operation, and the current pulse input method can be confirmed with the following screen displayed when the Teach Pendant is turned ON.

  • Page 169: Protective Functions

     Method of setting various parameters The basic Teach Pendant operation method does not change from sequential operation, but the normally displayed screen will be exclusive for pulse inputs. STEP 1 When the power of the controller set with the pulse train input mode is turned ON, the P O W E R F 1 : T / P O N...

  • Page 170: Precautions For Operation

     9.4 Precautions for operation This ROIbot does not have a limit switch for preventing overrun. Collision to the end block by overrunning could damage the axis. Do not collide into the end block. Operate the unit so that the motor's frame temperature (ambient temperature [°C] + external cover temperature rise value [K]) is 100°C or less.

  • Page 171: Chapter 10 Connection With External Devices

    Chapter 10 Connection with External Devices  10.1 Input/output signal The input/output connector is configured of the system input/output and general-purpose input/output. The system input/output is basically connected to the programmable controller, etc., and is used to control the robot from an external source. The general-purpose input/output is connected to the hand sensor or proximity sensor, etc., and is mainly used to control the external peripheral devices.

  • Page 172: Slave Unit Input/Output Connector Signal Names

     10.1.2 Slave unit input/output connector signal names and pin numbers Signal name Signal name +COM1 (Note 1) COM3 (Note 1) General-purpose output port 1-1 General-purpose input port 1-1 (Note 3) General-purpose output port 1-2 General-purpose input port 1-2 (Note 3) General-purpose output port 1-3 General-purpose input port 1-3 (Note 3)
  • Page 173 (1) Emergency stop input/output (Only master unit input/out connector) Before using the ROIbot, always connect the emergency stop circuit to the enclosed input/output connector. If this circuit is not connected, the controller will enter the emergency stop state.  Emergency stop input If this signal is input (the circuit is shut off), the general-purpose output state CAUTION during emergency stop will differ according to the mode setting, but with the...
  • Page 174 (2) General-purpose input/output master unit Signal name Signal name +COM1 (common for output COM3 (common for input signal) signal) General-purpose output port 1-1 General-purpose input port 1-1 General-purpose output port 1-2 General-purpose input port 1-2 General-purpose output port 1-3 General-purpose input port 1-3 General-purpose output port 1-4 General-purpose input port 1-4 -COM1...
  • Page 175 Slave unit Signal name Signal name +COM1 (common for output COM3 (common for input signal) signal) General-purpose output port 1-1 General-purpose input port 1-1 General-purpose output port 1-2 General-purpose input port 1-2 General-purpose output port 1-3 General-purpose input port 1-3 General-purpose output port 1-4 General-purpose input port 1-4 COM1...
  • Page 176 (3) System input Signal External point Normal mode Remarks name designation mode 27 COM4 Common for system input Rising edge detection Return to ON: Start return to Return to origin origin origin ON: Restart from ON: Start movement Rising edge currently stopped according to detection...
  • Page 177 (4) System output Signal External point Reference Normal mode name designation mode page +COM1 Common for output signal ON during controller ON during robot Section Running execution/during return to origin operation 10.2.11 Section Error ON during error occurrence Same as left 10.2.12 ON when robot positioning is completed...
  • Page 178 (5) Inputs and outputs that can be set for general-purpose input/output Input/ Reference Signal name Details output page Robot single Input The single operation mode is entered when Section operation start is input or the start key is ON, and this 10.2.5 input is ON.

  • Page 179: Expansion Input/Output Signal Names And Pin Nos

     10.1.3 Expansion input/output signal names and pin Nos. Signal name Signal name +COM5 (Note 1) COM6 (Note 1) General-purpose output port 2-1 General-purpose input port 2-1 General-purpose output port 2-2 General-purpose input port 2-2 General-purpose output port 2-3 General-purpose input port 2-3 General-purpose output port 2-4 General-purpose input port 2-4 General-purpose output port 2-5...
  • Page 180  10.1.4 Names of general-purpose input/output ports and Teach Pendant displays In the controller's system configuration, there are master unit, slave unit and expansion input/output unit input/output ports. The No. of points will change according to the use of options. These input/output ports are displayed on the Teach Pendant as shown below.

  • Page 181: Example Of Input/Output Signal Connection

     10.1.5 Example of input/output signal connection  Example of master unit connection COM3 General-purpose 汎用入力 input 入力 1-1 Input Input 入力 1-2 Input 入力 1-3 Input 入力 1-4 External power 外部電源 DC24V supply 24VDC +COM1 General-purpose 汎用出力 output 出力 1-1 Output Output 出力...
  • Page 182  Example of slave unit connection COM3 General-purpose input 汎用入力 入力 1-1 Input Input 入力 1-2 Input 入力 1-3 Input 入力 1-4 COM4 入力 1-5 Input 入力 1-6 Input Input 入力 1-7 Input 入力 1-8 External power 外部電源 DC24V supply 24VDC +COM1 General-purpose 汎用出力...
  • Page 183  Example of expansion input/output unit connection COM6 General-purpose 汎用入力 input Input 入力 2-1 Input 入力 2-8 General-purpose 汎用入力 input 入力 3-1 Input Input 入力 3-4 External power 外部電源 DC24V supply 24VDC +COM5 General-purpose 汎用出力 output Output 出力 2-1 Output 出力...

  • Page 184: Details Of System Input/Output Function

     10.2 Details of system input/output function  10.2.1 Return to origin input  This input starts the return to origin.  This input can be accepted only when the Teach Pendant is not connected or is turned OFF.  This input will be invalid for approx. two seconds after the controller power is turned ON. Thus, turn it ON after two seconds or more have passed.

  • Page 185: Stop Input

     10.2.3 Stop input  This input is used to stop the axis after the step currently being executed is ended. (During execution of the IN or TIM commands, after that step is completed.)  After this input turns ON, return to origin and start input will be invalid. ...

  • Page 186: Continuous Start Input

     10.2.6 Continuous start input  The general-purpose input port designated for robot continuous start input with the mode setting can be used for the robot continuous start input. (Refer to section 13.2.2.)  Depending on the status (ON, OFF) of the continuous start input when the power is turned ON or reset is input, the values for the step No., counter and general-purpose output will be held or cleared.

  • Page 187: Program No. Selection Input

     10.2.9 Program No. selection input The general-purpose input port designated as the program selection input with the mode setting can be used as the program selection 2 to 2 input. (Refer to section 13.2.5.) In the external point designation mode (when the expansion input-output unit is not mounted), the general-purpose input port can be used as point table designation selection 2 to 2 .

  • Page 188: Palletizing Input

     10.2.10 Palletizing input  The general-purpose input port designated as the palletizing input with the mode setting can be used as the palletizing input. (Refer to section 13.2.16.)  This is the sequential and palletizing mode changeover input. After resetting or execution of the END command, when the start input is turned ON, the controller will judge this signal and change the mode.

  • Page 189: Input Wait Output

     10.2.15 Input wait output  The general-purpose output port designated as input wait output with the mode setting can be used as the input wait output. (Refer to section 13.2.8.)  This output turns ON during IN command execution (general-purpose wait state). ...
  • Page 190 This page is blank. 10 – 20...

  • Page 191: Chapter 11 Cc-Link

    Chapter 11 CC-Link  11.1 CC-Link Function This controller enables adding of a CC-Link function by a CC-Link module. This chapter describes the CC-Link interface. CC-Link is a field network interface that features a minimized wiring design in a low-cost structure and high-speed data communication.

  • Page 192: Cc-Link Specifications

     11.1.2 CC-Link specifications Item Specification Transmission specifications CC-Link Ver 1.10 Communication speed 10M/5M/2.5M/625k/156kbps (Set by parameter) Station type Remote device station Fixed at 4 stations Number of occupied stations (RX/RY: 128 points each, RWw/RWr: 16 points each) 1 – 64 (Set by parameter) Station number setting System input: 4 points, System output: 4 points General-purpose input: 64 points, General-purpose output: 64 points...

  • Page 193: Explanation Of Cc-Link Component And External Dimensions

     11.1.4 Explanation of CC-Link component and external dimensions CC-Link communication CC-Link state display LED terminal block CC-Link通信端子台 CC-Link状態表示LED LED order LED順序 90(W)×160(H)×134(D) 90(W)×160(H)×134(D) (取付金具を含まず) (Not including the mounting bracket)  CC-Link status display LED Name Color On/Off Description Gree When receiving data When not receiving data Gree...

  • Page 194: Connection Of Exclusive Cc-Link Cable

     11.1.5 Connection of exclusive CC-Link cable The order of cable connection is unrelated to the station number. Be sure to connect the terminators for the units located at both ends of the CC-Link system. Connect each terminator between DA and DB. In the CC-Link system, the terminator to be connected differs with the cable to be used.

  • Page 195: Connection With External Devices

     11.2 Connection with External Devices  11.2.1 List of master unit I/O signals Signal direction: Signal direction: CC-Link master station CA20–M10-CC CC-Link master station CA20–M10-CC Device No. (Input) Signal name Device No. (Output) Signal name RXn0 "Running" output RYn0 Return to origin input RXn1 Error output...

  • Page 196: System I/O

     11.2.2 System I/O System input (CC-Link master station  CA20–M10-CC) Signal Remote External point designation Normal mode Remarks name output (*1) mode RYn0 Return ON: Start of return to origin Detection of leading Return to origin to origin operation. edge RYn1 ON: Restart from currently...

  • Page 197: Name Of General-Purpose I/O Port And Teach Pendant Display

     11.2.3 Name of general-purpose I/O port and teach pendant display In the controller's system configuration, there are master unit, slave unit and expansion input/output unit input/output ports. The No. of points will change according to the use of options. These input/output ports are displayed on the Teach Pendant as shown below.

  • Page 198: Jog Input/Output

     11.2.4 Jog input/output List of jog input/output signals Signal direction: Signal direction: CC-Link master station CA20–M10–CC CC-Link master station CA20–M10–CC Input Device No. Signal name Output Device No. Signal name RX(n+4)8 RY(n+4)8 Axis 1 "jogging" output Axis 1 "request jog" input RX(n+4)9 RY(n+4)9 Axis 2 "jogging"...
  • Page 199   "Request inching" input "Request low-speed jog" input conditions "Request high-speed jog" input "Designate direction" input "Request axis 1 jog" input    Jog-ready input      "Axis 1 jogging" output Axis 1 low-speed jog Axis 1 high-speed jog During stop During stop...

  • Page 200: Data Communication

     11.3 Data Communication  11.3.1 Overview of data communication Two types of data communication are available: Command mode and Monitor mode. In Command mode, the CA20-M10-CC returns reply to commands from the CC-Link master station. Although this enables complex data communication, its characteristic of returning replies to commands requires a certain amount of time for the data updating cycle.

  • Page 201: Command Mode

     11.3.2 Command mode In the relationship between the CA20-M10-CC and CC-Link master station, the CC-Link master station is always the main station, and the CA20-M10-CC is the secondary station. Communication uses a half-duplex system where the CC-Link master station issues commands and the CA20-M10-CC sends back a reply.
  • Page 202  Before sending a command, make sure that all handshake signals ("request command processing" signal, command processing finish signal and command error signal) are set OFF.  Set the command in the remote register.  The command set in the remote register is transferred to the CA20–M10–CC "receive command"...

  • Page 203: Command Table

     11.3.2.2 Command table Command/ Remote register (Command = RWwn, Reply = RWrn) Description Mode reply +4 ~ +B +C ~ +F Reserved Command (0 fixed)  Request status B900H Status No. Status Error Reserved Reply value code (0 fixed) Axis 1 ~ Axis 2 Reserved Command...

  • Page 204: Descriptions On Each Command

     Can be accepted at all times.  Can be accepted only when the program is stopped. (If data is transmitted during program execution, an error occurs.) Error code 0000H Normal 1000H Command analysis error (An error is found in the command.) 20**H Command cannot be executed.
  • Page 205 "Write coordinate table" command (C2C1H) Command (CC-Link master station → CA20-M10-CC) Response (CC-Link Master station ← CA20-M10-CC) Remote Remote b15------b8 b7------b0 Remarks b15------b8 b7------b0 Remarks register register Same value as RWwn Command RWrn command RWw(n+1) K1-K999 Table number RWr(n+1) Fixed at "K0" Unused RWw(n+2) K1-K4...
  • Page 206 "Request current position" (monitor) command (E300H) Command (CC-Link master station  CA20-M10-CC) Response (CC-Link master station  CA20-M10-CC) Remote Remote b15------b8 b7------b0 Remarks b15------b8 b7------b0 Remarks register register Same value as RWwn Command RWrn command Fixed at “K0” RWw(n+1) K1-K4 Task number RWr(n+1) Unused...
  • Page 207 "Request counter value" (monitor) command (E500H) Command (CC-Link master station  CA20-M10-CC) Response (CC-Link master station  CA20-M10-CC) Remote Remote b15------b8 b7------b0 Remarks b15------b8 b7------b0 Remarks register register Same value as RWwn Command RWrn command RWw(n+1) K1-K99 Counter number RWr(n+1) K1-K99 Counter number RWr(n+2)
  • Page 208 " Read speed table " command (C3C2H) Command (CC-Link master station → CA20-M10-CC) Response (CC-Link master station ← CA20-M10-CC) Remote Remote b15------b8 b7------b0 Remarks b15------b8 b7------b0 Remarks register register Same value as RWwn Command RWrn command RWw(n+1) K1-K10 Table number RWr(n+1) K1-K10 Table number...
  • Page 209 (11) " Read acceleration/deceleration table " command (C3C3H) Command (CC-Link master station → CA20-M10-CC) Response (CC-Link master station ← CA20-M10-CC) Remote Remote b15------b8 b7------b0 Remarks b15------b8 b7------b0 Remarks register register Same value as RWwn Command RWrn command RWw(n+1) K1-K20 Table number RWr(n+1) K1-K20 Table number...
  • Page 210 (13) " Read override " command (DA00H) Command (CC-Link master station → CA20-M10-CC) Response (CC-Link master station ← CA20-M10-CC) Remote Remote b15------b8 b7------b0 Remarks b15------b8 b7------b0 Remarks register register Same value as RWwn Command RWrn command RWr(n+1) K1-K100 Override Fixed at “K0” RWr(n+2) Unused RWw(n+1)

  • Page 211: Monitor Mode

     11.3.3 Monitor mode In Monitor mode, the data selected by data selection input [RY(n+6)C to RY(n+6)F] is constantly updated for realizing high-speed updating cycles.  11.3.3.1 Data receiving method Data flow and timing CC-Link master station CA20-M10-CC Control unit Data selection input signal CC-Link scan ...

  • Page 212: List Of Monitor Types

     11.3.3.2 List of monitor types Auxiliary Data selection input signal register Description Remarks RY(n+6)F RY(n+6)E RY(n+6)D RY(n+6)C RWwn Status monitor Unused Current position Unused monitor Arbitrary selection 0000h mode Counter monitor Designated sequence 0001h number mode Torque monitor Unused Reserved ...
  • Page 213 Status descriptions Status 0 Status 1 Status 2 Description Description Description 00: Sequential mode 1: Error occurred 01: Palletizing mode 10: Point mode 1: Execution in progress 11: Easy mode 00: Auto mode 1: Pause in progress Error code 01: Step mode (Refer to section 19.2.) 1: Return to origin in progress 10: Program mode...
  • Page 214 Counter monitor The counter monitor can be operated in two modes: arbitrary selection mode for monitoring arbitrary seven counters; and designated subsequent number mode for monitoring 14 coupled counters. Either of two modes can be selected using the data selection auxiliary register RWwn.
  • Page 215  Designated subsequent mode (RWwn =0001H) Monitoring subsequent counters (up to 14) starting with the counter number set to RWw(n+1). Monitor (CC-Link master station → CA20-M10-CC) Response (CC-Link master station ← CA20-M10-CC) Remote Remote b15------b8 b7------b0 Remarks b15------b8 b7------b0 Remarks register register Arbitrary selection...
  • Page 216 Torque monitor The counter monitor can be operated in two modes: arbitrary selection mode for monitoring arbitrary seven counters; and designated subsequent number mode for monitoring 14 coupled counters. Either of two modes can be selected using the data selection auxiliary register RWwn.

  • Page 217: Speed Control Mode Through Cc-Link

     11.4 Speed control mode through CC-Link  11.4.1 Overview This controller is operable in the speed control mode when instructed via the CC-Link. This mode can be used for applications that features continued unidirectional rotation, such as the drive source of a belt-driven device. C A U T I O N The speed control mode is not subject to the software limit.

  • Page 218: Settings Of Speed Control Mode

     11.4.4 Settings of speed control mode (1) CC-Link setting To activate the speed control mode, set "9" as the ones digit of the option value. Turn off the power once after changing the value. [ P A R A ] M 2 0 S T A T I O N : - L i n k B A U D R A T E : 1 5 6 K O P T I O N...

  • Page 219: List Of I/O Data

     11.4.6 List of I/O data If the speed control mode is set, the I/O data is changed as shown in the following table: Output (CC-Link master station  CA20-M10-CC) Input (CC-Link master station  CA20-M10-CC) Remote Remote b15------b8 b7------b0 Remarks b15------b8 b7------b0...

  • Page 220: Details Of I/O Signals

     11.4.7 Details of I/O signals (1) Rotation command input (RYn0), running output (RXn0), and target speed achievement output (RXn2)  When the rotation command input (RYn0) is turned ON, the motor starts running; when it is turned OFF, the motor stops. ...
  • Page 221  When the target speed (RWwn) is achieved, the target speed achievement output (RXn2) is turned ON.  When the rotation command input (RYn0) is turned OFF, the motor starts deceleration.  When the motor starts deceleration, the target speed achievement output (RXn2) is turned OFF.
  • Page 222 (3) Reset input (RYn3)  This signal resets the error state. 30 msec or more Reset input (RYn3)  Error output (RXn1) Time  After the error output (RXn1) is turned OFF, change the reset input (RYn3) back to OFF. Alternatively, turn it OFF 30 msec or more after the reset input (RYn3) is turned ON.
  • Page 223 Bit Patterns RYnF RYnE RYnD RYnC RYnB RYnA RYn9 RYn8 ･ Acceleration/deceleration table numbers to be specified ･  The table number 20 is selected when the bit pattern is not any of those in the above table. Motor speed 3000rpm 1500rpm Time...

  • Page 224: Selection Table Extension In External Point Designation Mode

     11.5 Selection table extension in external point designation mode  11.5.1 Overview Use of the CC-Link enables the selection of all speed tables and acceleration/deceleration tables. If this function is used, set selection table extension in [PARA]M20 of mode settings (refer to section 13.2.20).

  • Page 225: Assignment Of Input Signals And Tables

     11.5.3 Assignment of input signals and tables (1) How to specify coordinate (point) tables Specify point tables with ten bits of the general input ports 01-1 to 01-8, 02-1, and 02-2 of the station No. 0 (master unit). (999 points) General input port numbers of the station No.
  • Page 226 (2) How to specify speed tables Specify general input ports in M05 "program selection input bit specification" of mode settings. Ten tables can be selected with up to four bits, but the number of selection bits varies depending on the assigned bit position. (Consecutive bits in specified ports become valid.) <Example>...
  • Page 227 (3) How to specify acceleration/deceleration tables Specify acceleration/deceleration tables with the five bits of the general input ports 02-3 to 02-7 of the station No. 0 (master unit). (20 tables) General input port numbers of the General input port numbers of the Table Table station No.

  • Page 228: Maximum Torque Limit Function

     11.6 Maximum torque limit function  11.6.1 Overview This controller enables the limitation of the maximum torque when indicated via the CC-Link. This function can be used for clamping or inserting workpieces. CAUTION If the maximum torque limit is too low when used with a vertical axis, the current position cannot be retained, and a sudden drop can cause damage to the workpiece or the hand, or cause your hand to be caught in.

  • Page 229: Setting Of A Maximum Torque Limit Value

     11.6.4 Setting of a maximum torque limit value Use the setting value of an acceleration/deceleration table Nos. 17 to 20.  For how to set an acceleration/deceleration table, refer to section 13.5.3. For setting via the CC-Link, refer to (10) of section 11.3.2.3. ...
  • Page 230 (1) Table selection inputs [RY(n+4)0 to RY(n+4)1]  Select one of the acceleration/deceleration tables Nos. 17 to 20.  Another table can be selected during movement.  Table selection inputs are assigned to general input ports, so the status can be viewed through the sequential program.

  • Page 231: Cc-Link Status

     11.7 CC-Link status Activate the RUN mode, and press the HELP key. STEP 1 [ R U N ] F 1 : A U T O / S T E P The screen on the left will appear. H E L P F 2 : O V E R R I D E F 3 : R E S E T Press the...
  • Page 232 To display the STEP5 screen, press the key. NEXT STEP 6 [ C C - L i n k ] 2 / 2 To return to STEP4, press the key. E R R 1 : 0 0 M S T 1 : 0 0 E R R 2 : 0 0 M S T 2 : 0 0 E R R 3 : 0 0...
  • Page 233  MST2: Status information 2 BIT7 BIT6 BIT5 BIT4 BIT3 BIT2 BIT1 BIT0 MST27 MST26 MST25 MST24 MST23 MST22 MST21 MST20 MST23 MST22 MST21 MST20 RY data transmission points 0 points 256 points (32 bytes) 512 points (64 bytes) 768 points (96 bytes) 1024 points (128 bytes) 1280 points (160 bytes) 1536 points (192 bytes)
  • Page 234 This page is blank. 11 – 44...

  • Page 235: Chapter 12 Devicenet

    Chapter 12 DeviceNet  12.1 DeviceNet Function This controller enables adding of a DeviceNet function by a DeviceNet module. This chapter describes the DeviceNet interface. DeviceNet is a field network interface that features a minimized wiring design in a low-cost structure and high-speed data communication.

  • Page 236: How To Attach The Devicenet Module

     12.1.3 How to attach the DeviceNet module DeviceNet module CA20-M10 The example of using the mounting bracket  12.1.4 Explanation of DeviceNet component and external dimensions DeviceNet state display LED DeviceNet connector LED order 90(W)×160(H)×134(D) (Not including the mounting bracket) 12 –...
  • Page 237  DeviceNet status display LED Name Color On/Off Cause/Remedy  On Normal Normal status An error has occurred in the setting value in the CA20-M10. Green  Unset Check the settings and restart. This can also indicate Flashing status standby status. Check if the master unit has started normally. A hardware error has occurred (such as DPRAM, internal Critical ROM, internal RAM, EEPROM, CAN error, or WDT error).

  • Page 238: Connection Of Exclusive Devicenet Cable

     12.1.5 Connection of exclusive DeviceNet cable The cable connection order is not related to the station number setting (MAC ID). Be sure to always connect a terminator resistor (121 Ω, 1% metal coating, 1/4 W) at both ends of the main line.

  • Page 239: Connection With External Devices

     12.2 Connection with External Devices  12.2.1 List of master unit I/O signals Signal direction: Signal direction: DeviceNet master station  CA20–M10-DN DeviceNet master station  CA20–M10-DN (*1) Input Device No. Output Device No. Signal name Signal name (Offset*2) (Offset*2) Running"...

  • Page 240: System I/O

     12.2.2 System I/O System input (DeviceNet master station  CA20–M10-DN) Signal Remote External point designation Normal mode Remarks name device (*1) mode Return ON: Start of return to origin Detection of leading Return to origin to origin operation. edge ON: Restart from currently ON: Starts moving based on stopped step or from...

  • Page 241: Name Of General-Purpose I/O Port And Teach Pendant Display

     12.2.3 Name of general-purpose I/O port and teach pendant display In the controller's system configuration, there are master unit, slave unit and expansion input/output unit input/output ports. The No. of points will change according to the use of options. These input/output ports are displayed on the Teach Pendant as shown below.

  • Page 242: Jog Input/Output

     12.2.4 Jog input/output List of jog input/output signals Signal direction: Signal direction: DeviceNet master station CA20–M10–DN DeviceNet master station CA20–M10–DN Input Device No. Output Device No. Signal name Signal name (Offset *1) (Offset *1) Axis 1 "jogging" output Axis 1 "request jog" input Axis 2 "jogging"...
  • Page 243   "Request inching" input "Request low-speed jog" input conditions "Request high-speed jog" input "Designate direction" input "Request axis 1 jog" input    Jog-ready input      "Axis 1 jogging" output Axis 1 low-speed jog Axis 1 high-speed jog During stop During stop...
  • Page 244 This page is blank. 12 – 10...

  • Page 245: Chapter 13 Parameter Setting

    Chapter 13 Parameter Setting Various parameters can be set in the PRGM modes other than the palletizing mode. The parameters can be divided into the following four kinds.  Mode setting ------ Designation of the bits for system input, and setting of the easy mode, external point designation mode and pulse train input mode, etc., can be carried out.

  • Page 246: Method Of Mode Setting

     13.2 Method of mode setting The mode should be set for the following items. The power must be turned off and then on again after changing the value of 21. Setting of DeviceNet. The power does not have to be turned off for other items. 1.

  • Page 247: Designation Of Single Operation Mode Input Bit

     Jump function When is pressed in M01 to M09, M10 appears, when is pressed in M10 to M19, M20 appears and when is pressed in M20 to M23, M01 appears.  Bit designation screen When designating a bit, 01-0 will display on the lower right of the screen. The meanings of the numbers are as follow.

  • Page 248: Designation Of Pause Input Bit

     13.2.4 Designation of pause input bit STEP 1 Use the numeric keypad to designate the input bit and press . When is pressed, NEXT the next screen will display, and when -NEXT pressed, the previous screen will display. Press to return to the PARA mode screen.

  • Page 249: Designation Of Return To Origin Input Bit

     13.2.6 Designation of return to origin input bit Use the numeric keypad to designate the input STEP 1 [ P A R A ] M 0 6 bit and press . When is pressed, NEXT R E T U R N T O O R G . I N P U T the next screen will display, and when -NEXT pressed, the previous screen will display.

  • Page 250: Off (Invalid), Easy, Point, Pulse 1, Pulse 2

     13.2.10 OFF (Invalid), easy, point, pulse 1, pulse 2 Select the operation mode with the STEP 1 When the required mode is displayed, press [ P A R A ] M 1 0 O F F / E A S Y / P O I N T / P U L S E .

  • Page 251: Setting Of State When Continuous Start Is Valid (Input On)

     13.2.12 Setting of state when continuous start is valid (Input ON) STEP 1 Switch between Hold (H) and Clear (C) with [ P A R A ] M 1 2 and then press . When NEXT C O N T I N U O U S ( O N ) pressed, the next screen will display, and when is pressed, the previous screen will -NEXT...

  • Page 252: Designation Of Ready Output Bit

     13.2.15 Designation of READY output bit STEP 1 Use the numeric keypad to designate the output [ P A R A ] M 1 5 bit and press . When is pressed, NEXT R E A D Y O U T P U T the next screen will display, and when -NEXT pressed, the previous screen will display.

  • Page 253: Setting Of Task Return To Origin Output

     13.2.19 Setting of task return to origin output STEP 1 Use the numeric keypad to designate the output [ P A R A ] M 1 9 T 1 : 0 - 0 1 - 0 bit and press T A S K H O M E T 2 : 0 - 0 1 - 0 When...

  • Page 254: Setting Of Devicenet

     13.2.21 Setting of DeviceNet STEP 1 Use the numeric keypad to enter the station number, and press [ P A R A ] M 2 1 STEP 2 to select BAUD RATE, and press D e v i c e S T A T I O N : N e t B A U D R A T E : 1 2 5 K O P T I O N : 0 0 0 0...

  • Page 255: Parameter 1 Setting

     13.3 Parameter 1 setting Parameters must be set for the following items. For items marked with , the most appropriate parameters are set automatically when the robot type is selected. Refer to section 2.4.8 for details on selecting the robot type. During the pulse train input mode, the items marked with will be effective.

  • Page 256: Setting Of Software Limit Value (Upper Limit)

     13.3.1 Setting of software limit value (upper limit) STEP 1 numeric keypad enter coordinates and press . When [ P A R A ] P 0 1 A 0 = 0 0 0 0 . 0 0 NEXT U P P E R A 1 = 0 0 0 0 .

  • Page 257: Setting Of Pass Area

     13.3.4 Setting of pass area STEP 1 This parameter cannot be used, so press NEXT and move to the next screen. [ P A R A ] P 0 4 A 0 = 0 0 0 0 When is pressed, the previous screen P A S S A R E A A 1 = 0 0 0 0 -NEXT D A T A A 2 = 0 0 0 0...

  • Page 258: Setting Of Sequence Of Return To Origin

     13.3.6 Setting of sequence of return to origin STEP 1 Use the numeric keypad to enter the sequence [ P A R A ] P 0 6 of return to origin (1 to 4) and press H O M E S E Q U E N C E When is pressed, the next screen will NEXT...

  • Page 259: Setting Of Jog Speed

     13.3.7 Setting of JOG speed STEP 1 Use the numeric keypad to enter the station No. [ P A R A ] P 0 7 (0 to 3) and press J O G S P E E D ( A 0 ) L O W H I G H STEP 2...

  • Page 260: Parameter 2 Setting

     13.4 Parameter 2 setting Parameter 2 contains the following items. For the items marked with a , the optimum values are automatically entered when the robot type is entered. Refer to section 2.4.7 on how to enter the robot type. After setting parameter 2, turn the controller power OFF and ON.
  • Page 261 Set PARA mode to input parameter 2. (Refer to section 13.1.) STEP 1 When this display is shown, press [ P A R A ] F 1 : S E T M O D E F 2 : P A R A M E T E R 1 F 3 : P A R A M E T E R 2 F 4 : T A B L E STEP 2...

  • Page 262: Setting Of Axis Display

     13.4.1 Setting of axis display STEP 1 Select the axis display (X, Y, Z, R, ?) with [PARA]M09 DISPLAY J:JAPANESE [ P A R A ] K 0 1 [PARA]M09 and press E:ENGLISH DISPLAY J:JAPANESE A X I S N U M B E R S E T T I N G When is pressed, the next screen will NEXT...

  • Page 263: Setting Of Feed Forward Data Value

     13.4.4 Setting of feed forward data value STEP 1 Use the numeric keypad to enter the feed forward data and press [ P A R A ] K 0 4 A 0 = 0 2 0 0 0 When is pressed, the next screen will NEXT F E E D...

  • Page 264: Setting Of Return To Origin Speed

     13.4.7 Setting of return to origin speed STEP 1 Use the numeric keypad to enter the station No. (0 to 3) and press STEP 2 Use the numeric keypad to enter the origin [ P A R A ] K 0 7 speed and press H O M E P O S I .
  • Page 265 (2) When parameter 2 return to origin method is set to "1" (Refer to section 13.4.8)  When carrying out initial return to origin Origin sensor 原点センサ Ｈ detection position (origin) 検出位置（原点） Ｍ ① Ｌ  Return to origin ② 原点復帰速度...

  • Page 266: Setting Of Return To Origin Method

     13.4.8 Setting of return to origin method STEP 1 Use the numeric keypad to enter the return to origin method (0 or 1) and press [ P A R A ] K 0 8 A 0 = 0 When is pressed, the next screen will H O M E P O S I .

  • Page 267: Setting Of Origin Sensor Logic

     13.4.9 Setting of origin sensor logic STEP 1 Use the numeric keypad to enter the origin sensor logic (0 or 1) and press [ P A R A ] K 0 9 A 0 = 1 When is pressed, the next screen will H O M E L S A 1 = 1 NEXT...

  • Page 268: Setting Of Encoder No. Of Divisions

     13.4.12 Setting of encoder No. of divisions STEP 1 Use the numeric keypad to enter the encoder No. of divisions and press [ P A R A ] K 1 2 A 0 = 2 0 0 0 When is pressed, the next screen will D I V I S I O N A 1 = 2 0 0 0 NEXT...

  • Page 269: Setting Of Task And Axis Combination

     13.4.15 Setting of task and axis combination STEP 1 Use the numeric keypad to enter the each [ P A R A ] K 1 5 station No. task No. and press T A S K C O M B I N A T I O N (Setting range: 0 to 4) A 0 A 1 A 2 A 3 When...

  • Page 270: Setting Of Task Point Table

     13.4.17 Setting of task point table This value is set to 999 for each task with this [ P A R A ] K 1 7 T 1 = 9 9 9 ROIbot. T A S K T 2 = 9 9 9 When is pressed, the next screen will NEXT...

  • Page 271: How To Set The Tables

     13.5 How to set the tables The tables are groups of data for which addresses are assigned to each data item. To use the table, designate the data indirectly using the address (table No.) in the program. As an example, the concept of the coordinate table as shown in a table below. Coordinate table No.

  • Page 272: Setting Of Coordinate (Point) Table

     13.5.1 Setting of coordinate (point) table Press in the table selection screen shown in section 13.5, and select the coordinate (point) table. STEP 1 numeric keypad enter coordinates (8000 to 8000) and press [ P A R A ] X = 0 0 0 0 .

  • Page 273: Setting Of Acceleration/Deceleration Table

     13.5.3 Setting of acceleration/deceleration table Press in the table selection screen shown in section 13.5, and select the acceleration table. STEP 1 Input is possible for the acceleration table at the [ P A R A ] second line from the top. A C C - T B L N O 0 1 : 0 .

  • Page 274: Setting Of Mvm Table

     13.5.4 Setting of MVM table Press in the table selection screen shown in section 13.5, and select the MVM table. STEP 1 Use the numeric keypad to enter the P0, P1 and P2 coordinate table Nos. (1 to 999) and [ P A R A ] O R G : N O = 0 0 1 press...

  • Page 275: Chapter 14 Monitoring

    Chapter 14 Monitoring This ROIbot has a function to monitor the various parameters on a screen during operation. The parameters that can be monitored are as shown below. 1. Program step No. monitor ------ Active step No. of the sequential program 2.

  • Page 276: Program Step No. Monitoring

     14.1 Program step No. monitoring The content and process of the currently executed program step of sequential program is displayed.  Display the initial instruction. STEP 1 When this display is shown, press [ M O N I ] F 1 : S T E P F 2 : I / O F 3 : C N T / T I M F 4 : P O S I T I O N...

  • Page 277: Input/Output Monitoring

     14.2 Input/output monitoring Status of input/output port in program execution is monitored according to the progress of the program.  Display the initial instruction. STEP 1 When this display is shown, press [ M O N I ] F 1 : S T E P F 2 : I / O F 3 : C N T / T I M F 4 : P O S I T I O N...
  • Page 278 NOTE  For the station No. 0 (master unit) only bit Nos. 6 to 8 are valid for the system input S01 and bit Nos. 1 to 5 for the general-purpose input G01. No. 5 of S01 can be used only as the input monitor of return to origin. ...

  • Page 279: Counter And Timer Monitoring

     14.3 Counter and timer monitoring Current counter and timer condition are monitored according to the proceedings of program execution.  Display the initial instruction for monitoring. STEP 1 When the display at left is shown, press [ M O N I ] F 1 : S T E P F 2 : I / O F 3 : C N T / T I M F 4 : P O S I T I O N...

  • Page 280: Coordinate Monitoring

     14.4 Coordinate monitoring Current coordinates are monitored according to the progress of the program.  Display the initial screen for monitoring. STEP 1 When the display at left appears, press [ M O N I ] F 1 : S T E P F 2 : I / O F 3 : C N T / T I M F 4 : P O S I T I O N...
  • Page 281  When is pressed: Offset coordinate monitoring STEP 4 Current offset coordinate is displayed. [ M O N I X = 0 1 0 0 . 0 0 Press to return to STEP 2. - O F S ] Y = 0 1 0 0 . 0 0 The offset coordinates refer to the coordinate system using the origin that has been offset (moved in parallel) with the command.

  • Page 282: Origin Sensor/Encoder Z-Phase Pulse Monitoring

     14.5 Origin sensor/encoder Z-phase pulse monitoring The ON or OFF status of the origin sensor and the output status of the encoder Z-phase pulse (Z) is displayed on the system input monitor screen.  Display the initial screen for monitoring. STEP 1 When the display at left appears, press [ M O N I ] F 1 : S T E P...

  • Page 283: Chapter 15 Search Function

    Chapter 15 Search Function When is pressed in any mode, the following search operation can be carried out. SEARCH  15.1 Search of sequential step No. When is pressed in the sequential PRGM mode, AUTO mode or STEP mode, the SEARCH following screen will display.

  • Page 284: Search Of Easy Program No

     15.3 Search of eazy step No. When is pressed in the PRGM mode of easy mode, the following screen will display. SEARCH STEP 1 Use the numeric keypad to enter the step No. and press .(1 to 800) Press to return to the original screen.

  • Page 285: Search Of Palletizing Program No

     15.5 Search of palletizing program No. is pressed in the palletizing mode's PRGM mode, AUTO mode or STEP mode, the SEARCH following screen will display. STEP 1 Use the numeric keypad to enter the palletizing program No. and press .(1 to 8) Press to return to the original screen.
  • Page 286 This page is blank. 15 – 4...

  • Page 287: Chapter 16 Manual Operation Of General-Purpose Outputs

    Chapter 16 Manual Operation of General-purpose Outputs The general-purpose output from the Teach Pendant can be directly turned ON and OFF. There are two methods for this outputting method. 1. Manual output using function keys 2. Manual output of random bit from PRGM (program) mode ...

  • Page 288: Manual Output Of Random Bit Designation From Prgm Mode

     16.2 Manual output of random bit designation from PRGM mode A random bit can be manually output in the PRGM mode. Enter the program mode and press . The following screen will display. (Refer to HELP section 4.1.1.) STEP 1 Press and enter the direct output mode.

  • Page 289: Chapter 17 Other Handy Operations

    Chapter 17 Other Handy Operations  17.1 Teach Pendant ON/OFF When the Teach Pendant is physically connected to the controller, it can be logically disconnected by the following key operation and make system input signals effective.  Teach pendant OFF operation STEP 1 After exiting the initial screen, start RUN mode, and press...

  • Page 290: Reset Operation

     17.2 Reset operation The Teach Pendant can perform the same function as the reset signal (Pin No. 31) of the system input. STEP 1 In RUN mode, press to display the HELP screen on the left. Press to proceed to STEP 2. Press to return to RUN mode.

  • Page 291: Counter Direct Set

     17.3 Counter direct set Teach Pendant can be used to set the counter value directly. STEP 1 In RUN mode, press to display the HELP [ R U N ] F 1 : A U T O / S T E P screen on the left.

  • Page 292: Version Display

     17.4 Version display The ROM version of the controller and Teach pendant can be displayed. STEP 1 When you turn on the power, the initial screen is T O S H I B A M A C H I N E displayed for two seconds.

  • Page 293: Jog Operation (Manual Operation Of Axis)

     17.5 JOG operation (Manual operation of axis) JOG operation is the operation in which the axis is moved with remote operations using the Teach Pendant. This is used to stop the program and move the axis during operations, or to move the axis during a program editing.
  • Page 294 NOTE  For the axis movement during JOG operation, are used for the first axis and are used for the second axis. If a plus key is held down, the axis will move in the direction opposite the origin, and if a minus key is held down, the axis will move in the direction of the origin.

  • Page 295: Clearing (Initializing) Coordinate Table

     17.6 Clearing (initializing) coordinate table All coordinate tables in the controller memory can be cleared. When using multitasking, only the coordinate table of the displayed task will be cleared. Thus, change to the task containing the table to be cleared before carrying out the following operation.

  • Page 296: Ba I/O Compatibility Mode

     17.7 BA I/O Compatibility Mode The BA I/O compatibility mode is a function that sets the operation specifications for return to origin complete output and positioning complete output to match the BA series.  17.7.1 Selection method of BA I/O compatibility mode BA I/O compatibility mode can be selected by the Disable/Enable setting in BA I/O Compatibility Mode of Parameter 2.

  • Page 297: Operation Specifications For Return To Origin Complete Output

     17.7.2 Operation specifications for return to origin complete output and positioning complete output When incremental encoder type is specified Controller power Positioning finish output (BA) (BA I/O compatible mode) Positioning finish output (BA-II) (Standard mode) Return to origin complete output (BA) (BA I/O compatible mode) Return to origin complete output (BA-II) (Standard mode)
  • Page 298 When absolute encoder type is specified Controller power Positioning finish output (BA) (BA I/O compatible mode) Positioning finish output (BA-II) (Standard mode) Return to origin complete output (BA) (BA I/O compatible mode) Return to origin complete output (BA-II) (Standard mode) Running output Error output Return to origin input...

  • Page 299: Movement Operation On Coordinate Table Setting Screen

     17.8 Movement operation on coordinate table setting screen This operation is used to move the axis to the coordinate position in the coordinate table currently displayed during setting of the coordinate table. Call the coordinate table setting screen. (Refer to section 13.5) STEP 1 Use the keys to...
  • Page 300 This page is blank. 17 – 12...

  • Page 301: Chapter 18 Commands

    Chapter 18 Commands Program commands and the key operation for this ROIbot are listed below.  Move Command Reading Function Key operation Refer to Axis movement to a point indirectly MOVP Move P Press 18-26 specified by coordinate table Move (return) to point Press Move B immediately before...

  • Page 302: Calc (Counter Conditional Call)

     Timer and counter control Command Reading Function Key operation Refer to Time Waiting Press 18-47 TIMP Time P Timer preset Press twice. 18-48 Counter Preset counter value Press 18-11 Counter CNT+ Count up Press twice. 18-12 Plus Counter Count down Press three times.

  • Page 303: End (End)

     Program control Command Reading Function Key operation Refer to No function Press 18-33 Return Return Press 18-40 STOP Stop Stop Press twice. 18-42 Program end Press 18-15 Press 18-45 • Press PSEL Program selection 18-39  Servo control Command Reading Function Key operation Refer to...
  • Page 304 Acceleration/deceleration command [Function] This command is used to set the acceleration/deceleration time required for the ROIbot to reach a specified speed. [Explanation]  Twenty acceleration/deceleration levels can be set from ACC1 to ACC20. ACC command must be set before a Move command (MOVP, MVB, MVE, MVM, HOME).
  • Page 305 BRAC Counter jump [Function] The command BRAC is used to jump to a program to the tag No. which is the resultant value of a counter No. plus the set counter value. [Key operation] STEP 1 Press followed by NOP changes to BRAC. [ P R G M ] 0 0 0 1 Press...
  • Page 306 Unconditional Call [Function] This command is used to call a subroutine program of a designated step identified by tag No. [Explanation]  This command is used to call a subroutine program of a designated program step identified by tag No. ...
  • Page 307 CALC Counter Conditional Call [Function] This command is used to call a subroutine of a specified tag No. when the specified counter contents agree with the setting condition. [Explanation]  The program proceeds to the next step when the contents of the specified counter do not meet the setting conditions.
  • Page 308 CALI Input Conditional Call [Function] The subroutine program with the specified tag No. is called when the input state of the specified general-purpose input (general-purpose input port) corresponds to the setting conditions. [Explanation]  If all of the details of the designated general-purpose port do not match the set conditions, the subroutine of the designated tag No.
  • Page 309 STEP 2 Use the numeric keypad to enter the tag No. to be called, and Press (Input range: 0 to 999.) [ P R G M ] STEP 3 Use the numeric keypad to enter a station No., 0 0 0 1 0 0 0 and press C A L I...
  • Page 310 CALT Timer Conditional Call [Function] This subroutine program with specified tag No. is called when the content of the specified timer meets the setting condition. [Explanation]  When the content of the specified timer does not meet the setting condition, the program proceeds to the next step.
  • Page 311 Preset Counter Value [Function] This command is used to set the value for a specified counter. [Explanation]  Ninety-nine counters from No. 1 through No. 99 can be used.  Any value from 0 through 9999 can be set for each counter. ...
  • Page 312 CNT+ Counts up [Function] This command is used to increment the counter value for a specified counter. [Key operation] STEP 1 Press twice NOP changes to CNT+ [ P R G M ] Press 0 0 0 1 N O P STEP 2 After entering the counter No.
  • Page 313 CNT Counts down [Function] This command is used to decrement the specified counter value for the specified counter. [Key operation] STEP 1 Press three times. NOP changes to CNT-. [ P R G M ] 0 0 0 1 Press N O P STEP 2 Enter the counter No.
  • Page 314 CNTC Counter All Clear [Function] This command is used to clear all counters, that is to set all counter values to zero. [Key operation] STEP 1 Press in order. NOP changes to CNTC. [ P R G M ] Press 0 0 0 1 N O P [ P R G M ]...
  • Page 315 Program End [Function] The program end defined with this command [Explanation] When executed, the END instruction will return the program step counter to step 0001 and the ROIbot will wait for another START input. If the END command is executed in task 2 to 4 of multitasking, that task will return to step 0001 and stop.

  • Page 316: Home (Return To Origin)

    HOME Return to Origin [Function] An Axis returns to origin at high Home positioning speed set with parameters. When using multitasking, only the task that executes this command will return to the origin. [Explanation] The axes are moved in an order preset with the parameters. (Refer to section 13.3.6.) [Key operation] STEP 1...

  • Page 317: In (Waiting For Input)

    Waiting for General Purpose Port Input [Function] This command is used to stop a program from proceeding to the next step until conditions set by general purpose input ports are satisfied. [Explanation] If the IN command is set as shown below, when the general-purpose input port 1 No.
  • Page 318 INPC Setting General Purpose Port Input to Counter [Function] This command is used to set general purpose input as the content of a specified counter. [Explanation]  In the unit with the designated station No., the designated general-purpose input port signal is interpreted as a binary value, is converted into a decimal value and is set in the designated counter.

  • Page 319: Jmp (Unconditional Jump)

    Unconditional Jump [Function] The control jumps to a specified tag No. [Explanation]  This command is used to instruct a program to jump unconditionally to a step specified by a tag No.  Refer to the TAG command for usage examples. [Key operation] STEP 1 Press...

  • Page 320: Jmpc (Counter Conditional Jump)

    JMPC Counter Conditional Jump [Function] This command is used to instruct a program to jump to a step with a specified tag No. only when the set counter value meets specified conditions in the program. [Explanation]  When the set counter value does not meet the specified conditions, the program proceeds to the next step.

  • Page 321: Jmpi (Input Conditional Jump)

    JMPI Input Conditional Jump [Function] This command is used to instruct a program to jump to a step with a specified tag number when the input conditions of a general purpose input signal meet the set conditions in the program. [Explanation] ...
  • Page 322 [Key operation] STEP 5 Enter the input conditions with , and press • [ P R G M ] The key functions. 0 0 0 1 0 0 0 J M P I P O R T 0 - 0 1 Input OFF ･...

  • Page 323: Jmpt (Timer Conditional Jump)

    JMPT Timer Conditional Jump [Function] This command is used to instruct a program to jump to a step with a specified tag No. only when the specified timer value meets the set conditions in the program. [Explanation]  When the specified timer value does not meet the set conditions, the program proceeds to the next step.
  • Page 324 LOOP MVM Loop [Function] This command is used to control loop operation in the specified MVM table. [Explanation] When this command is executed, the counter specified in the MVM table of the specified group is controlled. the program jumps to the step with the tag No.

  • Page 325: Mini (Initial Counter Value For Mvm)

    MINI MVM Counter Initial [Function] This command is used to set "1" to the counter in a specified group used for matrix movement. [Explanation]  This command MINI is a command related to matrix movement and used together with MVM and LOOP. ...

  • Page 326: Movp

    Axis Movement to the Indirectly Designated Point by MOVP Coordinate Table [Function] The ROIbot moves a point set indirectly by coordinate table No. [Explanation]  This command is used to execute ROIbot movement to a point set by the coordinate table in parameter mode. ...
  • Page 327 NOTE If neither STEP 3 nor STEP 4 or if both are designated, a "PARAMETER ERROR" will occur when the command is executed. If the counter No. is designated in STEP 3 and the counter details are "0", a "TABLE No. ERROR" will occur when the command is executed.
  • Page 328 Return to Previous Point [Function] This command is used to return the ROIbot to the point prior to the current position, form which the previous move command was is used. [Key operation] STEP 1 Press [ P R G M ] NOP changes to MVB.

  • Page 329: Mve (Escape Move)

    Escape Move [Function] When escape input signal set in the mode setting is ON while an MVE command is executed, the current program step will be recognized completed and the program will proceed to the next step. [Explanation]  If escape input is set in the mode setting, the set general-purpose input signal will function as the escape input during execution of the MVE command.
  • Page 330 [Key operation] Press STEP 1 NOP changes to MVE. [ P R G M ] Press 0 0 0 1 N O P STEP 2 Press to select "a" (absolute coordinate) or "i" (relative coordinate) and press [ P R G M ] STEP 3 Enter the coordinate table No.

  • Page 331: Mvm (Palletizing Movement)

    Palletizing Move [Function] This command is used to execute palletizing movement according to the MVM table of a specified group. [Explanation]  Before using the MVM command, you set the parameters listed below relating to the MVM operation in parameter mode. •...
  • Page 332 [Key operation] Press STEP 1 NOP changes to MVM. [ P R G M ] Press 0 0 0 1 N O P Enter the group No. with the numeric keypad STEP 2 and press (Input range: 1 to 32.) [ P R G M ] STEP 3 0 0 0 1...
  • Page 333 No Operation [Function] There is no execution at this step, and the program proceeds to the next step. [Key operation] Press , and press STEP 1 [ P R G M ] 0 0 0 1 N O P NOTE NOP is entered in any program step in which no instruction is written. 18 –...

  • Page 334: Ofs (Offset)

    Offset [Function] This command is used to shift the absolute position for an axis by the amount of the specified offset value. [Explanation]  It can be used for move commands (MOVP, MVB, MVE, and MVM).  The OFS command, once executed, remains effective until the next OFS command is executed.

  • Page 335: Out (General-Purpose Port Output)

    General-purpose Port Output [Function] The general-purpose output of the unit with the designated station No. is turned ON or OFF. [Explanation]  After execution, the output state is held until the next OUT command is issued. Even if the END command is executed and the program ended, the output signal will be held.
  • Page 336 Use the numeric keypad to enter a station No., STEP 2 and press [ P R G M ] 0 0 0 1 P O R T 0 - 0 1 STEP 3 Use the numeric keypad to enter a port No., O U T ･...

  • Page 337: Outc (General-Purpose Port Output Of Counter Value)

    OUTC Counter Value General-purpose Port Output [Function] The counter details are output to the general-purpose port of the designated station No. [Explanation]  The designated counter details are interpreted as a binary value, and are output to the designated general-purpose output port. ...

  • Page 338: Outp (General-Purpose Port Pulse Output)

    OUTP General-purpose Port Pulse Output [Function] The output of the designated general-purpose output port of the designated station No. unit is turned ON or OFF for a designated time. [Explanation]  The next step will not be moved to unless the set time has passed. ...

  • Page 339: Psel (Program Selection)

    PSEL Program Selection [Function] The status of the program No. selection input signal set with the mode setting is judged, and the tag No. is jumped to according to the input state. (Refer to section 10.2.9.) [Explanation]  The program No. input signal is judged at the point the PSEL command is executed.

  • Page 340: Ret (Return)

    Return Command [Function] This command is used with a Call command (CAL, CALI, CALC and CALT) in pairs to return the program to the next step following the step called by it. The subroutine program ends when this command is executed. [Key operation] Press STEP 1...

  • Page 341: Spd (Setting Speed)

    Speed Command [Function] This command is used to set the speed for the actuator movement. [Explanation]  Ten levels of speed from SPD1 to SPD10 can be set.  This command must be set before a Move command (MOVP, MVB, MVE and MVM.) ...

  • Page 342: Stop (Stop)

    STOP Stop Command [Function] This command is used to stop the program and display the next program step. When using multitasking, the task that executed this command will stop. [Explanation] If the program is to be continued after stopping it with a command, input the start signal.

  • Page 343: Svof (Servo-Off)

    SVOF Servo-off Command [Function] The axis is set in servo-free condition. When using multitasking, the axis of the task that executed this command will enter the servo-free condition. [Explanation] When the SVOF command is executed, any axis equipped with a brake is broke.

  • Page 344: Svon (Servo-On)

    SVON Servo-on Command [Function] The axis is set in servo-lock condition. When using multitasking, the axis of the task that executed this command will enter the servo-lock condition. [Explanation] When SVON command is executed, any axis brake is released. [Key operation] Press STEP 1 NOP changes to SVON.

  • Page 345: Tag (Tag)

    Tag Command [Function] This command is used to enter the tag No. in the program. [Explanation]  The tag No. is an address that designates the jump designation.  The tag No. can be entered from No. 1 to 999. ...

  • Page 346: Tcan (Task Forced End)

    TCAN Task Forced End [Function] The designated task is ended. [Explanation] The designated task will be set in the same state as when that task executes the END command. [Key operation] Press and then STEP 1 NOP changes to TCAN. [ P R G M ] Press 0 0 0 1...

  • Page 347: Tim (Waiting)

    Wait Command [Function] This command is used to stop the program execution for a specified period of time. [Explanation] The amount of time to wait can be set from 0.0 to 999.9 seconds in increments of 0.1 seconds. [Key operation] Press STEP 1 NOP changes to TIM.

  • Page 348: Timp (Timer Preset)

    TIMP Timer Preset Command [Function] This command is used to set the initial time value to a specified timer. [Explanation]  There are nine timers from No. 1 to No. 9 Initial time value can be set in each timer from 0.0 to 999.9 seconds in increments of 0.1 second. ...
  • Page 349 TRSA Task Restart [Function] The designated task is restarted. [Explanation]  The task that was started and then stopped with the STOP command or TSTO command will enter the ready state again.  If this command is executed to a task that has not been started once, an error will occur.

  • Page 350: Tsto (Task Temporary Stop)

    TSTO Task Temporary Stop [Function] The designated task is stopped temporarily. [Explanation] The designated task will be set in the same state as when that task executes the STOP command. [Key operation] Press and then STEP 1 NOP changes to TSTO. [ P R G M ] Press 0 0 0 1...

  • Page 351: Tstr (Task Start)

    TSTR Task Start [Function] The designated task is started. [Explanation] When this command is executed, the designated task will enter the ready state. Task 1 will start from the Teach Pendant or system input start, so it will not start with this command. [Key operation] Press and then...
  • Page 352 This page is blank. 18 – 52...

  • Page 353: Chapter 19 Error Messages

    Chapter 19 Error messages  When an error is generated, the ERROR LED (red) on the front panel of the controller will light and the Teach Pendant will display error messages.  If an error occurs during multitasking, the Teach Pendant display will automatically change to the task in which an error occurred, and an error message will display.

  • Page 354: Error Table

     19.2 Error Table Error name Meaning/Cause Remedy State Incompatible controller An incompatible type of Check the T/P and controller model, ER02 L-*G-N T/P was connected to and use the correct type. the controller. Watchdog timer error The CPU is being Turn the power off and then on ER12 F-R-1...
  • Page 355 Error name Meaning/Cause Remedy State ER26 Axis 1 encoder error The encoder signal line Check if the encoder signal line F-R-1 has a disconnected connector is connected securely and ER36 Axis 2 encoder error connector, broken wire, if there is a bad contact or broken ER46 Axis 3 encoder error bad contact, or faulty...
  • Page 356 object. ER5B Axis 4 motor overheat error Error name Meaning/Cause Remedy State ER2C Axis 1 The absolute counter Check if the voltage of the backup F-R-1 encoder backup error value of the encoder power supply (such as the battery) is could not be backed up less than 3.6 V.
  • Page 357 Error name Meaning/Cause Remedy State EP80 TP communication error Communication cannot Check if the connector is connected F-R-1 be established using securely, there is a bad contact, or the teach pendant or the cable has a broken wire. RS-232C cable. *The error cannot be cleared by CLEAR or a reset.
  • Page 358 Error name Meaning/Cause Remedy State ER96 Acceleration/deceleratio The contents of the The error table number is F-R-1 n table memory error acceleration/deceleration table displayed on the screen, and were corrupted by noise, so check the fluctuations in the supply acceleration/deceleration voltage, or other cause.
  • Page 359 Error name Meaning/Cause Remedy State ERB0 Step number error A program was executed that Check the program. F-R-1 exceeded the number of task In external point designation steps (refer to section 13.4.18) mode, designate the setting. program selection input bit. In easy mode, a program was executed that went past the final step.

  • Page 360: Flashing Of Status Display Led

     19.3 Flashing of status display LED There are 3 following patterns in flashing of status display LED. status controller is judged by the color and the time of flashing. (1) Request for power OFF (Red) (Green) 1sec 1sec Red lighting Green lighting (2) Backup voltage drop alarm (Green)

  • Page 361: Chapter 20 Ba-C Series

    Chapter 20 BA-C series This master unit can be connected to CA01-S05 (slave unit of BA-C series). CA01-S05 will be explained in this chapter. Refer to the Axis Instruction Manual for details on the robot type (six-digit figure)  20.1 Specification Item Description Compatible robot...

  • Page 362: Explanation Of Each Part

     20.2 Explanation of each part (1) External dimensions (2) Names and functions of each part  CN6 battery connector  SW1 brake reset switch  LED1 status LED  SW2 mode setting switch  CN3 sensor connector  CN4 RS485/CAN connector ...
  • Page 363  CN6 battery connector This is a connector for the resolver ABS backup battery. For details on the battery connector, refer to section 2.7.8.  SW1 brake reset switch This is a momentary switch for manually resetting the brake. The brake is manually reset while the lever is raised to the up position, and the brake returns to normal brake control when it is released.
  • Page 364  CN3 sensor This is a connector for connecting the resolver cable. Pin No. Signal name Origin sensor input circuit S2 (Resolver output) +24 V S4 (Resolver output) Origin sensor input (+) 3.3 k S1 (Resolver output) S3 (Resolver output) Origin sensor input (-) R1 (Resolver excitation) R2 (Resolver excitation)
  • Page 365  CN1 power connector This connector inputs the control power supply and drive power supply. Refer to Pin No. Signal name Notes section GND (Drive power supply) Connected with pin No. 3 inside the controller 24 V DC (Drive power supply) 20.6 GND (Control power supply) Connected with pin No.

  • Page 366: Connections

     20.3 Connections CA01-S05 is connected like the chart below. CA01-S05 Regenerativ e resistor Regenerative (*2) Noise 24 V resistor MCCB filter control BA-C AXIS 24 V DC power supply Control power supply Sensor cable 100 V AC / 24 V DC 200V AC Drive power supply...

  • Page 367: Selecting The Power Supply

     20.4 Selecting the power supply The each power supply of CA01-S05 is the list shown below. If capacity of the drive power supply is insufficient, low power output, low torque, and other problems can occur that prevent full performance during operation. Power supply capacity Power supply Voltage...

  • Page 368: Installing

     20.5 Installing The controller uses a natural cooling method through convection. When installing the controller, place it in the vertical orientation as shown in the figure below, and leave a space of at least 10 mm right and left, 50 mm above and below it. If the ventilation is insufficient, the sufficient performance will not be achieved, and faults could occur.

  • Page 369: Supply Power And Grounding

     20.6 Supply power and grounding The power supply cable of the controller is connected as shown below. Power supply connector wiring procedure  Peel off the covering of the wires. Uncovered wire length: 6 to 7 mm  Open the wire terminal pockets of the power supply connector.

  • Page 370: Improvement Of Noise Resistance

     20.7 Improvement of noise resistance For details on Improvement of noise resistance, refer to section 2.4.3. But be like the chart below in case of inserting a power line insulation transformer (1:1) or noise filter. To control and drive power supply Insulation input connector on controller 24 V DC...

  • Page 371: Resolver Abs Backup

     20.9 Resolver ABS backup All models of the BA-C axis AC servomotor include a resolver ABS. The power is driven by a battery to enable constant monitoring of motor operation even when the power supply to the controller is cut off and to allow smooth startup without returning to the origin when starting the system and recovering from an emergency stop.
  • Page 372  Backup specification Item Specification Remarks Controller front LED flashes in green when at 3.1 3.6 V DC V DC or less (low voltage warning) (Note 1) Backup voltage (Standard) Battery error occurs at 2.5 V DC or less during backup 260 A When controller is in...

  • Page 373: Specifications

     20.10 Regenerative Resistors Regenerative resistors are devices that absorb the energy generated when the axis unit motor is decelerated. These are used when the load inertia exceeds the allowable value or when a large load descends down a long stroke (generating a large amount of power) along the Z-axis.

  • Page 374: External Dimensions

     20.10.2 External dimensions CAR-0500 CAR-UN50 60±1.5 5.3±0.3 4.2±0.2 5.3±0.3 Connector 接続コネクタ 4.2±0.2  20.10.3 Installation The regenerative resistors uses a natural cooling system based on convection currents. When installing the regenerative resistors, install it standing vertically as shown in the figure, and provide at least 10 mm of space on the right and left sides and at least 50 mm of space at the top and bottom.

  • Page 375: Connection Example

     20.10.4 Connection example Connect the controller and the power supply to the regenerative resistors like the chart below. Controller コントローラ １ Drive power 駆動電源 supply DC24V ２ 24 V DC ３ Control power 制御電源 ＣＮ１ supply 24 V DC DC24V ４...
  • Page 376  Connection terminal CAR-0500 CAR-UN50 Front View Bottom View Pin No. Name Resistor 1 Resistor 2 Resistor 2 Temperature relay 1 Temperature relay 2 Temperature relays 1 and Resistor 1 * If the length of the output lines of the temperature relay is not enough, use by connecting the supplied relay connector.

  • Page 377: Chapter 21 Maintenance And Inspection

    Chapter 21 Maintenance and Inspection  21.1 Procedures before and after inspection and maintenance (1) Before inspection and maintenance 1) Be sure maintenance and inspection personnel are adequately trained. If none of your personnel has adequate training, ask your manufacturer's representative to carry out inspection and maintenance or to train your personnel.

  • Page 378: Inspection Before Operation

     21.2 Inspection before operation (1) Check the following before operation: 1) Braking device performance 2) Emergency stop device performance 3) Interlock device between bumpers and the ROIbot 4) Interlock devices between the ROIbot and auxiliary devices 5) External cables and piping for damage 6) Power source voltage, hydraulic oil pressure and pneumatic pressure 7) ROIbot movement 8) Presence of abnormal sound or vibration...

  • Page 379: Inspection Of Timing Belt

     21.3.1 Inspection of timing belt The timing belt should be inspected approximately every 500 hours. • Check the belt for deterioration, fatigue and scratches, etc., and replace it immediately if any abnormality is found. Refer to the Axis Instruction Manual for the replacement procedures. •...

  • Page 380: Lubrication

     21.4 Lubrication (1) Parts to be lubricated Ball screw Linear guide Lubricate at V-shaped groove (Only for axis with a stroke of 700 mm or more.) Parts to be Lubricant (Maker) Interval Quantity of lubricant lubricated Apply light coat on ball screw Ball screw shaft Alvania No.

  • Page 381: Cleaning

     21.5 Cleaning Clean the robot body. Cleaning procedure (1) Turn OFF the power switch and disconnect the ROIbot from the power source. (2) Use a rag to wipe dust and foreign matter off the frame and covers. (3) Remove the frame cover and wipe away dust and foreign matter from the inside. Lubricate according to the lubrication procedure given in section 21-4.
  • Page 382 This page is blank. 21 - 6...
  • Page 384 Back cover Q3178E 03 APR. 20...

This manual is also suitable for:

Ca20-m10Ca20-m40 ca20-s10Ca20-s40

Table of Contents