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ERC BASIC
PROGRAMMING
QUICK REFERENCE
GUIDE
Revised 10/14/96
Part Number 131915-1
December 1, 1993
MOTOMAN
805 Liberty Lane
West Carrollton, OH 45449
TEL: 937-847-6200
FAX: 937-847-6277
24-HOUR SERVICE HOTLINE: 937-847-3200
The information contained within this document is the proprietary
property of Motoman, Inc., and may not be copied, reproduced or
transmitted to other parties without the expressed written
authorization of Motoman, Inc.
©1999 by MOTOMAN
All Rights Reserved
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Summary of Contents for Motoman 131915-1
- Page 1 FAX: 937-847-6277 24-HOUR SERVICE HOTLINE: 937-847-3200 The information contained within this document is the proprietary property of Motoman, Inc., and may not be copied, reproduced or transmitted to other parties without the expressed written authorization of Motoman, Inc. ©1999 by MOTOMAN...
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Page 2: Calling A Job
Calling A Job TEACH OTHER JOB (cursor to job) ENTER Press TEACH. Press OTHER JOB. Move cursor to job. Press ENTER. Playing A Job PLAY CYCLE (AUTO, 1-CYCLE, OR STEP) START Call the job to be played onto the screen. Press the PLAY key. -
Page 3: Naming A Job Alphabetically
Registration Of Master Job TEACH MASTER JOB STORE (cursor to job) ENTER Press TEACH. Press MASTER JOB. Press STORE. Move cursor to job by using the CURSOR keys. Press ENTER. Naming a Job Alphabetically TEACH NEW JOB ABC·ABC (insert data) EXIT ENTER Press the TEACH button. -
Page 4: Check
E-Stop Recovery Release the E-Stop by twisting the button clockwise. Engage servo power by pressing the SERVO POWER ON key on the operator's panel or operator's station. Wait three seconds for the controller to acquire the encoder data. Press the START pushbutton on the operator's panel or operator's station. -
Page 5: Deleting Points
Modifying Points (move cursor) (move manipulator) MODIFY RECORD Move the cursor to the position that will be modified. Move the manipulator to the desired point. Press MODIFY. Press RECORD. Inserting Points (move cursor) (move manipulator) INSERT RECORD Move the cursor to the position before the step to be inserted. -
Page 6: Modifying Motion Types
Position Level Specification MOTION TYPE PLAY SPEED POS LVL +ON or -OFF RECORD Choose MOTION TYPE. Choose PLAY SPEED. Press POS LVL. The positioning level previously selected is displayed. Select the desired level by pressing +ON or -OFF. Press RECORD. Modifying Motion Types (cursor to step) EDIT... -
Page 7: Removing Instructions
Speed Correction From Operator's Panel (cursor to step) EDIT SPEED CHANGE (choose speed type) (input speed) ENTER EXIT Move cursor to the first step to be changed. Press EDIT. Press SPEED CHANGE. Choose the type of speed being changed. Input the desired speed from the DATA keys. -
Page 8: Call
Call EDIT INSERT SEQUENCE CALL (cursor to job) ENTER ENTER Press EDIT. Press INSERT. Press SEQUENCE. Press the right arrow soft key. Press CALL. Press JOB. Move cursor to job to be called. Press ENTER. Press ENTER. Return EDIT INSERT SEQUENCE ENTER Press EDIT. - Page 9 Jump EDIT INSERT SEQUENCE JUMP LABEL (name it) ENTER ENTER Press EDIT. Press INSERT. Press SEQUENCE. Press JUMP. Press LABEL. Press ABC. Insert name. Press ENTER. The buffer will read JUMP *XXXX. Press ENTER. Label EDIT INSERT SEQUENCE LABEL (Name It) EXIT ENTER Press EDIT.
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Page 10: Commenting
Commenting (cursor to instruction) EDIT INSERT SEQUENCE COMMENT ENTER Move cursor to the instruction that needs a comment line. Press EDIT. Press INSERT. Press SEQUENCE. Press right arrow. Press COMMENT. Insert comment line using alphabet. Press ENTER Timer Input from ERC EDIT INSERT SEQUENCE... -
Page 11: Dout
DOUT EDIT INSERT IN/OUT DOUT (choose output #) ENTER ON/OFF Press EDIT. Press INSERT. Press IN/OUT. Press DOUT. Press OT#. Choose output #. Press ENTER. Press ON/OFF. PULSE EDIT INSERT IN/OUT PULSE (enter device address to be pulsed) ENTER TIME (enter time to be pulsed) ENTER... - Page 12 WAIT EDIT INSERT IN/OUT WAIT ON (=1) (or option of time) ENTER Press EDIT. Press INSERT. Press IN/OUT. Press WAIT. Insert IN#. Press ON. Press ENTER.
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Page 13: Delete A Job
Delete A Job TEACH OTHER JOB EDIT DELETE (cursor to job) ENTER EXECUTE Press TEACH. Press OTHER JOB. Press EDIT. Press JOB DELETE. Move cursor to the job to be deleted. Press ENTER. Press EXECUTE. Job Copy TEACH OTHER JOB EDIT JOB COPY (cursor to job) -
Page 14: Backing Up Selected Jobs
Press EXECUTE. -
Page 15: Checking Specified Point
Backing Up Selected Jobs (Insert Disk) FLOPPY SAVE SELECT JOB Cursor to job SELECT EXIT EXECUTE Press OP1. Insert disk. Press FLOPPY. Press SAVE. Press SELECT JOB. Move cursor to the job to be saved. Press SELECT. Repeat Steps 6 and 7 for each job to be saved. - Page 16 the same procedure as before (saving select jobs). Press EXECUTE.
- Page 17 Checking Specified Point SERVO POWER ON TEACH SPEC. PNT. MOVE/MODIFY ENABLE (verify alignment) DISABLE TP OP PANEL CHECK Turn on the servo motors. Press TEACH MODE. Press OP1. Press SPECIFIED POINT. Press MOVE/MODIFY. Enable the teach pendant. "SECOND HOME" will be displayed and will be flashing.
- Page 18 NOTES...
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Page 22: Table Of Contents
INDEX Backing Up Selected Jobs, 13 Call, 7 Calling A Job, 1 Calling Master Job To Screen, 1 Check, 3 Checking Specified Point, 14 Commenting, 9 Delete A Job, 12 Deleting Points, 4 DOUT, 10 E-Stop Recovery, 3 Inserting Points, 4 Job Copy, 12 Jump, 8... - Page 23 Label, 8 Loading Jobs From Disk Onto The ERC, 13...
- Page 24 INDEX Modifying Motion Types, 5 Modifying Points, 4 Naming a Job Alphabetically, 2 Playing A Job, 1 Position Level Specification, 5 Pulse, 10 Registration Of Master Job, 2 Removing Instructions, 6 Return, 7 Slow Speed, 3 Speed Correction From Operator's Panel, 6 Timer Input from ERC, 9...
- Page 25 Wait, 11...
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