Hyundai Heavy Industries HR Series Operation Manual

page of 427

/ 427
Contents
Table of Contents
Bookmarks

Table of Contents

Quick Links

Robot Operation Manual

Hi4 CONTROLLER

HR006

HYUNDAI Robot

HYUNDAI

TP300

E.STOP

PF1

PF2

PF3

PF4

PF5

축

좌표계

ACC

OFF

직교

보조축

GUN

연속

직선

보간

TOOL

원호

SHIFT

(고속)

후진

취소

속도

스텝

E N. S W

전진

MOT OR

Rx+

Rx-

Ry+

Ry-

Rz+

Rz-

보조점

I,V변 경

위치수 정

명령수 정

ARC ON

W EAVON

송출(

)

MOVE

CMD

문/변/함

정지

교시

ARC OF

W EAVOF

후퇴(

)

재생

지난화 면

수동출 력

삭제

프로그 램

LCD

STEP

HR015

HR120S/150S

HR010L

HX130/165

Hi40402JO1E

Hi4

HR100P

Table of Contents

Need help?

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

Questions and answers

Summary of Contents for Hyundai Heavy Industries HR Series

Page 1 Hi40402JO1E Robot Operation Manual HYUNDAI Robot HYUNDAI TP300 E.STOP HR100P 축 좌표계 직교 보조축 연속 직선 보간 TOOL 원호 SHIFT (고속) 후진 취소 속도 스텝 E N. S W 전진 MOT OR 보조점 I,V변 경 위치수 정 명령수 정 ARC ON W EAVON 송출( MOVE...
Page 2 The information presented in the manual is the property of HHI. Any copy or even partial is not allowed without prior written authorization from HHI. HHI reserves the right to modify without prior notification. Printed in Korea - April/2002. 1st Edition Copyright 2002 by Hyundai Heavy Industries Co.,Ltd.
Page 3 ■ HEAD OFFICE ■ 본사 1, JEONHA-DONG, DONG-GU, 울산광역시 동구 전하동 1번지 ULSAN, KOREA TEL: 82-52-230-7901~11 TEL: 052-230-7901~11 FAX: 82-52-230-7900 FAX: 052-230-7900 ■ SEOUL OFFICE ■ 서울사무소 140-2,GYE-DONG, JONGNO-GU, 서울특별시 종로구 계동 140-2 SEOUL,KOREA 현대빌딩 14층 TEL: 82-2-746-4711~5 TEL: 02-746-4711~5 FAX: 82-2-746-4720 FAX: 02-746-4720 ■...
Page 4: Table Of Contents
------------------------------------------------------------------------------------------------ Contents Chapter 1. Safety, Operation panel, Teach Pendant Safety ............. 1 - 2 1.1.1 General ............ 1 - 2 1.1.2 Relevant safety standard ........1 - 5 1.1.3 Safety training ..........1 - 5 1.1.4 Safety marking ..........1 - 5 1.1.5 Definition of safety functions ......
Page 5 ------------------------------------------------------------------------------------------------ ........2 - 5 Basic things for step 2.2.1 The parameter of STEP command line ......2 - 5 2.2.1.1 Interpolation-locus from between step and step .... 2 - 6 2.2.1.2 Pose ............. 2 - 7 2.2.1.3 Speed ............ 2 - 8 2.2.1.4 Accuracy ..........
Page 6 ------------------------------------------------------------------------------------------------ 3.4.5 Step reverse copy ........3 - 36 3.4.6 Edit program in running (Hot edit) ....3 - 38 3.5 File management..........3 - 43 3.5.1 Internal memory file name ......3 - 44 3.5.2 Program first data ........3 - 45 3.5.3 Internal program axis no.
Page 7 ------------------------------------------------------------------------------------------------ Chapter 5. Application condition Conveyor operation .......... 5 - 3 Search range ..........5 - 4 Search reference position record ......5 - 4 Spot welding ..........5 - 5 Gun search reference record ........5 - 6 Output(DO) signal clear ........5 - 7 Online shift register clear ........
Page 8 ------------------------------------------------------------------------------------------------ 10: Setting the field bus ......6 - 26 6.2.2 Serial port ......... 6 - 31 1: Teach Pendant (CNTP) ......6 - 31 2: Private serial port for I/O board ....6 - 31 3: Serial port #1 (CNSIO) ......6 - 32 4: Serial port #2 (OPSIO) ......
Page 9 ------------------------------------------------------------------------------------------------ 6.4.2 Arc ..........6 - 83 6.4.3 Palletizing ........6 - 85 1: Palletizing pattern register ..... 6 - 86 2: Pallete dip angle measurement ....6 - 90 6.4.6 Conveyor ........... 6 - 91 1: Conveyor constant setting ......6 - 92 2: Automatic setting of conveyor parameter ..
Page 10 ------------------------------------------------------------------------------------------------ 7.18 (18) R123 Robot lock ........7 - 22 7.19 (19) R136 Modify accuracy in steps ..... 7 - 23 7.20 (20) R137 Modify MX in steps ......7 - 24 7.21 (21) R138 Modify GUN in steps ......7 - 25 7.22 (22) R162 Shift register value change ....
Page 11 ------------------------------------------------------------------------------------------------ Welding aux. con. - retry ........9 - 9 Welding aux. con. - restart........ 9 - 11 Welding aux. con. - auto. wire stick release....9 - 14 Weaving condition file ........9 - 15 Program edit in running ........9 - 17 9.10 Spot welding function ........
Page 12 ------------------------------------------------------------------------------------------------ 11.4 FUNCTION........... 11 - 40 11.4.1 ARITHEMATIC FUNCTION ......11 - 40 11.4.2 STRING FUNCTION ........11 - 41 11.4.3 ROBOT LANGUAGE SUBTITUTION OF OLD MIT FUNCTION CODE 11 - 42 Chapter 12. Signal connection 12.1 EXTERNAL INPUT SIGNAL (BD430/BD431) ......12 - 2 12.2 EXTERNAL OUTPUT SIGNAL (BD430/BD431) ......
Page 13 1. Safety, Operation Panel, Teach Pendant (1) Safety ------------------------------------------------------------------------------------------------ Chapter 1.Safety, Operation panel, Teach pendant Contents ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ Safety ............. 1 - 2 1.1.1 General ............ 1 - 2 1.1.2 Relevant safety standard ........1 - 5 1.1.3 Safety training ..........1 - 5 1.1.4 Safety marking ..........
Page 14: Chapter 1. Safety, Operation Panel, Teach Pendant
The primary purpose of this Chapter is to define the safety of the user and operating personnel when using Hyundai Industrial Robots i. e. HR series and HX series robot together with Hi-4 Controller (Hereinafter referred to "the Robotics System").
Page 15 1. Safety, Operation Panel, Teach Pendant (1) Safety ------------------------------------------------------------------------------------------------ Maintenance Manual. Hyundai maintains its various application-specific training courses for domestic and foreign customers respectively. All owners, employers or users of the Robotics System have the responsibility to review and observe any appliable safety laws and regulations in each country and to take the necessary steps to guarantee the correct design, installation and operation of all safety devices which can secure safety of all personnel in the workplace.
Page 16 1. Safety, Operation Panel, Teach Pendant (1) Safety ------------------------------------------------------------------------------------------------ HX130V (wall mounting type, 130kg) HX130S (shelf mounting type, 130kg) HX165F (floor mounting type, 165kg) HX165V (wall mounting type, 165kg) HX165S (shelf mounting type, 165kg) Possible Application Usages The Robotics System is a standard six-axis but additional axis available industrial robot for installation on the floor, on the wall or on the shelf.
Page 17: Relevant Safety Standard
1. Safety, Operation Panel, Teach Pendant (1) Safety ------------------------------------------------------------------------------------------------ 1.1.2 Relevant Safety Standards The Robotics System is designed as per ISO 10218, January 1992 edition that specifies the Safety Requirements for Industrial Robots and furthermore in strictly accordance with the ANSI/RIA 15.06 -1999 Safety Requirements. 1.1.3 Safety Training All the personnel who intend to teach, operate or examine the Robotics System must be trained in an approved Hyundai Robotics operation and safety training course before...
Page 18 1. Safety, Operation Panel, Teach Pendant (1) Safety ------------------------------------------------------------------------------------------------ Indicate a potentially hazardous situation which, if not avoided, could result in death or serious means injury to personnel and damage to equipment. WARNING: The special attention to the careful operation and handling must be paid by owner, employer, operator or user.
Page 19: Definition Of Safety Functions
1. Safety, Operation Panel, Teach Pendant (1) Safety ------------------------------------------------------------------------------------------------ 1.1.5. Definition of Safety Functions Emergency Stop Function- IEC 204-1,10,7 There is one emergency stop button on the controller and another on the teach pendant. If necessary, additional emergency buttons can be connected to the robot's safety chain circuit.
Page 20: Installation Of Robot
1. Safety, Operation Panel, Teach Pendant (1) Safety ------------------------------------------------------------------------------------------------ 1.1.6. Installation of Robot 1.1.6.1 Safety Fence (1) Install Safety Fence away from the working space of robot in order to prevent from any possible collision and interface between workers and robot during the robot operation.
Page 21 1. Safety, Operation Panel, Teach Pendant (1) Safety ------------------------------------------------------------------------------------------------ tightly fixed to the floor and have the relevant structure not to easily get over the safety fence. (3) Safety fence shall be fixed installation type and have no dangerous elements such as sharp edges and rough profile etc.
Page 22 1. Safety, Operation Panel, Teach Pendant (1) Safety ------------------------------------------------------------------------------------------------ (4) In case of installation of operation stand, attach emergency stop button on it. Emergency stop shall be available at any time from any locations that can operate the robot. (5) Execute cabling and piping work in proper way for robot manipulator, controller, interlock panel, timer etc.
Page 23 1. Safety, Operation Panel, Teach Pendant (1) Safety ------------------------------------------------------------------------------------------------ 1.1.6.3. Robot installation Install robot as per the planning and layout which has been previously reviewed and studied for the optimized performance and functionality of the robot. In case of bad installation situation of robot, the serious problems can take place as follows;...
Page 24 1. Safety, Operation Panel, Teach Pendant (1) Safety ------------------------------------------------------------------------------------------------ (7) For immediate emergency stop, install emergency stop button within operator's easily accessible distance. Technical Safety Precautions (1) Remove any interference problems with peripheral equipments considering dimension and operating space of the robot. (2) Evade the installation of robot at the places where have direct ray of sun, many oil, chemical material, explosives, metal powder or humid and wet atmosphere.
Page 25 1. Safety, Operation Panel, Teach Pendant (1) Safety ------------------------------------------------------------------------------------------------ - Connect Grounding line into the grounding bus-bar inside the controller. - In case of direct grounding of the robot by anchoring at floor, two point grounding both by robot manipulator and by controller can produce closed circuit and further cause abnormal operation of the robot on the contrary.
Page 26 1. Safety, Operation Panel, Teach Pendant (1) Safety ------------------------------------------------------------------------------------------------ 1.1.6.4 Space for robot installation Install robot manipulator, controller, other peripheral equipment. Be sure that there are sufficient rooms for maintenance on the manipulator, controller and other peripheral equipment. Install robot manipulator and controller as per the guideline as described in the figure below.
Page 27: Safety Working Procedures
1. Safety, Operation Panel, Teach Pendant (1) Safety ------------------------------------------------------------------------------------------------ 1.1.7. Safety Working Procedures Safety working procedures must be observed to prevent from any accidents. Safety device or circuit shall not be modified and disregarded by workers or operators at any time. Be careful of any possible accidents caused by electric shock.
Page 28 1. Safety, Operation Panel, Teach Pendant (1) Safety ------------------------------------------------------------------------------------------------ (6) Superintendent must observe the followings; - Stay at the place where he can see robot entirely and concentrate on his job of superintendence. - Press emergency stop button if there is any abnormal situation. - keep any people other than the workers who are working for the robot, away from the working envelope of the robot.
Page 29 1. Safety, Operation Panel, Teach Pendant (1) Safety ------------------------------------------------------------------------------------------------ first the stop status of the robot and further investigate the cause to execute relevant measure. - When the emergency stop function does not work, disconnect the power supply immediately and further investigate the cause to execute relevant measure. - No one who have no operation and maintenance training provided by Hyundai can be authorized to do the investigation of the cause for abnormal situations.
Page 30 1. Safety, Operation Panel, Teach Pendant (1) Safety ------------------------------------------------------------------------------------------------ Note) As specified in the above table, in case of temporary stopping, access to the working envelope of the robot is not allowed. However, when you try to get inside the working envelope of the robot in order to make corrections for minor problems such as nozzle contact and arc trouble, enter the working envelope of robot only after following the same method as you enter the working envelope for teaching work.
Page 31 1. Safety, Operation Panel, Teach Pendant (1) Safety ------------------------------------------------------------------------------------------------ the safety fence during try-out. Unexpected accidents can take place easily due to the unreliable situations. 1.1.7.3 Safety measure for automatic operation (1) Educate all the workers not to get inside the safety fence during the operation while the sign-board "No Access During Operation"...
Page 32 1. Safety, Operation Panel, Teach Pendant (1) Safety ------------------------------------------------------------------------------------------------ and make the necessary action to the abnormal situations. Unless you make any necessary action, there can be a failure which possibly result in serious personal accident as well as stop of production. (8) When you make necessary action for any abnormal situation and check the normal operation, you can check in low speed operation whether abnormal situation is fixed.
Page 33: Safety Measures For Maintenance And Repair
1. Safety, Operation Panel, Teach Pendant (1) Safety ------------------------------------------------------------------------------------------------ position. (3) The operating mode selector on the controller must be in the manual mode position to block operation from remote control panel. (4) Always wear approved work clothes(no loose fitting clothes). (5) Do not wear gloves when operating the Controller.
Page 34 1. Safety, Operation Panel, Teach Pendant (1) Safety ------------------------------------------------------------------------------------------------ (2) Proceed with all the work according to the maintenance and repair procedures. (3) Check safety conditions around the workers and secure the escaping route and place in case of any dangerous situation before starting maintenance and repair work.
Page 35 1. Safety, Operation Panel, Teach Pendant (1) Safety ------------------------------------------------------------------------------------------------ can be safe from any possible accidents caused by falling down or unexpected moving of robot arm. 1.1.9.3 Necessary Actions after Completion of Maintenance and Repair (1) Check there are no abnormally connected cables or assembled parts of Controller. (2) After maintenance is completed, carefully check that no tools are left inside the Controller and that the door is firmly closed.
Page 36: Safety Function
1. Safety, Operation Panel, Teach Pendant (1) Safety ------------------------------------------------------------------------------------------------ 1.1.10. Safety Functions 1.1.10.1 Safety Control Chain of Operation The robot's safety system is based on a two-channel safety circuit that is continuously monitored. If an error is detected, the power supply to the motors is switched off and the brakes engage.
Page 37 1. Safety, Operation Panel, Teach Pendant (1) Safety ------------------------------------------------------------------------------------------------ The Safety Chain of Operation The emergency stop buttons on the operator's panel and on the teach pendant and external emergency stop buttons are included in the safety chain of operation. You are recommended to install safety devices such as safety plug and safety stop device while entering inside the working envelope etc.
Page 38 1. Safety, Operation Panel, Teach Pendant (1) Safety ------------------------------------------------------------------------------------------------ 1.1.10.2. Emergency Stop An emergency stop should be activated when people or equipment is located at dagerous area. Built-in emergency stop buttons are located both on the operator's panel of the robot controller and on the teach pendant. External emergency stop devices(buttons, etc.) can be connected to the safety chain with the applicable standards for emergency stop circuits.
Page 39 1. Safety, Operation Panel, Teach Pendant (1) Safety ------------------------------------------------------------------------------------------------ 1.1.10.3. Operating Speed To program the robot, the operating mode switch must be turned to MANUAL position. Then the maximum velocity of robot is limited to 250mm/s. 1.1.10.4. Connection of Safety Device External safety devices such as light, curtains, light beams or sensitive mats which can be adapted by the system builder execute interlocking the Controller by way of connecting with safety chain of operation within the Controller.
Page 40: Safety Related To End Effectors
1. Safety, Operation Panel, Teach Pendant (1) Safety ------------------------------------------------------------------------------------------------ 1.1.10.6. Monitoring Function 1) Motor Monitoring Function The motors are protected against overload by means of temperature sensors in the motor windings. 2) Voltage Monitoring Function For the protection of power devices such as transistor etc. the servo amp module automatically triggers off the power switch when the voltage is too low or high.
Page 41: Liabilities
1. Safety, Operation Panel, Teach Pendant (1) Safety ------------------------------------------------------------------------------------------------ 1.1.11.2. Tools and Workpiece (1) It must be possible to replace tools, such as milling cutters, etc., in a safe manner. Make sure that safety devices are working correctly until the cutters stop rotating.
Page 42 1. Safety, Operation Panel, Teach Pendant (1) Safety ------------------------------------------------------------------------------------------------ When you use the robot system for any other or additional purpose than its designated usage, at first, you must review whether it is valid in accordance with design criteria. The manufacturer can not be held liable for any damage or loss which resulted from such misuse or improper use.
Page 43: Operation Panel
1. Safety, Operation Panel, Teach Pendant (2) OP Panel ------------------------------------------------------------------------------------------------ 1.2 Operation Panel 1.2.1 External Shape of Operation Panel 1.2.2 Buttons of Operation Panel [ERROR] LED(Light-emitting Diode) indicating Synthetic Error. It flickers when system errors such as servo alarm, limit switch interference and arm interference etc. [MOTOR ON] Button for Operation Standby "ON".
Page 44 1. Safety, Operation Panel, Teach Pendant (3) Teach Pendant ------------------------------------------------------------------------------------------------ [STOP] Button for stopping operation. This button is used for stopping playback of program. When operation stop, [STOP] lamp is turned on and [START] lamp is turned off. [AUTO/MANUAL] Key for selecting between automatic and manual operations. Selection state of this key, the state of safety plug and JogEnable of Teach Pendant are the indispensable factors for determining whether starting operation is ready or not.
Page 45: Teach Pendant
1. Safety, Operation Panel, Teach Pendant (3) Teach Pendant ------------------------------------------------------------------------------------------------ 1.3 Teach Pendant 1.3.1 External Shape of Teach Pendant HYUNDAI TP300 E.STOP JOINT CONTI COORD CART AXIS JOG ON Arc On INTP TOOL SHIFT JOG ON (FAST) EN. SW SPEED STEP MOTOR (R2+)
Page 46: Screen Of Teach Pendant
1. Safety, Operation Panel, Teach Pendant (3) Teach Pendant ------------------------------------------------------------------------------------------------ 1.3.2 Screen of Teach Pendant The following is an example display of teach pendant screen in case of manual mode. 14:39:38 *** M A N U A L *** A:0 S:4 ←...
Page 47: Keys Of Teach Pendant
1. Safety, Operation Panel, Teach Pendant (3) Teach Pendant ------------------------------------------------------------------------------------------------ 1.3.3 Keys of Teach Pendant The followings are the explanation to any keys of teach pendant. [E. STOP] Use for emergency stop. When you press this key, motor will be off. For re-start operation, you can start only after making motor-on.
Page 48 1. Safety, Operation Panel, Teach Pendant (3) Teach Pendant ------------------------------------------------------------------------------------------------ right position of Title Frame. [SHIFT(FAST)] You must use it only together with any of other keys. In order to implement the fuctions indicated in sky blue color at the upper part of keys, it must be pressed together with any of the sky blue color keys.
Page 49 1. Safety, Operation Panel, Teach Pendant (3) Teach Pendant ------------------------------------------------------------------------------------------------ [LCD] When you press it together with [↑ /↓ ] Key simultaneously, you can control the brightness of LCD display. [← ] is BackSpace Key which can delete one by one the letters in front of the cursor. If you press this key during selection of any factors for editing command, the figures of factor selected will be deleted.
Page 50 1. Safety, Operation Panel, Teach Pendant (3) Teach Pendant ------------------------------------------------------------------------------------------------ edit the factor. If you press this key while cursor is located at row number, the number of row can be modified. [Pose MOD/REC] Use this key to add "MOVE" command. The "MOVE" command to be recorded consists of the hidden PAUSE.
Page 51 2. Basic operation ----------------------------------------------------------------------------------------------- Chapter 2. Basic operation Contents ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ Basic operation ..........2 - 2 2.1.1 Controller's power/motor ON/OFF ......2 - 2 2.1.1.1 Power ON/Motor ON ........2 - 2 2.1.1.2 Power OFF/Motor OFF ........2 - 2 2.1.2 How to initiate the system ........
Page 52: Chapter 2. Basic Operation Of Robot
2. Basic operation ----------------------------------------------------------------------------------------------- Chapter 2. Basic operation of robot 2.1 Basic operation Industrial robot is defined 『 The machine that is capable of physical operation and manipulation by means of the automatic control and used by the industry by programming in the various tasks(JIS)』.
Page 53: How To Initiate The System
2. Basic operation ----------------------------------------------------------------------------------------------- 2.1.2 How to initiate the system 1. At manual mode, select “ System” [PF2] → 5: System format → 1. System format. If you initialize the system, not only controller parameter file, machine parameter file, but also all kinds of files shall be deleted.
Page 54: Step And Function
2. Basic operation ----------------------------------------------------------------------------------------------- 2.1.4 Step and Function The position which is remembered by [REC] key or defined by a variable position data is named "STEP". Working cannot be done by robot moving only. To carry out certain work, a signal communication which is confirming peripheral equipment's status and transmitting robot condition between robot and peripheral equipment is required.
Page 55: Basic Things For Step
2. Basic operation ----------------------------------------------------------------------------------------------- 2.2 Basic things for step Step is a word indicating robot's certain position (or tool's end position). Robot basically, move to other step from this recorded step and carry out any other function. Move command "MOVE" is a command language instructing robot's moving and it is a most basic command language in the robot programming.
Page 56: Interpolation-Locus From Between Step And Step
2. Basic operation ----------------------------------------------------------------------------------------------- 2.2.1.1 Interpolation - locus from between Step and Step The interpolation method of [step n] decides the locus from between [step n-1] and [step n].. P - interpolation off (point to point) It is used the section which is not concerning for the locus form of the tool-end (control point) movement to task point.
Page 57: Pose
2. Basic operation ----------------------------------------------------------------------------------------------- Step n: Start step Setp n+1: C Int. Object step Step n+1: C int. Setp n Object step Step n+2 Setp n-1 Start step Step n+2: C Int. Int.: L or P Ref. step Ref. step If you use the above explanation's standard, you can do programming using double registration of same point even in case of continuous circle.
Page 58: Speed
2. Basic operation ----------------------------------------------------------------------------------------------- 2.2.1.3 Speed Designate the speed of tool end. There are mm/sec, cm/min, sec, % etc n a unit. Sec designate speed as moving time, % is the ratio base on maximum speed. 2.2.1.4 Accuracy Decide precision to pass the step (approach grade to recorded position) when the robot follow to recorded step.
Page 59: Stop Condition
2. Basic operation ----------------------------------------------------------------------------------------------- 2.2.1.7 Stop condition Execute next command ( step or function ) after stop robot's movement if satisfy the condition formula following UNTIL. MOVE ... UNTIL I2=1 I2=1 2.2.1.8 Stop state variable Store the result value of stop condition formula. It shows whether the MOVE motion is completed or not in accordance with condition formula.
Page 60: Step Position Validation/Modification Method
2. Basic operation ----------------------------------------------------------------------------------------------- 2.2.2 Step position validation/modification method After move robot with axis operation keys, if press [REC] key on teach pendant can verify or modify robot's posture. 2.2.2.1 When the coordinate system is set as encoder At manual mode, check the type of pose record from 'SYSTEM'[PF2] → 1 : User parameter → 2 : Default Pose.
Page 61 2. Basic operation ----------------------------------------------------------------------------------------------- 2.2.2.2 When the coordinate system is set as Base or Robot At manual mode, check the type of pose record from 'SYSTEM'[PF2] → 1 : User parameter → 2 : Default Pose. If the MOVE command's pose type is in a state of Base or Robot, press then following screen will be displayed.
Page 62 2. Basic operation ----------------------------------------------------------------------------------------------- FLIP RIGHTY LEFTY NONFLIP WRIST DOWN If the robot composition style is not set, the screen will be displayed as follow. 14:39:38 *** Step Pose Data *** A:0 S:4 POSE OF CURRENT STEP X: [ 50.000] mm T1: [ 0.000] mm Y: [ 880.000] mm...
Page 63: Coordinate System
2. Basic operation ----------------------------------------------------------------------------------------------- 2.3 Coordinate system 2.3.1 JOG operation key The following chart shows that the robot's moving direction in accordance with operation of JOG key for each Axis coordinate, Robot coordinate, User coordinate and Tool coordinate. It need to understand robot's movement according to coordinate system. [Coordinate System] Action Robot...
Page 64: Axis Coordinate
2. Basic operation ----------------------------------------------------------------------------------------------- 2.3.2 Axis coordinate On the state of Motor ON at manual mode, please check the JOG ON LED is lighted or not. When press down Coordinate system key on teach pendant, if the light is on at axis it can be move as operation of key.
Page 65: Robot Coordinate
2. Basic operation ----------------------------------------------------------------------------------------------- 2.3.3 Robot coordinate On the state of Motor ON at manual mode, please check the JOG ON LED is lighted or not. When press down Coordinate system key on teach pendant, if the light is on at cartesian it can be move as operation of key.
Page 66 2. Basic operation ----------------------------------------------------------------------------------------------- Reference The following figure shows that how to determine the robot coordinate system. Stretch out left hand's three fingers ; thumb, point finger and middle finger at a right angle. It means that when the point finger's direction is aligned with Y-direction of robot coordinate, thumb's direction is pointing Z and point finger's direction is pointing X.
Page 67: User Coordinate
2. Basic operation ----------------------------------------------------------------------------------------------- 2.3.4 User coordinate Select user coordinate from 'System'[PF2] → 2 : Controller parameter → 12 : Coordinate setting → 1 : User coordinate, and then set the selected coordinate. After that play the program under state of completion key in 'Cond Set'[PF5] → 8 : Select user coordinate, then robot shall move as following figure.
Page 68: Tool Coordinate
2. Basic operation ----------------------------------------------------------------------------------------------- 2.3.5 Tool coordinate On the state of Motor ON at manual mode, please check the JOG ON LED is lighted or not. When press down Coordinate system key on teach pendant, if the light is on at tool. it can be move as operation of key.
Page 69: Auto Tool Setting
2. Basic operation ----------------------------------------------------------------------------------------------- 2.4 Auto tool setting You can make the same program to the previous program by calibrating automatically the tool constant without teaching when the teaching point in the previous program is different from the previous teaching point resulting in changing, modification of the tool. You can get angle, length of new tool if executing the function after moving the setting tool in the step that taught previously.
Page 70: Chapter 3. Service Menu
3. Service menu ------------------------------------------------------------------------------------------------ Chapter 3. Service Menu Contents ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ 3.1 Monitoring ............. 3 - 4 3.2 Register ............3 - 15 3.2.1 XYZ Shift register ........3 - 16 3.2.2 Shift buffers ......... 3 - 18 3.2.3 On-line shift register Group ......3 - 20 3.2.4 Palletizing register ........
Page 71 3. Service menu ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ 3.5.7 Protect ..........3 - 55 3.5.8 Storage media format ......... 3 - 58 3.5.9 Save/Load (SRAM Card) ........ 3 - 59 3.6 Program conversion ..........3 - 61 3.6.1 Coordinate transformation ......3 - 62 3.6.2 Mirror Image .........
Page 72 3. Service menu ------------------------------------------------------------------------------------------------ Chapter 3 Service Menu When you press the "Service [PF1]" on the Manual or Auto Mode. the following display contents appear. 14:39:38 ** Service contents ** A:0 S:4 1: Monitoring [R245] 2: Register setting 3: Variables 4: Program modify 5: File manager 6: Program conversion...
Page 73: Monitoring
3. Service menu ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ 3.1 Monitoring Outline It displays encoder value of each axis, degrees of angle, coordinates value data in/output condition. It is same as the code "R245 : Monitor mode selection" Screen display 14:39:38 *** Monitoring *** A:0 S:4 0: Monitor OFF 1: Axis data 2: Private input...
Page 74 3. Service menu ------------------------------------------------------------------------------------------------ Reference When you select the "Line[PF1]", you can change the number of lines of monitoring function on the display screen. 14:39:38 *** Monitoring *** A:0 S:4 How many monitoring lines? [7] Enter the number of line and press [SET] >[2 - 7] Input the number of Line of Monitoring screen display by number key, press [SET].
Page 75 3. Service menu ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ 3.1.0 Monitor OFF Outline It cancel the function of Monitoring that you already select. 3.1.1 Axis Data Outline It displays present encoder value of each axis, setting encoder value, degrees of ↓ angle, coordinates value. When you press the [Shift] key, it displays the hidden item.
Page 76 3. Service menu ------------------------------------------------------------------------------------------------ Screen display 14:39:38 *** M A N U A L *** A:0 S:4 T0 G1 PN:100[*]__ S/F=4/0 Sp:100.00 Robot:H120, 6axes, 1steps MOVE P,S=100%,A=0,T=1 << Private Input Signal >> Auto/Manual switch Enable switch Hard limit ARM interference Overlaod Motor overheat ----------...
Page 77 3. Service menu ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ Screen display The following screen displays when you select "4;DIO( 1 - 24 )". 14:39:38 *** M A N U A L *** A:0 S:4 T0 G1 PN:100[*]__ S/F=4/0 Sp:100.00 Robot:H120, 6axes, 1steps MOVE P,S=100%,A=0,T=1 << General I/O Signal >> I10 i11 I12 I14 I15 I16 I17 I18 I19 I20 I21 I22 I23 I24...
Page 78 3. Service menu ------------------------------------------------------------------------------------------------ 3.1.16 Break Slip Count Outline You can select/ display the slip count value over the range and initialize it when you use in stud welding(Break ON type). You must select "System[PF2]" -> 5. System format -> 4: Setting usage of the robot, set the menu Stud in GUN1 or GUN2. Screen display 14:39:38 * Slip count display * A:0 S:4 1: Slip count display/setting...
Page 79 3. Service menu ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ Operation method Input the number of slip count by number key and press the [SET]. When the slip count of each axis are input, press the "Complete[PF5]" 3.1.16.2 Slip Count reset Outline It initialize slip count in all axis. Screen display The following message displays on the screen.
Page 80 3. Service menu ------------------------------------------------------------------------------------------------ Operation method When you select the page you want, the following screen displays the DIO name monitoring. 14:39:38 *** M A N U A L *** A:0 S:4 T0 G1 PN:100[*]__ S/F=4/0 Sp:100.00 Robot:H120, 6axes, 1steps MOVE P,S=100%,A=0,T=1 <<...
Page 81 3. Service menu ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ 3.1.19 Analog Data Outline It displays the input voltage, output voltage, speed of analog output for analog port. Screen display 14:39:38 *** M A N U A L *** A:0 S:4 T0 G1 PN:100[*]__ S/F=4/0 Sp:100.00 Robot:H120, 6axes, 1steps MOVE P,S=100%,A=0,T=1 <<...
Page 82 3. Service menu ------------------------------------------------------------------------------------------------ 3.1.21 Palletize Register Outline It displays the status of palletizing operation. It displays the status of palletizing, pattern register number, counter,number of workpieces, and size of workpiece. You must register the Palletizing for GUN2 for palletizing data monitoring. "System"[PF2] ->...
Page 83 3. Service menu ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ Screen display 14:39:38 *** M A N U A L *** A:0 S:4 T0 G1 PN:100[*]__ S/F=4/0 Sp:100.00 Robot:H120, 6axes, 1steps MOVE P,S=100%,A=0,T=1 <Equalizerless GUN Data> Gun1 Gun2 Welding CND number(M33) = Squeeze output Two step stroke output = Welding compete input Fixed tip consumption 0.00...
Page 84: Register
3. Service menu ------------------------------------------------------------------------------------------------ 3.2 Register Outline It displays / changes the XYZ shift register, Shift buffer, On line shift register group, Palletize register, Frequency condition register. Screen display 14:39:38 *** Register *** A:0 S:4 1: XYZ shift register 2: Shift buffer [R162] 3: ON-line shift register group 4: Palletizing register...
Page 85: Xyz Shift Register
3. Service menu ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ 3.2.1 XYZ Shift Register Outline It is keeping the tool angle of point that is already taught and a parallel movement in XYZ dimension. XYZ register reserves 3 dimension of shift data. Screen display 14:39:38 *** Register *** A:0 S:4 # XYZ shift register 0.0] Y=[...
Page 86 3. Service menu ------------------------------------------------------------------------------------------------ Z 축 Y 축 X 축 ---------------------------------------------------------------------------------------- 3 - 17...
Page 87: Shift Buffers
3. Service menu ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ 3.2.2 Shift buffers Outline It is a parallel movement with keeping up the tool angle that already taught. Screen display 14:39:38 *** Register *** A:0 S:4 1. Shift buffer for robot coordinate 0.0] Y=[ 0.0] Z=[ 0.0]mm AX=[ 0.00] AY=[...
Page 88 3. Service menu ------------------------------------------------------------------------------------------------ work a work A 작업물a 작업물A ---------------------------------------------------------------------------------------- 3 - 19...
Page 89: On-Line Shift Register Group
3. Service menu ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ 3.2.3 On-line shift register Group Outline On-line shift register group is a register that is set each axis length the palletize turning number, shift data to be received from the external unit. There are total 8 units.
Page 90 3. Service menu ------------------------------------------------------------------------------------------------ Reference If set the on-line shift register clear as <ENBL>, from "Cond Set[PF5] - AppliCnd[PF1] - 7. Shift register clear" the value of on-line shift register shall be cleared to '0'. ---------------------------------------------------------------------------------------- 3 - 21...
Page 91: Palletizing Register
3. Service menu ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ 3.2.4 Palletizing register Outline It can be set freely the content of a palletizing register. It can be selected GUN2 from "System"[PF2] -> 5. System format -> 4. Setting usage of the robot. Screen display 14:39:38 *** Register *** A:0 S:4 1: Palletizing register...
Page 92 3. Service menu ------------------------------------------------------------------------------------------------ Screen description Palletize Shift Data : Input shift data for palletizing. Picking up Shift Data : Input shift data when lifting work piece. ※ To save changed data, press 'Complete'[PF5]. If press, [CANCEL], the data shall not be saved 3.2.4.2 Palletizing Preset Outline...
Page 93 3. Service menu ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ 3.2.4.3 Palletizing Reset Outline Reset the value of the counter, palletizing register forcibly. Operation method If select "Palletizing Reset" item, it will be appeared on the screen as followings Input the palletize pallet number.(1-16) >[1 - 16] If setting is ended, press [SET] key, it will be appeared on the screen as followings End palletizing? [YES/NO]...
Page 94: Frequency Condition Register
3. Service menu ------------------------------------------------------------------------------------------------ 3.2.5 Frequency condition register Outline It sets freely the content of frequency condition register. For example, when use those functions such as Step jump, Step call, Step return, Function assigned step jump, Program call, Program jump, Function jump, Target program call, etc.
Page 95: Conveyor Data
3. Service menu ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ 3.2.6 Conveyor Data Outline You can set the CR parameter and simulation speed for conveyor simulation and you can check the conveyor data manual reset or quantity of workpiceses inline. You can set the conveyor data when you select "System"[PF2] -> 5. System format -> 2. Selecting type of the robot and select the Conveyor synchronization = <ON>.
Page 96 3. Service menu ------------------------------------------------------------------------------------------------ Screen Description Register(CR) : Input the number of conveyor register. Speed(CS) : Input the number of conveyor speed. ※ If press 'Complete'[PF5] key, changed data shall be stored. If press [CANCEL] key, the inputted data shall be cleared. 3.2.6.2 Conveyor Data Reset Outline Initialize the conveyor data register.
Page 97: Variable
3. Service menu ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ 3.3 Variable Outline You can check or modify the present data of main variable and sub variable. Please refer to the "11. Robot Language -> 11.1.3. Variable" for more details. Screen display 14:39:38*** Var. Monitoring *** A:0 S:4 Select variable type to display.
Page 98: Edit Program
3. Service menu ------------------------------------------------------------------------------------------------ 3.4 Edit Program Select the "Program modify" and then displays as follows. 14:39:38 *** Program modify *** A:0 S:4 1: Condition modify 2: Speed modify 3: Step position modify 4: Step copy 5: Reverse step copy 6: Hot edit Use [Number]/[Up][Down] and press [SET].
Page 99: Modify Writing Condition Totally
3. Service menu ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ 3.4.1 Modify writing condition totally Outline You modify the condition in record of many steps in one program. Screen display 14:39:38 ** Condition modify ** A:0 S:4 Program No. =[ 5] Start step =[ 1] End step =[ 10] Accuracy = <...
Page 100: Modify Speed In Record Totally
3. Service menu ------------------------------------------------------------------------------------------------ 3.4.2 Modify speed in record totally Outline You modify the speed in record of many steps in one program. Screen display 14:39:38** Speed Modification **A:0 S:4 Prog No. : [ 99] Step :[ 1] To [ 9] Mode :<Assign,Scale,Alter Unit>...
Page 101: Modify Position In Record Totally
3. Service menu ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ 3.4.3 Modify position in record totally Outline You modify the position in record of many steps in one program. Screen display 14:39:38 ** Position modify ** A:0 S:4 Program: [ 99] Step:[ 1] ~ [ 9] Coord.fmt.: <Cartesian,Axis>...
Page 102 3. Service menu ------------------------------------------------------------------------------------------------ 14:39:38 ** Position modify ** A:0 S:4 Program: [ 99] Step:[ 1] ~ [ 9] Coord.fmt.: <Cartesian,Axis> (Hidden pose of the step is shifted.) S =[ 100.0]deg T1=[ ]deg H =[ 100.0]deg T1=[ ]deg V =[ 100.0]deg T1=[ ]deg R2=[ 100.0]deg...
Page 103: Step Copy
3. Service menu ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ 3.4.4 Step Copy Outline You can copy the part of program or same program in the other program. This function make you can copy the function in the recorded step, The step numbers that selected by Jump or Call command are also changed automatically. Example This chart shows you can copy Step1 to Step 5 of the Program No.1 in the Step 2 of the Program No.
Page 104 3. Service menu ------------------------------------------------------------------------------------------------ Reference ⑴ The end step No. of the program to copy is bigger than the start step No. ⑵ Input step No. of the program to be copied is the former step No. ⑶ When you copy the steps included the End point, the End function is also copied, On your request, you need to delete the end step.
Page 105: Step Reverse Copy
3. Service menu ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ 3.4.5 Step Reverse-Copy Outline You can copy the part of program or same program in the other program reversibly. This function make you can reverse-copy the function in the recorded step. The step numbers that selected by Jump or Call command are also changed automatically. Example This chart shows you can reverse-copy Step1 to Step 5 of the Program No.1 in the Step 2 of the Program No.
Page 106 3. Service menu ------------------------------------------------------------------------------------------------ Reference ⑴ The end step No. of the program to copy is bigger than the start step No. ⑵ Input step No. of the program to be copied is the former step No. ⑶ When you copy the steps included the End point, the End function is also copied, On your request, you need to delete the end step.
Page 107: Edit Program In Running (Hot Edit)
3. Service menu ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ 3.4.6 Edit program in running (Hot Edit) Outline You can edit the program in the running mode like manual mode. This function operates when the Robot is operating. When you use this function if it is not the running mode, the following message is occurred.
Page 108 3. Service menu ------------------------------------------------------------------------------------------------ Screen display 14:39:38 *** Hot edit *** A:0 S:4 SR:100% Cont HotE:022/3/1 PB:022/4/0 MOVE P,S=30%,A=1,T=0 MOVE P,S=50%,A=0,T=0 MOVE P,S=50%,A=0,T=0 PRINT #1,"READY" MOVE P,S=50%,A=0,T=0 MOVE P,S=50%,A=0,T=0 MOVE P,S=50%,A=0,T=0 MOVE P,S=50%,A=0,T=0 Select PF menu > Escape Apply 3.4.3.2 Edit type Outline It is same as the manual mode, but the following functions are not used.
Page 109 3. Service menu ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ ORIGINAL PROGRAM is copied to the TEMP1 file and be modified by user. When user push the " OK" [PF5] key , TEMP1 is copied to TEMP2 and displays the request of Accept. Accept of ORIGINAL PROGRAM is proceeded by exchanging files between TEMP2 and ORIGINAL PROGRAM.
Page 110 3. Service menu ------------------------------------------------------------------------------------------------ 3.4.3.4 Confirm, Accept, Cancel Outline There are 3 types of Confirm, Accept, Cancel in PF menu in Hot Edit. Function When you push the "OK"[PF5], the message occurs "Do you want to Save?" When you push (YES), Contents of Hot Edit is accepted Original file and Hot Edit is finished. When you push the "Apply"[PF4], the message occurs "Do you want to Save?"...
Page 111 3. Service menu ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ 3.4.3.6 Select other program Outline When you push the [Program] key, you can select the other program. When the program selected is not exist or the axis selected is different, the error message is occurs and the operation is stopped. When the program selected is exist and the program is modified, the message "...
Page 112: File Management
3. Service menu ------------------------------------------------------------------------------------------------ 3.5 File Management When you select File management, the following display occurs. 14:39:38 *** File manager *** A:0 S:4 1: Show file names in memory [R 17] 2: Show the headline of program[R107] 3: Show the number of axes for Prog. 4: Rename [R116] 5: Copy...
Page 113: Internal Memory File Name
3. Service menu ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ 3.5.1 Internal memory file name Outline It displays file name, file content, no. of step in the internal memory. Operation method When you select the file name, the following message occurs. All files? [Yes], or just programs? [No] >...
Page 114: Program First Data
3. Service menu ------------------------------------------------------------------------------------------------ 3.5.2 Program first data Outline It displays the remark of step 0., And when there is not remark data in step 0, it displays the remark content of step 1. Screen display 14:39:38 *** M A N U A L *** A:0 S:4 PN:100[*]__ S/F:4/0 Sp:100.00...
Page 115: Internal Program Axis No
3. Service menu ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ 3.5.3 Internal program axis no. Outline It displays the integer, history in internal memory and robot name, no. of axis, total steps, file content in Program file Screen display 14:39:38 *** Number of axes *** A:0 S:4 1: Internal memory 8: SRAM card Use [Number]/[Up][Down] and press [SET].
Page 116: Rename
3. Service menu ------------------------------------------------------------------------------------------------ 3.5.4 Rename Outline You can use this function to change the file number. Rename can be changed all the internal memory and file of SRAM card and all information (date, type...) are exist. You can change the Rename about the protected files. Screen display 14:39:38 *** Rename ***...
Page 117 3. Service menu ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ 14:39:38 *** Rename(RAM) *** A:0 S:4 H120 *991 2001-07-09 13:34__ H120 .992 2001-07-09 13:34__ H120 .993 2001-07-09 13:34__ Enter new No and press [SET] >[1 - 999] Select Cancel Previous Next Execute Input new no. and Press [SET] File Select Method 1) Individual select Select the file individually.
Page 118 3. Service menu ------------------------------------------------------------------------------------------------ Use PF Key and select. > fileAll ProgAll LogSeparateComplete When you select " All file"[PF1], you can select all files. 14:39:38 *** Rename(RAM) *** A:0 S:4 H120 *991 2001-07-09 13:34__ H120 *992 2001-07-09 13:34__ H120 *993 2001-07-09 13:34__ H120 *994...
Page 119 3. Service menu ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ When you select " Separate"[PF4], you can select '1) select' select. 3) Direct input You input the direct program No. and select it. If you know the program no. to be selected, you press [Shift] [Program/Step] key and input the program no.. Then press [SET] key, you can select or cancel the program file.
Page 120: Copy
3. Service menu ------------------------------------------------------------------------------------------------ 3.5.5 Copy Outline File can be copied from storage device to the others or to itself. File that has been copied does not have attribute. Time of file being copied is current time (Date can not be copied) Copy can be possible for the file of internal memory and SRAM card. Screen display 14:39:38 *** Copy ***...
Page 121 3. Service menu ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ 14:39:38 *** Copy(RAM) *** A:0 S:4 H120 *991 2001-07-09 13:34__ H120 .992 2001-07-09 13:34__ H120 .993 2001-07-09 13:34__ ROBOT .C00 2001-06-30 11:12__ ROBOT .C01 2001-06-30 11:12__ ROBOT .E01 2001-06-30 11:12__ ROBOT .IM0 2001-06-30 11:12__ ROBOT .S01 561 2001-06-30 11:12__ ROBOT .TR0 101 2001-06-30 11:12__...
Page 122: Delete
3. Service menu ------------------------------------------------------------------------------------------------ 3.5.6 Delete Outline Function to delete selected file. File delete can be carried out for the all files of internal memory and SRAM card. However files of full or partial protection can not be deleted. Screen display 14:39:38 *** Delete *** A:0 S:4...
Page 123 3. Service menu ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ 14:39:38 *** Delete(RAM) *** A:0 S:4 H120 *991 2001-07-09 13:34__ H120 .992 2001-07-09 13:34__ H120 .993 2001-07-09 13:34__ ROBOT .C00 2001-06-30 11:12__ ROBOT .C01 2001-06-30 11:12__ ROBOT .E01 2001-06-30 11:12__ ROBOT .IM0 2001-06-30 11:12__ ROBOT .S01 561 2001-06-30 11:12__ ROBOT .TR0 101...
Page 124: Protect
3. Service menu ------------------------------------------------------------------------------------------------ 3.5.7 Protect Outline Important program can be protected from modification or deletion. Files can be protected from any modification or deletion in full protection setting, only position can be editable in partial protection. playback staring from 0 step or step forward action is protected in playback protection.
Page 125 3. Service menu ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ Select file and press "Execute"[PF5]. Refer to the above method to select file. The following example is when selecting program 991 and pressing "Execute"[PF5]. 14:39:38 *** Protect(RAM) *** A:0 S:4 H120 *991 2001-07-09 13:34__ H120 .992 2001-07-09 13:34__ H120 .993...
Page 126 3. Service menu ------------------------------------------------------------------------------------------------ Reference ⑴ Constant file is in full protection mode even though partial protection is set. ⑵ File that is not program file can not set for playback protect. ⑶ Partial protection is identical to full protection when file is not the program file.
Page 127: Storage Media Format
3. Service menu ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ 3.5.8 Storage Media Format Outline All the data in external storage device (SRAM Card Etc) can be deleted and DOS file system is activated. Screen display 14:39:38 * Storage Media Format *A:0 S:4 8: SRAM card Use [Number]/[Up][Down] and pree [SET].
Page 128: Save/Load (Sram Card)
3. Service menu ------------------------------------------------------------------------------------------------ 3.5.9 Save/Load (SRAM Card) Outline System files and program files in memory of controller can be all saved or loaded to SRAM card Screen display 14:39:38* Save/Load all files * A:0 S:4 1: Save all files to the SRAM card 2: Load all files from the SRAM card Use [Number]/[Up][Down] and press [SET].
Page 129 3. Service menu ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ Enter the name of directory with arrow keys and press : "Complete" [PF5]. Cursor moves 5 section as pressing [Shift]key with arrow key. 2) All file Load (SRAM -> Memory) The following is displayed as selecting 2: Load all files form the SRAM card. Enter the name if a folder to read.[Any] >...
Page 130: Program Conversion
3. Service menu ------------------------------------------------------------------------------------------------ 3.6 Program Conversion Outline Program transformation is creating new program out of current existing program. Screen display 14:39:38 *** Conversion *** A:0 S:4 1: Coordinate transfer 2: Mirror Image 3: Off-Line XYZ shift Use [Number]/[Up][Down] and press [SET]. >...
Page 131: Coordinate Transformation
3. Service menu ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ 3.6.1 Coordinate transformation Outline After teaching the program, in case of moving a target a workpiece in case of having many same workpiece, it is possible to use new workpiece to convert original program. Example ㅍ ㅍ...
Page 132 3. Service menu ------------------------------------------------------------------------------------------------ It calculates the transfer data from the 3 reference step of Program A and B.. Screen display 14:39:38 *** Coord Transf *** A:0 S:4 Reference point program Source 3 points program = [ 0] Destin 3 points program = [999] Object program Source program = [ 0]...
Page 133: Mirror Image
3. Service menu ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ 3.6.2 Mirror Image Outline It makes the program with the position data that is the symmetry toward to the plane passing through the line straight line being made by the S axis reference position of the robot when a certain robot program is given. It makes a new program that is symmetry to the position of wrist axis and the position of S-axis on the center of Y-Z plane to the position of 0°...
Page 134 3. Service menu ------------------------------------------------------------------------------------------------ Screen display 14:39:38 *** Mirror Image *** A:0 S:4 Source Program = [ 0] Destination Program = [ 0] Additional axes 7Axis = <DSBL,ENBL> ======== Limit over(step#) =========== (In case of language-type program, only HIDDEN-POSE steps will be converted.) Enter number and press [SET] >[1 - 999] Contents of window...
Page 135 3. Service menu ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ At this time, "End" means that the step being out of the range of the soft limit isn't in the existence and larger => means that a greater number of step being out of the range of the soft limit is in the existence ⑵...
Page 136: Off-Line Xyz Shift
3. Service menu ------------------------------------------------------------------------------------------------ 3.6.3 Off-Line XYZ Shift Outline It shifts the step of the teaching completed within program and to make other program Example [Parallel transfer of the workpiece] In case of moving the workpiece from the position A to the position B, Set the moving distance and execute "...
Page 137 3. Service menu ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ Screen display 14:39:38 * Off-Line XYZ Shift * A:0 S:4 Source Destination Program = [999] Program = [999] Start step = [ 1] End step = [ 10] Shift X=[ 0.0] Y=[ 0.0] Z=[ 0.0] Coordinate = < ROBOT, TOOL > User coordinate NO.
Page 138: System Checking
3. Service menu ------------------------------------------------------------------------------------------------ 3.7 System Checking Following is displayed in system checking menu. 14:39:38 *** System checking *** A:0 S:4 1: System version [R286] 2: Running time [R 10] 3: Diagnosis of troubles 4: Error logging 5: Stop logging 6: History of operation Use [Number]/[Up][Down] and press [SET].
Page 139: System Version
3. Service menu ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ 3.7.1 System version Outline Displays software version of controller Screen display 14:39:38 *** System version *** A:0 S:4 Robot type: H120 (Axis: 6 Tot Ax: 6) Main system Version => Robot Language Main S/W: V07.01-02 2001-06-18 Motion S/W: V07.00 2001-07-09 T/P Ver : V01.03...
Page 140: Run Time
3. Service menu ------------------------------------------------------------------------------------------------ 3.7.2 Run time Outline It displays operating time of robot. Screen display 14:39:38 *** Run time *** A:0 S:4 1: Display of run time 2: Display of total run tiem ( Clear all data ( Clear run time ( Clear cycle count ) ( Clear gun data ( Clear I wait data )
Page 141 3. Service menu ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ (2) Cycle time : Number of the cycle played during the operation time. it is counted at the step 1. And through the robot is stopped during operation, counting is continued. (It is reset as exceeding 255 times) (3) GUN ON Time : Gun signal output time per one cycle during operation.
Page 142 3. Service menu ------------------------------------------------------------------------------------------------ cycle count, 6: Clear gun data, 7: Clear I wait data, 8: Clear Timer wait data. Clear ( YES / NO ) > Data is cleared as selecting (YES) and following is displayed. 14:39:38 *** Run time *** A:0 S:4 *Total run time =0:0: 0.00...
Page 143: Diagnosis Of Troubles
3. Service menu ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ 3.7.3 Diagnosis of troubles Outline Displays the error diagnosis method of the robot. When error occurs in the robot, it helps to main Screen display 14:39:38 * Error code number * A:0 S:4 E0110 Discharge resister overheated. Error code Number [ 110] Phenomena...
Page 144 3. Service menu ------------------------------------------------------------------------------------------------ or "No"[PF2] key. When you press “ Yes” [PF1] or “ No” [PF2]key by mistake, press “ Return" [PF3]key to return to the previous item. ---------------------------------------------------------------------------------------- 3 - 75...
Page 145: Error Logging
3. Service menu ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ 3.7.4 Error logging Outline It displays the occurred error until now. It makes the restoration work, the occurring cause of error judge correctly by referring to the history of error until now. Screen display 14:39:38 *** Error logging *** A:0 S:4 1: W-0005 25 10:27 2: E-0107 25 10:27 3: E-0107 25 10:27...
Page 146 3. Service menu ------------------------------------------------------------------------------------------------ Reference Following is displayed in guide frame as selecting “ Refresh?” [PF1]key. Refresh the recorded data? [YES/NO] > Refresh? Previous Next If (Yes)Key is selected, error history up to current list is all cleared If (No)Key is selected, it is cancelled.
Page 147: Stop History
3. Service menu ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ 3.7.5 Stop History Outline It displays the stop history of the robot until now. It helps to maintain the robot recording the status of input, output, axis data, step number, program no of input content, stop time, a point of stop time in case of inputting the operating motor-off or stop command while operating Screen display 14:39:38...
Page 148 3. Service menu ------------------------------------------------------------------------------------------------ Input/Output, state condition of each signals or data at the stop occurrence. Reference Following is displayed in guide frame as selecting “ Refresh?” [PF1] key. Refresh the recorded data? [YES/NO] > Refresh? Previous Next If (Yes) Key is selected, error history up to current list is all cleared If (No)Key is selected, it is cancelled.
Page 149: Operation History
3. Service menu ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ 3.7.6 Operation History Outline It displays an operation history until now. Stop command during operation or input in case of operation ready off, time of stop, program number, step number, axis data and input/output state at the stop are recorded to help maintenance of robot. Screen display 14:39:38 ** Operation Hist ** A:0 S:4...
Page 150: Date Setting (Date, Time)
3. Service menu ------------------------------------------------------------------------------------------------ 3.8 Date setting (Date, Time) Outline Date setting (Date, Time) can change date/time of controller. 14:39:38 *** Date/Time set *** A:0 S:4 Date = 2001-07-25 Time = 10:30:02 Select and Enter number, Press [SET] >[1980-2079] Operation method Use arrow key to move the cursor on items, and enter the value and press [SET] key to insert input value.
Page 151 4. Condition setting ------------------------------------------------------------------------------------------------ Chap 4 Condition Setting Contents ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ Cycle type ............4-3 Step go/back max. speed .......... 4-3 Function in step go/back ......... 4-4 Speed rate............4-4 Robot lock............4-5 Record speed type ..........4-5 Interpolation base ..........4-6 User coordinate ..........
Page 152: Chapter 4. Condition Setting
4. Condition setting ------------------------------------------------------------------------------------------------ Chapter 4 Condition Setting Press "Cond Set"[PF5] key in either playback mode or manual mode. Screen display 14:39:38 *** Condition set *** A:0 S:4 1: Cycle type =<1Step,1Cycle,Continu> 2: Step go/back max.speed(mm/s) = [200] 3: Func in step GO/BACK =<Off,On,I On> 4: Speed rate=[100] GunStep=<DSBL,ENBL>...
Page 153: Cycle Type
4. Condition setting ------------------------------------------------------------------------------------------------ 4.1 Cycle type Outline Decide method of playback for the program. ① 1Step : 1step is executed while pressing start button. (Execution of step is completed and robot stops as releasing the start button.) ② 1Cycle : Program is executed in one cycle and stop after pressing start button(Robot stops when program reaches to the End command.) ③...
Page 154: Function In Step Go/Back
4. Condition setting ------------------------------------------------------------------------------------------------ 4.3 Function in step go/back Outline Decide activation of function at step go/back in manual mode. ① Off : Ignores other function except END function ② On : Execute all functions stored in step ③ I On : Execute Input delay function and END function only. Reference (1) At Step Back, Wait (I On) is only executed.
Page 155: Robot Lock
4. Condition setting ------------------------------------------------------------------------------------------------ 4.5 Robot lock Outline Program is only executed without robot movement. By doing this peripherals and states of In/output and software limit can be checked “ R123 in R code is the same function of Robot Lock. ①...
Page 156: Interpolation Base
4. Condition setting ------------------------------------------------------------------------------------------------ 4.7 Interpolation base Outline Recording step, Interpolation reference change Interpolation selected automatically. General interpolation method is robot base interpolation so that default value of controller is calculated with respect to robot base. In order to record interpolation step of fixture, fixture is set as interpolation reference Reference In order to record step with fixture interpolation reference, Coordinate system of fixture is set.
Page 157 4. Condition setting ------------------------------------------------------------------------------------------------ "0" is set as number of the user coordinate, it release the action for the user coordinate system and then executes to monitor and act the interpolation coordinate system for the robot coordinate system Linear coordinate and monitoring to robot coordinate can be executed even though user coordinate is not defined or registered, Registering User coordinate, refer to “...
Page 158 5. Application condition ------------------------------------------------------------------------------------------------ Chapter 5 Application condition Contents ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ Conveyor operation ........... 5 - 3 Search range ..........5 - 4 Search reference position record ......5 - 4 Spot welding ..........5 - 5 Gun search reference record ........5 - 6 Output(DO) signal clear ........
Page 159: Chapter 5. Application Condition
5. Application condition ------------------------------------------------------------------------------------------------ Chapter 5 Application condition In “ Cond Set” [PF5], Press “ AppliCnd” [PF1]. Screen display 14:39:38* Application Condition A:0 S:4 1: Conveyor Oper=<Normal,Simulat.,Test> 2: Search range =[0.0] 3: Search reference Pt. record=<Off,On> 4: Spot welding =<Wd-On,Sq-On,SqOff> 5: Gun search Ref.point record=<Off,On>...
Page 160: Conveyor Operation
5. Application condition ------------------------------------------------------------------------------------------------ 5.1 Conveyor operation Outline It determines the movement of robot when robot handles workpiece on conveyor, ① Normal : Robot moves synchronously according to actual movement of workpiece on conveyor. ② Simulation : Without operating conveyor, user can operated robot movement by entering conveyor speed.
Page 161: Search Range
5. Application condition ------------------------------------------------------------------------------------------------ 5.2 Search Range Outline Define the range to be searched when you use search function. X value can be set between 0.0∼3.0 and the range is as follows. Teaching Point Teaching Point ｜← → ｜ ● ----------------------● --------------｜｜←...
Page 162: Spot Welding
5. Application condition ------------------------------------------------------------------------------------------------ 5.4 Spot welding Outline In servo gun application and activating spot welding function, regardless setting of defined welding sequence, pressurization and current signal output can be disabled. This function is useful for teaching position check and spot point check when no actual welding is performed and peripherals are not equipped.
Page 163 5. Application condition ------------------------------------------------------------------------------------------------ 5.5 Gun Search reference point record Outline In case of using servo gun or equalizer, reference position shall be recorded to reduce wear of electrode. Refer to Servo gun manual or robot equalizer manual for Gun search operation ①...
Page 164: Output(Do) Signal Clear
5. Application condition ------------------------------------------------------------------------------------------------ 5.6 Output(DO) signal clear Outline In executing step 0, initialization for current general I/O and welding signal has to be set. ① Disable : Does not initialize output signal (DO) at the execution step 0. ② Enable : Does initialize output signal (DO) at the execution step 0.. 5.7 On-line Shift Register Clear Outline Setting to initialize shift register of online shift registry group In executing step0.
Page 165: Chapter 6 System Setting
6. System setting ------------------------------------------------------------------------------------------------ Chapter 6 System setting Contents ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ User configuration ........... 6 - 5 6.1.1 Display language ........6 - 6 6.1.2 Pose record type ........6 - 6 6.1.3 Start type ..........6 - 7 6.1.4 Change of cursor position in auto mode ....6 - 7 6.1.5 Confirm when the command delete .......
Page 166 6. System setting ------------------------------------------------------------------------------------------------ 6.2.2 Serial port ........6 - 31 1: Teach Pendant (CNTP) ......6 - 31 2: Private serial port for I/O board ....6 - 31 3: Serial port #1 (CNSIO) ......6 - 32 4: Serial port #2 (OPSIO) ......6 - 33 6.2.3 Robot ready ........
Page 167 6. System setting ------------------------------------------------------------------------------------------------ 3: Spot welding data(condition,sequence) .... 6 - 76 4: Equalizing parameter ......6 - 81 6.4.2 Arc ..........6 - 83 6.4.3 Palletizing ......... 6 - 85 1: Palletizing pattern register ..... 6 - 86 2: Palette dip angle measurement ....6 - 90 6.4.6 Conveyor ..........
Page 168 6. System setting ------------------------------------------------------------------------------------------------ Chapter 6 System setting The following is displayed as selecting “ System” [PF2] of initial menu in Manual mode. 14:39:38 *** System setting *** A:0 S:4 1: User parameter 2: Controller parameter 3: Machine parameter 4: Application parameter 5: System format 6: Automatic constant setting Use [Number]/[Up][Down] and press [SET]...
Page 169: User Configuration
6. System setting ------------------------------------------------------------------------------------------------ 6.1 User configuration The following condition can be set in the window below as selecting user parameter. 14:39:38 * User configuration * A:0 S:4 1:Display language(언어)=<한글,English> 2:Default Pose =<Base,Robot,Encoder> 3:Robot Start type=<In,Ex,Remote Start> 4:Cursor Change on AutoMode=<DSBL,ENBL> 5:Confirm Delete Command =<DSBL,ENBL>...
Page 170: Display Language
6. System setting ------------------------------------------------------------------------------------------------ 6.1.1 Display language Outline Select current language at current display on Teaching pendant ① 한글 : Displays Korean language on Teaching pendant. ② English : Displays English Language on Teaching pendant. Reference Type of language is automatically selected according to Dip Switch no1. of BD411 board when main power is switched to"...
Page 171: Start Type
6. System setting ------------------------------------------------------------------------------------------------ 6.1.3 Start type Outline Define starting method of robot system. Same as pressing “ R5: external start selection (Enable/Disable) of R code ① Internal : Press start button in OP panel to start the robot ② External : Start the robot by receiving external digital signal . Refer to chapter 12 Signal Connection →...
Page 172: Confirm When The Command Delete
6. System setting ------------------------------------------------------------------------------------------------ 6.1.5 Confirm when the command delete Outline This function enables you to use this function by setting "Enable" or "Disable" when you want to confirm whether it is acceptable for you to delete some command or not before deleting the command.
Page 173: Dettachment Of Teach Pendant
6. System setting ------------------------------------------------------------------------------------------------ 6.1.7 Dettachment of Teach Pendant Outline It playbacks the teaching program after dettaching the teach pendent to protect the program. But, only after completing the teaching. ① Disable : It occurs the communication error if you dettach the teach pendent to the controller in case of setting the "Disable".
Page 174: Using The Program Strobe Signal
6. System setting ------------------------------------------------------------------------------------------------ Reference It is displayed on the screen of Teach pendent in auto mode as following according to compounding “ System” [PF2] → 1. User Parameter → 3. START TYPE and 9. External Program Selection. External Program Disable Enable Start Type...
Page 175: Step Set Alarm Type
6. System setting ------------------------------------------------------------------------------------------------ 6.1.11 STEP SET ALARM TYPE Outline This is a function that can output the alarm signal (pulse 200msec) when you select the step that is out of the present step. ① ONE : This alarm signal comes when you select the step that is different more than 2 step compared to the present step a output signal in manual mode or 1 step( auto mode ).
Page 176: Using The Collision Sensor
6. System setting ------------------------------------------------------------------------------------------------ 6.1.13 Using the collision sensor Outline It selects one of the method that can stop the robot if the collision sensor active.. (1) Robot stop type ① Emergency stop : It stops the robot with MOTOR OFF. ②...
Page 177: Controller Parameter
6. System setting ------------------------------------------------------------------------------------------------ 6.2 Controller Parameter It displays the following massage on the screen if you select "SYSTEM[PF5] → 2.Controller Parameter" in the first screen of manual mode 14:39:38** Controller parameter**A:0 S:4 1: Setting input & output signal 2: Serial ports 3: Robot ready 4: Registration of home position 5: Return to the previous position...
Page 178: Input/Output Signal Selection
6. System setting ------------------------------------------------------------------------------------------------ 6.2.1 Input/Output signal selection Outline It sets up when you need to change the attribution of the input/output signal. Screen display 14:39:38** DIO signal setting ** A:0 S:4 1: Input signal logic 2: Output signal logic 3: Output signal attribute 4: Pulse table setting 5: Delay table setting...
Page 179 6. System setting ------------------------------------------------------------------------------------------------ 6.2.1.1 Input signal logic Outline It sets up the positive, negative of the general input signal. Screen display 14:39:38*** DI signal logic *** A:0 S:4 DI1 = <Posi,Nega> DI2 = <Posi,Nega> DI3 = <Posi,Nega> DI4 = <Posi,Nega> DI5 = <Posi,Nega>...
Page 180: 2: Output Signal Logic
6. System setting ------------------------------------------------------------------------------------------------ 6.2.1.2 Output signal Logic Outline It sets up the positive, negative logic of the general output signal. Screen display 14:39:38*** DO signal logic *** A:0 S:4 DO1 = <Posi,Nega> DO2 = <Posi,Nega> DO3 = <Posi,Nega> DO4 = <Posi,Nega> DO5 = <Posi,Nega>...
Page 181 6. System setting ------------------------------------------------------------------------------------------------ 6.2.1.3 The attribution of Output signal Outline It decides the attribution of output signal. If the number of output signal is normal "0", the number 1 to 15 output the pulse signal to be assigned in the pulse signal table, and the number 16 to 30 output the delay signal assigned in the delay signal table.
Page 182: 4: Setting The Pulse Table
6. System setting ------------------------------------------------------------------------------------------------ 6.2.1.4 Setting the Pulse table Outline 3: It sets the content about the pulse signal of pulse number that input in the attribution of the output signal. Screen display 14:39:38 *** Pulse table *** A:0 S:4 Table Count ON time OFF time...
Page 183: 5: Setting The Delay Table
6. System setting ------------------------------------------------------------------------------------------------ 6.2.1.5 Setting the delay table Outline 3: It sets the content about the delay signal of delay number that input in the attribution of the output signal. Screen display 14:39:38 *** Delay table *** A:0 S:4 Table Count ON delay OFF delay...
Page 184: 6: Output Signal Assignment
6. System setting ------------------------------------------------------------------------------------------------ 6.2.1.6 Output signal Assignment Outline It uses the signal after output signal assign in special DO signal. Screen display 14:39:38 ** DO Sig assignment ** A:0 S:4 GUN (squeeze) Sig = G1 [ 23] G2 [ 24] MX(Unfolding) Sig = X1 [ 25] X2 [ 0] Alarm to welding system...
Page 185: 7: Input Signal Assignment
6. System setting ------------------------------------------------------------------------------------------------ 14:39:38 ** DO Sig assignment ** A:0 S:4 GUN (squeeze) Sig = G1 [ 1] G2 [ 2] MX(Unfolding) Sig = X1 [ 3] X2 [ 0] Alarm to welding system [ 0] Weld stick warning [ 0] Program end [ 7]...
Page 186 6. System setting ------------------------------------------------------------------------------------------------ Reference ⑴ All Initialize: It initializes all of output assignment signal. It displays the following massage on the screen if you select All initialize function. All Init.?Hardwiring:0,Fieldbus:1(0 - 1) >[0 - 1] FormOne FormPrevious Next Complete If you select the standard number "0", all of assigned signal changes the initializing value.
Page 187: 8: Setting The Earlier Output
6. System setting ------------------------------------------------------------------------------------------------ 6.2.1.8 Setting the Earlier output Outline Usually, the DO signal output after getting to the step, You can use this function when you output DO signal before getting to the step by setting this function. Screen display 14:39:38 *** Earlier output *** A:0 S:4 Time Low DO...
Page 188: 9: Dio Name Edit
6. System setting ------------------------------------------------------------------------------------------------ 6.2.1.9 DIO Name Edit Outline The user names in each in/out signal. Screen display 14:39:38 *** DIO name *** A:0 S:4 1: Page 1 2: Page 2 3: Page 3 4: Page 4 Use [Number]/[Up][Down] and press [SET]. >...
Page 189 6. System setting ------------------------------------------------------------------------------------------------ Reference ⑴ The following massage is displayed if the highlight bar move to the position in the ] part. Press [SET] for string input > The following massage that can input the character string is displayed if [SET] input. 14:39:38 ** Character input ** A:0 S:4 DIO name 1234567890 ABCDEFGHIJKLMNOPQRSTUVWXYZ...
Page 190: 10: Setting The Field Bus
6. System setting ------------------------------------------------------------------------------------------------ 6.2.1.10 Setting the field bus Outline It sets the Fieldbus parameter. Screen display 14:39:38 ** Fieldbus Config ** A:0 S:4 1: En/Disable Fieldbus Adapter 2: Select Input Source 3: Assign Input No 4: Assign Output No Use [Number]/[Up][Down] and press [SET] >...
Page 191 6. System setting ------------------------------------------------------------------------------------------------ 6.2.1.10.1 Application of the field bus adapter Outline It select whether Fieldbus will use or not. Screen display 14:39:38* En/Disable Fieldbus * A:0 S:4 Fieldbus Adapter =<Off,On> [SHIFT]+[<-][->] to En/Disable > Done Screen description ① Off : Can not use the field bus. ②...
Page 192 6. System setting ------------------------------------------------------------------------------------------------ 6.2.1.10.2 Input source selection Outline It sets up from which of the hard wired or field bus the input receives. Screen display 14:39:38 * Select Input Source *A:0 S:4 Select Input Source DI1 - <- <HWrd,Fbus> DI9 - DI16 <- <HWrd,Fbus>...
Page 193 6. System setting ------------------------------------------------------------------------------------------------ If press [SET]key after the standard [0] input the input source of the screen that is displayed in the present teach pendent change <STANDARD>. If press [SET]key after the field bus [1] input the input source of the screen that is displayed in the present teach pendent change <Fbus>.
Page 194 6. System setting ------------------------------------------------------------------------------------------------ 6.2.1.10.4 Output signal assignment Outline It sets each signal group unit how you will map each output. Screen display 14:39:38*** Assign Outpur No *** A:0 S:4 Assign Output No to Fbus Data O1 - O8 -> [ 0] Fbus_0 O11 - O18 ->...
Page 195: Serial Port
6. System setting ------------------------------------------------------------------------------------------------ 6.2.2 Serial port Outline It sets up the use purpose of the serial port, and sets up the RS232C parameter 14:39:38 * Serial port select* A:0 S:4 1: Teach Pendant (CNTP) 2: Serial to I/O Board (CNIO) 3: Serial port #1 (CNSIO) 4: Serial port #2 (OPSIO) Use [Number]/[Up][Down] and press [SET].
Page 196 6. System setting ------------------------------------------------------------------------------------------------ Screen display 14:39:38 *** Serial to I/O *** A:0 S:4 Baudrate = <...,9600,19200,38400,57600> Character length = <7,8> bit Stop Bit = <1,2> bit Parity bit = <Disable,Odd,Even> Echo = <Disable,Enable> Press [SHIFT]+[<-][->] Key > Reference If you press “ Complete” [PF5] key, Save the changed information. If press [CANCEL] key, Cancel them.
Page 197 6. System setting ------------------------------------------------------------------------------------------------ Sens ..You can use this function to receive the shift value from the vision. ( Interface with the external vision system ) 6.2.2.4 The use of the serial port #2 Outline This is a serial port (OPSIO), It sets up the communication information when you communicate with a serial port.
Page 198: Robot Ready
6. System setting ------------------------------------------------------------------------------------------------ 6.2.3 Robot Ready Outline The robot outputs robot ready end signal if the robot is ready. The robot ready output signal is a DO signal to be assigned in the “ SYSTEM” [PF2] → 2. Controller parameter → 1. IN/OUT SIGNAL SETTING → 6: OUTPUT SIGNAL ASSIGNMENT. Screen display 14:39:38 *** Robot ready *** A:0 S:4...
Page 199: Home Position Registration
6. System setting ------------------------------------------------------------------------------------------------ 6.2.4 Home position registration Outline This signal outputs when a robot motion is in this home position after a specific position of the robot register as a home position of this robot The home position output signal is a DO signal to be assigned in the “ SYSTEM” [PF2] →...
Page 200: Return To The Previous Position
6. System setting ------------------------------------------------------------------------------------------------ 6.2.5 Return to the previous position Outline This is the function that the robot returns to the previous position automatically when turning the motor on because the robot may be dropped to the down by the weight of the robot when turning the motor off by the H/W error or emergency stop etc.
Page 201: End Relay Output Time
6. System setting ------------------------------------------------------------------------------------------------ 6.2.6 End Relay Output Time Outline It sets up the time until the step 0 execute again after end the program by setting the output time of this signal when the program execute in continuous auto mode. Screen display 14:39:38 *** End relay ***...
Page 202: Interlock Error Time
6. System setting ------------------------------------------------------------------------------------------------ 6.2.7 Interlock error time Outline It sets up the maximum waiting time of input signal. Interlock error time output if the time of input waiting status during playback is over the reference time. This function that is to set up this reference time is a interlock error time.
Page 203: External Error Output
6. System setting ------------------------------------------------------------------------------------------------ 6.2.8 External error output Outline This is the function that outputs the detected error no. to the external device. Screen display 14:39:38 *** Error output *** A:0 S:4 Serial output =<Disable,Port1,Port2> Discrete output = <Disable,8bit,16bit> Press [SHIFT]+[<-][->] >...
Page 204 6. System setting ------------------------------------------------------------------------------------------------ Assignment and Quantity Signal name Type 1 Type 2 Ο × Error output select : 1EA Ο × Error output STRB : 1EA Ο Ο : 16EA Error output Bit : 8EA ① Type 1 (8bit output) It outputs after dividing by 2 group.
Page 205 6. System setting ------------------------------------------------------------------------------------------------ ② Type 2 (16bit output) It outputs 16bit data after the error number transfers the binary. The strobe signal deciding the data check timing is - System error => General error - Operation error => Operation error For example The timing in case of occurring E0101(SYSTEM ERROR) +-------1----------------------------------------...
Page 206: Power Saving : Pwm Off
6. System setting ------------------------------------------------------------------------------------------------ 6.2.9 Power Saving : PWM OFF Outline It sets up the waiting time until the power saving function start from the last operation time. It economizes on the consumption power by cutting off the power supply of the motor if the waiting time pass in case of the stop status for a long time resulting in input signal wait, starting wait of the robot in auto mode.
Page 207: Shift Limit
6. System setting ------------------------------------------------------------------------------------------------ 6.2.10 Shift Limit Outline It sets up the limit value of the volume to be shifted. It occurs the error if the shift volume is over the limit value that you set the limit value of the value to be shifted using in the XYZ SHIFT, ON-LINE SHIFT function. Setting Name Content...
Page 208: Setting The User Key
6. System setting ------------------------------------------------------------------------------------------------ 6.2.11 Setting the user key Outline It uses this function after assigning some function in f1 ∼ f4 key of the teach pendent when the user wants to operate the robot easily. For example f key Content Setting cancel It cancels the set content.
Page 209 6. System setting ------------------------------------------------------------------------------------------------ Screen display 14:39:38 *** f-key setting *** A:0 S:4 f1=[ 0] f2=[ 0] f3=[ 0] f4=[ 0] :Key setting cancel :GUN2 :Tool selection :Speed up by 5% :Speed down by 5% :MX2 :Servo GUN open/close :Servo GUN squeeze :Welding condition selection ---------------------------------------- f1=[ 0] f2=[ 0] f3=[ 0] f4=[ 0]...
Page 210: Coordination System Registration
6. System setting ------------------------------------------------------------------------------------------------ 6.2.12 Coordination system registration Outline It sets up the User coordination system or pedestal tool coordination system. Screen display 14:39:38 *Coordinate assignment* A:0 S:4 1: User coordinate 2: Stationary tool coordinate Use [Number]/[Up][Down] and press [SET]. >...
Page 211 6. System setting ------------------------------------------------------------------------------------------------ Z axis Z 축 X axis X 축 User coord. User 좌표계 Step3 스텝 3 Step2 스텝 2 Y axis Y 축 XY PLANE of User coord. 스텝 1 Step1 User 좌표계의 XY 평면 Screen display 14:39:38 *** User coordinate *** A:0 S:4 User Coord.
Page 212: 2: Pedestal Tool Coordination System
6. System setting ------------------------------------------------------------------------------------------------ 6.2.12.2 Pedestal tool coordination system Outline It selects the position of tool end of pedestal tool in the outer of the robot. You can input the XYZ coordination about the pedestal tool number. It is possible for you to register 4 positions from 0 to 3.
Page 213: Machine Parameter
6. System setting ------------------------------------------------------------------------------------------------ 6.3 Machine Parameter The following screen is displayed if you select the robot parameter. 14:39:38 ** Machine parameter ** A:0 S:4 1: Tool data 2: Axis constant 3: Softlimit 4: Arm interference angle 5: Setting encoder offset 6: Accel &...
Page 214: Tool Data
6. System setting ------------------------------------------------------------------------------------------------ 6.3.1 Tool Data Outline You should register the length and angle of the tool. (Please register before teaching work ) The robot does linear motion according to the setting length. The linear coordination motion or fixing motion of the tool end do the linear interpolation motion as you want if you must set the accurate value because the motion of the robot execute.
Page 215 6. System setting ------------------------------------------------------------------------------------------------ Screen description Weight : Record the weight of tool. Initia : Record the initia of the tool for tool coordination. Center : Record the weight centering position of the tool basis on the R1 axis center. Inertia (Ix, Iy, Iz) Weight: W...
Page 216 6. System setting ------------------------------------------------------------------------------------------------ Initia calculation for square pillared tool Initia calculation for a cylinderical tool Ix~=~{ ( Ly ^ 2 + Lz ^ 2 ) } / 12 X W Ix~=~Iy~=~{ ( 3r ^ 2 + H ^ 2 ) } / 12 X W Iy~=~{ ( Lx ^ 2 + Lz ^ 2 ) } / 12 X W Iz~=~{ r ^ 2 } / 2 X W Iz~=~{ ( Lx ^ 2 + Ly ^ 2 ) } / 12 X W...
Page 217 6. System setting ------------------------------------------------------------------------------------------------ Tool no. to be set : Input the tool number that you want to set again. ⑵ Angle calibration Outline It executes the calibration, angle setting of the tool. You should select “ Angle calibration” [PF2] key. Screen display 14:39:38 ***TOOL ANGLE SETg*** A:0S:4 By jogging, let the tool be parallel to...
Page 218: Axis Constant
6. System setting ------------------------------------------------------------------------------------------------ 6.3.2 Axis Constant Outline It register the reference position of each axis. It decides the direction of the linear motion by the axis constant. It sets up the standard value when shipment. You need to change the constant of R1 axis according to the attaching direction of the tool, to change the constant of the S axis according to the situation of the robot and its peripheral device.
Page 219: Soft Limit
6. System setting ------------------------------------------------------------------------------------------------ 6.3.3 Soft Limit Outline It sets to restrict the working range for each axis. It sets the maximum working range of the robot when shipment in the production shop. Please reset according to the installation drawing when using in site. Screen display 14:39:38 *** Software limit *** A:0 S:4 S LF=[0037FD56] [00400000] [...
Page 220: Arm Interference Angle
6. System setting ------------------------------------------------------------------------------------------------ 6.3.4 Arm Interference Angle Outline It sets the working limit between the ARM. In case of the robot it restricts the angle between the H axis and V axis according to the robot structure. It sets the maximum working range between the arm when shipment. Screen display 14:39:38 ** ARM interference ** A:0 S:4 Min = [ 25.0]...
Page 221: Encoder Offset Calibration
6. System setting ------------------------------------------------------------------------------------------------ 6.3.5 Encoder Offset Calibration Outline It calibrates the original point of encoder. It decides the original point of the encoder to the position of the reference pin of each axis. You should calibrate the encoder to match the original point of encoder as actual encoder values according to each axis are various.
Page 222 6. System setting ------------------------------------------------------------------------------------------------ Operating Method The following message is displayed if you press [SET] after moving the cursor to the position of the axis where you want to set. After axis Oper, press [REC].[ESC]usable > It presses [RECORD] after moving the robot to the position of the reference pin with operation button.
Page 223 6. System setting ------------------------------------------------------------------------------------------------ 6.3.6 Acceleration/Deceleration Speed Parameter Outline It sets acceleration/deceleration time. It is a parameter that decides the maximum speed, acceleration/deceleration time of each axis of the robot. When the robot is made a shipment from robot shop, it is set to the most suitable value.
Page 224 6. System setting ------------------------------------------------------------------------------------------------ 6.3.7 B axis Dead Zone It sets the B axis Dead Zone. The turning center of R1 axis and R2 axis is approximately parallel in the vicinity of zero degree of B axis. In this case, the robot is put in sudden movement with a little operation.
Page 225: Accuracy
6. System setting ------------------------------------------------------------------------------------------------ 6.3.8 Accuracy Outline It sets the extent of coincidence with a destination position at the playback. The range of accuracy is registered from zero to three. There are bit specifying type and distance specifying type in the specification of accuracy value. In case that the step to move and next step are recorded as interpolation ON, the accuracy at the recorded point is automatically specified by distance.
Page 226 6. System setting ------------------------------------------------------------------------------------------------ ⑵ Discontinuous step / Continuous step ① Discontinuous step : It means a step to move off on the aimed step. The move-off point is a point which the current value (feedback encoder) reaches to the accuracy level (Bit, Distance) designated in the step. ②...
Page 227 6. System setting ------------------------------------------------------------------------------------------------ Step1 Discontinuous step Continuous step Step2 ③ The locus of J-L and J-C cornering If the J-L(or J-C) cornering enters in the accuracy range from the J step (Previous step ), it plans to shift to the next step. Continuity Acceleration distance Discontinuous route...
Page 228: Speed
6. System setting ------------------------------------------------------------------------------------------------ 6.3.9 Speed Outline It decides the record speed in making a program. It is a value that is recorded at the same time when you record the step. If it is necessary, please set it again according to the use of robot. There are from 1 level to 4 level in the high speed and from 1 level to 4 level in the low speed in the playback speed to be recorded.
Page 229: Additional Load Per Each Axis
6. System setting ------------------------------------------------------------------------------------------------ 6.3.11 Additional load per each axis Outline It registers the information of transformer or the supporting structure for wiring which equipped on the basic axis of robot and so forth. Screen display 14:39:38* Additional mass set * A:0 S:4 1'st Axis ============================= Weight[ 0.0] Kg...
Page 230 6. System setting ------------------------------------------------------------------------------------------------ The coordinate system's origin on the each axis refers to the following figure. The X, Y and Z direction of each axis are set to the same direction with the coordinate system of robot. Datum position of 3 axis Datum position of 2 axis Datum position of 1 axis ----------------------------------------------------------------------------------------...
Page 231: Application Parameter
6. System setting ------------------------------------------------------------------------------------------------ 6.4 Application parameter If you select the application parameter, the following screen is displayed. 14:39:38 *Application parameter* A:0 S:4 1: Spot & Stud 2: Arc 3: Palletizing 6: Conveyor 7: Volt. output proportional to Speed Use [Number]/[Up][Down] and press [SET]. >...
Page 232: Spot & Stud
6. System setting ------------------------------------------------------------------------------------------------ 6.4.1 Spot & Stud Outline It is set to perform the spot & stud welding work. Screen display 14:39:38 *** Spot&Stud Weld *** A:0 S:4 1: Air-gun welding data 2: Servo gun parameter 3: Servo-gun welding data(Cnd,Seq) 4: Air-gun equalizing parameter Use [Number]/[Up][Down] and press [SET].
Page 233 6. System setting ------------------------------------------------------------------------------------------------ 6.4.1.1 Welding parameter Outline It makes the welding work possible efficiently to save the information that is necessary when it welds is a spot welding or stud welding. Screen display 14:39:38 *Air-gun welding data* A:0 S:4 [Welding parameter] = [ GUN1] [ GUN2] GUN waiting time(sec) = [ 0.00] [ 0.00]...
Page 234 6. System setting ------------------------------------------------------------------------------------------------ Re-welding count : In case that the welding completion signal doesn't be inputted within the time set in the re-welding wait time after outputting the gun signal, it decides how many times the gun signal is outputted. Re-welding wait time (sec.) : It sets a wait time till the re-welding.
Page 235 6. System setting ------------------------------------------------------------------------------------------------ 6.4.1.2 Servo gun parameter Outline It is set to do the spot welding by using the servo gun. The additional axis should be registered to the servo gun and in case of making out the machine constant file, it is set to the initial value. If it is necessary, please change it according to the gun or the welding method so forth.
Page 236 6. System setting ------------------------------------------------------------------------------------------------ 14:39:38** Servo Gun 1 Param. ** A:0 S:4 **Pressure-Current Tab.1 (Gravitational) Pressure(Kgf) Command(A) Feedback(A) 1. [ 2. [ 150] 3. [ 225] 4. [ 300] 5. [ 350] ---------------------------------------- **Pressure-Current Tab.1 (Gravitational) Pressure(Kgf) Command(A) Feedback(A) 1. [ 2.
Page 237 6. System setting ------------------------------------------------------------------------------------------------ check the abnormality of abrasion quantity. Electrode exchange abrasion quantity (mm) : In case that the electrode's abrasion quantity detected with the gun search exceeds the electrode exchange abrasion quantity, it displays the warning message such as "W0105 Total electrode exceeded exchange maximum abrasion quantity"...
Page 238 6. System setting ------------------------------------------------------------------------------------------------ after outputting the error message such as "E0156 The fixed electrode exceeded the maximum abrasion quantity". and if it is set to 0.0mm, it doesn't perform the error detection. Maximum fixed electrode abrasion (mm) : In case that the abrasion quantity of fixed electrode detected with the gun search exceeds this value, it stops after outputting the error message such as "E0156 The fixed electrode exceeded the maximum abrasion quantity".
Page 239 6. System setting ------------------------------------------------------------------------------------------------ pressurization table can set the current value on the pressurization of 5 unit choosed freely. Reference ⑴ Certainly, set a data before using the servo gun function. ⑵ In case that the set point is improper, even if the "PF5"[Completion] key is pushed, it isn't changed.
Page 240: 3: Spot Welding Data(Condition,Sequence)
6. System setting ------------------------------------------------------------------------------------------------ 6.4.1.3 Spot welding data (condition, sequence) Outline It displays and changes the contents of a welding sequence data in the application of servo gun. The servo gun welding condition and sequence recorded in the spot welding file(ROBOT.WSD) are datum which use in case that the spot welding function is operated.
Page 241 6. System setting ------------------------------------------------------------------------------------------------ 6.4.1.3.1 Common data Outline It is a data which is applied in commonness without having concern with the welding condition or sequence number. Screen display 14:39:38 *** Common Data *** A:0 S:4 Error processing =< Interlock,Stop >...
Page 242 6. System setting ------------------------------------------------------------------------------------------------ 6.4.1.3.2 Welding condition Outline It is a data that decides the welding condition and the servo gun pressurization force so forth. Screen display 14:39:38 *** Weld Condition *** A:0 S:4 Number =[ 1] Output data =[ 1] Output type =<...
Page 243 6. System setting ------------------------------------------------------------------------------------------------ 6.4.1.3.3 Welding sequence Outline It is a data that decides the welding sequence of controller in the playback of the spot welding. Screen display 14:39:38 *** Weld Sequence *** A:0 S:4 Number =[ 1] Condition signal =<...
Page 244 6. System setting ------------------------------------------------------------------------------------------------ welding completion wait is also come to an end. 6.4.1.3.4 Data copy Outline It can copy the data of welding condition number and sequence number to that of other number. Screen display 14:39:38 *** Data Copy *** A:0 S:4 Selection =<...
Page 245: 4: Equalizing Parameter
6. System setting ------------------------------------------------------------------------------------------------ 6.4.1.4 Equalizing parameter Outline It is set to do the spot welding by using the equalizerless air gun. The G1 or G2 should be <Eq'less> in "SYSTEM"[PF2] → 5.Initialization → 4. GUN mode setting. If the initial value is set in making out the machine constant file, if it is necessary, please change it according to the gun or the welding method.
Page 246 6. System setting ------------------------------------------------------------------------------------------------ Fixed electrode abration search distance : It is a parameter that decides the maximum range of the robot to move so as to measure the abrasion quantity of fixed electrode. The basis coordinate system of this gun search motions is a tool coordinate system and it inputs the aimed position by measuring the quantity to move for the direction of Z axis.
Page 247: Arc
6. System setting ------------------------------------------------------------------------------------------------ 6.4.2 Arc Outline It sets a function to do the arc welding. Please refer to the "Operation manual on the HR controller" for the precise contents. Screen display 14:39:38 *** Arc Weld *** A:0 S:4 1: Condition Parameter Use [Number]/[Up][Down] and press [SET].
Page 248 6. System setting ------------------------------------------------------------------------------------------------ Contents of the screen 1: High step forward/backward setting It sets the speed in case of using the high speed movable function. That is to say, it is the movable speed when the [SHIFT(high speed)] + [Step forward] and [Step backward] are pressed.( Refer to the high speed movable function ) 2: Inching speed setting It is the wire feeding speed for the wire inching and the retract when using the...
Page 249: Palletizing
6. System setting ------------------------------------------------------------------------------------------------ 6.4.3 Palletizing Outline It sets the information that is necessary to use the palletizing function. The GUN 2 should be set to the palleting in "SYSTEM"[PF2] → 5.Initialization → 4.GUN mode setting. Please refer to the "Palletizing function manual" for precise contents. Screen display 14:39:38 *** Palletizing ***...
Page 250 6. System setting ------------------------------------------------------------------------------------------------ 6.4.3.1 Palletizing pattern register Outline It saves the information that is necessary to use the palletizing function. It inputs the basic element to execute the palletizing function. To use the palletizing function, it has to be inputted. It can save the "pattern register"...
Page 251 6. System setting ------------------------------------------------------------------------------------------------ 1: If the pattern register 1 is selected, the next screen is displayed. 14:39:38 ** Pattern Register ** A:0 S:4 #Palletize pattern Reg.No 01 Not use/use Palletize/Depalletize Pattern number(CNT/layter)=[ Subpattern number Total layter number Even layer rotation =<0,1,2>...
Page 252 6. System setting ------------------------------------------------------------------------------------------------ It is possible for even number stage to rotate 0 , 90 and 180 on the basis of the basic pattern. It means 0 = 0 , 1 = 90 and 2 = 180 . Generally, The even number stage comparing with the odd number is loaded rotating 180 .
Page 253 6. System setting ------------------------------------------------------------------------------------------------ Last letter-paper existence yes or no : It decides the existence yes or no of letter paper at the end. Letter-paper thickness : It inputs the letter-paper thickness. Reference ⑴ Certainly, set the data before using the palletizing function. ⑵...
Page 254: 2: Palette Dip Angle Measurement
6. System setting ------------------------------------------------------------------------------------------------ 6.4.3.2 Palette dip angle measurement Outline It is a function that can measure the dip angle easily by making out the teaching program separately for the Palette dip angle which is difficult to measure physically in the workshop. Screen display 14:39:38 ** Pallet slope ** A:0 S:4...
Page 255: Conveyor
6. System setting ------------------------------------------------------------------------------------------------ 6.4.6 Conveyor Outline It sets a variety of parameter to use the conveyor synchronous function and also a variety of condition to decide the motions shape of conveyor synchronous playback. The conveyor synchronism should be set to the <ON> in "SYSTEM"[PF2] → Initialization →...
Page 256: 1: Conveyor Constant Setting
6. System setting ------------------------------------------------------------------------------------------------ 6.4.6.1 Conveyor constant setting Outline It sets a variety of parameter on the conveyor when intending to work by using the conveyor. Screen display 14:39:38** Conveyor Parameter ** A:0 S:4 Conveyor type =<Lin.,Rot.> Conveyor constant 1000] Lin.
Page 257 6. System setting ------------------------------------------------------------------------------------------------ Straight line conveyor vertical angle : It inputs the angle the advancing direction of conveyor rotates in the plus direction of robot coordinate system' Y axis center on the basis of X axis of robot coordinate system. Pattern conveyor X axis rotative angle : The pattern conveyor isn't supported at present.
Page 258 6. System setting ------------------------------------------------------------------------------------------------ Even number work object advance : It decides the contents to treat it in case that another work object advances into the work space hitting the limit switch when the robot works at the one work object on the conveyor. ①...
Page 259 6. System setting ------------------------------------------------------------------------------------------------ 6.4.6.2 Automatic setting of the conveyor angle and center Outline In case that the direction of conveyor isn't paralleled to the X axis or Y axis of robot coordinate system when setting the horizontal/vertical angle of the conveyor, it isn't easy to measure the conveyor angle precisely which is in the space of three dimensions.
Page 260: Speed Proportion Voltage Output
6. System setting ------------------------------------------------------------------------------------------------ 6.4.7 : Speed proportion voltage output Outline It makes the analog voltage in proportion to the tip velocity of robot outputted from the BD480 board.( option ) If the outputted voltage is used in combination with the sealing equipment for the voltage controller type, it is possible to maintain the discharge in the vicinity of the sealing beginning position and corner in doing the sealing work.
Page 261 6. System setting ------------------------------------------------------------------------------------------------ Terminal name Pin number Signal Channel 0 output AGND (Analog ground) Channel 1 output AGND (Analog ground) TBA0 Channel 2 output AGND (Analog ground) Channel 3 output AGND (Analog ground) Screen display 14:39:38 ** Speed by voltage ** A:0 S:4 Minimum voltage = [ -3.7] (V) Maximum voltage = [ -0.2] (V) Minimum speed...
Page 262: System Format
6. System setting ------------------------------------------------------------------------------------------------ 6.5 System format If selecting the initialization, the following screen is displayed. 14:39:38 *** System format *** A:0 S:4 1: System format 2: Selecting type of the robot 4: Positioner group setting 5: Positioner group setting Use [Number]/[Up][Down] and press [SET].
Page 263: System Format
6. System setting ------------------------------------------------------------------------------------------------ 6.5.1 System format Outline It sets the control constant file (ROBOT.C00) to the value in the shipment from the robot shop after deleting all of the data being in the custody range of controller. Screen display If selecting the system initialization, the following message is displayed.
Page 264: Robot Type Selection
6. System setting ------------------------------------------------------------------------------------------------ 6.5.2 Robot type selection Outline It sets the machine constant file (ROBOT.C01) to the value in the shipment of controller from the robot shop and it is a function that a variety of record files are newly made out to the value set in the control constant file.
Page 265 6. System setting ------------------------------------------------------------------------------------------------ that the additional axis doesn't exist, if pressing the "Execution" key, the reconfirmation message is displayed as follows. If pressing the [YES] key, the constant file is made out and conversely, if pressing the [NO] key, it is cancelled. Make? >...
Page 266 6. System setting ------------------------------------------------------------------------------------------------ Error log file already exists! New?[Y/N] > Previous Next Stop log file already exists! New? [Y/N] > Previous Next Operation history file exists! New?[Y/N] > Previous Next ⑸ If the error history file(ROBOT.E01), stop history file(ROBOT.S01) and operation history file(ROBOT.TR0) exist and the attribution of file is set to the complete protection, the following message is displayed.
Page 267: Use Setting
6. System setting ------------------------------------------------------------------------------------------------ 6.5.4 Use setting Outline It is a function that sets the work use. In case of using the palletizing function and the robot equalizing function, certainly, the use setting should be changed. Screen display 14:39:38 *** Usage setting *** A:0 S:4 GUN 1 = [ 0] GUN 2 = [ 0] 0:Spot,1:Stud,2:Non,3:Palleting...
Page 268: Positioner Group Setting
6. System setting ------------------------------------------------------------------------------------------------ 6.5.5 Positioner group setting Outline It is a process that registers the positioner manipulator and it can set the additional axis which is set to the Jig axis in the initialization menu to the positoner group. The controller of our company supports the positioner of only two unit at present.
Page 269 6. System setting ------------------------------------------------------------------------------------------------ Example2) In case of setting the 1 axis positioner and the 2 axis positioner (It is corresponded in case that all the additional 3 axes are set to the JIG.) Additional Axis Positioner Group ---------------- ---------------- T1 Axis ------------->...
Page 270: Automatic Constant Setting
6. System setting ------------------------------------------------------------------------------------------------ 6.6 Automatic constant setting If selecting the constant setting, the following screen is displayed. 14:39:38 *** Auto Const Set *** A:0 S:4 1: Optimizing axis Cnst.& tool length 4: Positioner Calibration Use [Number]/[Up][Down] and press [SET]. >...
Page 271 6. System setting ------------------------------------------------------------------------------------------------ 6.6.1 The optimization of axis constant and tool length Outline It sets automatically after compensating the constant data of straight line interpolation. It is a function that gains the straight line interpolation constant compensated from each step encoder data of the program recorded the same point as the various pose to improve the accuracy of the straight line interpolation curve and coordinate convertion.
Page 272 6. System setting ------------------------------------------------------------------------------------------------ Tool number : It is a tool number that wants to set automatically and it should accord with the tool number recorded in the program for setting. Permissible range of step position error : When the maximum errors among the coordinates is within the permissible error of step position error after calculating the X, Y, Z coordinates of the nose of tool from the each step data of program for the setting by using the constant data which is compensated, it renews the constant data automatically.
Page 273: Positioner Calibration
6. System setting ------------------------------------------------------------------------------------------------ 6.6.4 Positioner calibration Outline Please refer to the "User manual on the positioner synchronous function". If not carrying out the "SYSTEM"[PF2] → 5.Initialization → 6.Positioner group setting but selecting the positioner calibration, the following message is displayed. You must setup the positioner Group[ESC] >...
Page 274 6. System setting ------------------------------------------------------------------------------------------------ Point P The calibration of 1 axis positioner ⑵ The calibration of 2 axis positioner Supposing that it is identical with the calibration of 1 axis positioner, it is different from in the record of the teaching point. ①...
Page 275 6. System setting ------------------------------------------------------------------------------------------------ ⑤ It records the fifth point after rotating only the 1 axis at the position of ④ nearly 30 more and then finishes. Point P The calibration teaching process of 2 axis positioner If pressing the execution key after selecting the "SYSTEM"[PF2] → 6. Automatic constant setting →...
Page 276 6. System setting ------------------------------------------------------------------------------------------------ 14:39:38*Positioner Calibration* A:0 S:4 Positioner Group = [ 0] Program No. = [ 0] Positioner Group [1] POSE 0, Rx= -90.000 500, Ry= 0.000 300, Rz= 90.000 D-H Parameter DH.a= 0, DH.alpha= DH.d= 0, DH.theta= Save? >...
Page 277: Chapter 7. R Code
7. R code ------------------------------------------------------------------------------------------------ Chapter 7. R Code Contents ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ 7. 1 (1) R0 Step counter reset ......7 - 5 7. 2 (2) R5 External start selection ...... 7 - 5 7. 3 (3) R6 External program selection ..... 7 - 6 7.
Page 278 7. R code ------------------------------------------------------------------------------------------------ 7.29 (29) R219 Equalizerless gun number selection ... 7 - 30 7.30 (30) R220 Equalizerless tip consumption preset ..7 - 30 7.31 (31) R245 Monitor mode selection......7 - 31 7.32 (32) R269 Memory protection setting ..... 7 - 32 7.33 (33) R286 Software version display......
Page 279: External Program Selection
7. R code ------------------------------------------------------------------------------------------------ CHAPTER 7. R CODE Outline It manages general programs without recording in steps. That is it can sets several conditions for controller state. Operation method ⑴ If press Ｒ key, then the following message is displayed on the screen. Enter R code No (0 - 9999) >R Service...
Page 280 7. R code ------------------------------------------------------------------------------------------------ ▶ When you select, [NEXT] the following next message will be displayed on the screen. 14:39:38 *** Manual *** A:0 S:H4 R163 : Online shift cancel R204 : Spot WELDg Cond. manual output R210 : Servo GUN number selection R211 : Squeeze force setting R212 : Moving-tip consumption preset R213 : Fixed-tip consumption preset...
Page 281 7. R code ------------------------------------------------------------------------------------------------ 7.1 (1) R0 STEP COUNTER RESET Outline It resets the step counter (step 0) and returns to the step 0 at any step. Besides, it executes. General error, Lamp Off Alarm Off WI wait clear. Reference ⑴...
Page 282 7. R code ------------------------------------------------------------------------------------------------ 7.3 (3) R6 EXTERNAL PROGRAM SELECTION (ENABLE/DISABLE) Outline It sets whether the external program selection setting is enable or disable. It also can be set at Ext. Program selection mode by press down "System' [PF2] -> 1. User parameter ->...
Page 283: 4) R10 Run Time Display
7. R code ------------------------------------------------------------------------------------------------ 7.4 (4) R10 RUN TIME DISPLAY Outline It is the function to display Robot's run time. It also can be access at Run time display by press down "Service' [PF1] -> 7. System checking -> 2. Running time, orderly. Screen display 14:39:38 *** Run time ***...
Page 284 7. R code ------------------------------------------------------------------------------------------------ Cycle Counter means the cycle number playback during run time. It counts in step 1, it counts the cycle number in spite of stopping in half way. (It resets the counter after 255 times during run time.) GUN ON Time means the GUN signal output signal per 1 cycle during run time.
Page 285 7. R code ------------------------------------------------------------------------------------------------ (3) Cycle count clear ..Reset the total cycle counter. (4) GUN data clear ..Reset total GUN on time and counter. Screen display After selecting "3" for All Data Clear or "4" for Run Time Clear, "5" for Cycle Count Clear, "6"...
Page 286: 5) R17 File Name Display In Internal Memory
7. R code ------------------------------------------------------------------------------------------------ 7.5 (5) R17 FILE NAME DISPLAY IN INTERNAL MEMORY Outline It displays the file name (Robot type, Program No.), file size, Date, file protection etc. It displays the information of a total file, remained memory volume when ending a file display.
Page 287: 6) R18 Frequency Condition Register
7. R code ------------------------------------------------------------------------------------------------ 7.6 (6) R18 FREQUENCY CONDITION REGISTER DISPLAY/SETTING Outline It displays, sets the content of a frequency condition register. It is the same as "Service"[PF1] -> 2: Register setting -> 5: Frequency Condition Register". Screen display Enter frequency register No ( 1 - 16 ) >R18,0 Service System...
Page 288: 7) R29 Tool Number Setting
7. R code ------------------------------------------------------------------------------------------------ 7.7 (7) R29 TOOL NUMBER SETTING Outline It changes the selected tool number. Input tool number what you want, press [SET] key. Screen display Enter tool No. ( 0 - 3 ) >R29,0 Service System Rel.WAIT Cond Set Reference ⑴...
Page 289: 8) R44 Conveyor Data Clear
7. R code ------------------------------------------------------------------------------------------------ 7.8 (8) R44 CONVEYOR DATA CLEAR Outline It clears Conveyor data ; CP, CR, CS. The content which will be cleared can be different according to the selected mode at "Cond Set"[PF5] -> "Applicnd"[PF1] -> 1: Conveyor oper = <Normal, Simulat, Test> as table. General Simulation Test...
Page 290: 9) R45 Conveyor Register Manual Input
7. R code ------------------------------------------------------------------------------------------------ 7.9 (9) R45 CONVEYOR REGISTER MANUAL INPUT Outline It sets Conveyor Register (CR) value as a manual inputted value. If this function activated, the Conveyor Pulse (CP) value shall be automatically modified in connection with Conveyor Register (CR) value. It is the same function with CR viewed at 1.
Page 291: 10) R46 Manual Conveyor Limit Switch On
7. R code ------------------------------------------------------------------------------------------------ 7.10 (10) R46 MANUAL CONVEYOR LIMIT SWITCH ON Outline It activates Pulse counting in force by inputting limit switch activation signals without relation of real performance of limit switch. Screen display Warning!) Limit Switch ON? [YES/NO] >...
Page 292: 11) R49 Speed Variation Setting
7. R code ------------------------------------------------------------------------------------------------ 7.11 (11) R49 SPEED VARIATION SETTING Outline It sets the value of speed variation during the play back. It playback to variate in the range of 1 to 150% for the speed to be recorded on step. You can set in the speed variation value of condition Setting 4.
Page 293: 12) R55 Palletize Counter Reset
7. R code ------------------------------------------------------------------------------------------------ 7.12 (12) R55 PALLETIZE COUNTER RESET Outline It can be used when you use the palletizing function. It resets the contents of the palletize register. Screen display Input the palletize pallet number.(1-16) >[1 - 16] Service System Rel.WAIT Cond Set...
Page 294: 13) R71
7. R code ------------------------------------------------------------------------------------------------ 7.13 (13) R71 RECORDED SPEED SPECIFICATION METHOD SELECTION Outline It selects speed specification method in step recording. There are 3 types of 0, 1, and 3. Interpolation OFF Specify Sec Standard Interpolation ON Specify Speed Specify Interpolation OFF Specify Sec Interpolation ON...
Page 295: 14) R107 Program Head Data Display
7. R code ------------------------------------------------------------------------------------------------ 7.14 (14) R107 PROGRAM HEAD DATA DISPLAY Outline It displays the content of the program head data (step 0). It displays the content of step 1 if it hasn't the function in step 0. It is the same function with "Service"[PF1] -> 5.File Manager -> 2. Show the headline of program.
Page 296: 16) R116 Program Number Modification
7. R code ------------------------------------------------------------------------------------------------ 7.16 (16) R116 PROGRAM NUMBER MODIFICATION Outline It changes the program number in the internal memory. First, input the program number to change, then input the program number you want. If occurs to error when the destination program is already exist. Screen display Source program to modify? (1-999) >R116,...
Page 297: 17) R117 Program Delete
7. R code ------------------------------------------------------------------------------------------------ 7.17 (17) R117 PROGRAM DELETE Outline It deletes the program stored in the internal memory. Screen display Program to delete? (1-999) >R117, Service System Rel.WAIT Cond Set After inputting the program No. for delete, if press [SET] key, it will be appeared on the screen as following message.
Page 298: Robot Lock
7. R code ------------------------------------------------------------------------------------------------ 7.18 (18) R123 ROBOT LOCK Outline It sets the robot lock to ON/OFF. If the robot-lock is set to ON, it is possible to execute a program without outputting the move command even though playback or step go/back is executed in the motors-on state. Screen display Set robot lock ( DSBL=0,ENBL=1) >R123,0...
Page 299: Modify Accuracy In Steps
7. R code ------------------------------------------------------------------------------------------------ 7.19 (19) R136 MODIFY ACCURACY IN STEPS Outline It changes the accuracy of the selected step. Screen display Enter accuracy ( 0 - 3 ) >R136,0 Service System Rel.WAIT Cond Set If press 0 ~ 3 key what you want, and then press [SET] to finish. Reference ⑴...
Page 300: 20) R137
7. R code ------------------------------------------------------------------------------------------------ 7.20 (20) R137 MODIFY MX IN STEP Outline It changes/adds MX of the currently selected step. Screen display Enter MX No ( 1 - 2 ) >R137,0 Service System Rel.WAIT Cond Set After inputting what you want key, if press [SET] key, it will be appeared on the screen as following message.
Page 301: 21) R138
7. R code ------------------------------------------------------------------------------------------------ 7.21 (21) R138 MODIFY GUN IN STEP Outline It changes/adds the GUN of the currently selected step. Screen display Enter gun No.( 1 - 2 ) >R138,0 Service System Rel.WAIT Cond Set After inputting 1 or２ key, if press ＳＥＴ key it will be appeared on the screen as following message.
Page 302: Shift Register Value Change
7. R code ------------------------------------------------------------------------------------------------ 7.22 (22) R162 SHIFT REGISTER VALUE CHANGE Outline It displays/sets the on-line shift buffer's contents. It is the same function with "Service"[PF1] -> 2.Register setting-> 2. Shift buffers. Screen display 14:39:38 *** M A N U A L *** A:0 S:H4 1.Shift buffer for robot coordinate 0.0] Y=[ 0.0] Z=[...
Page 303: Spot Welding Condition Manual Output
7. R code ------------------------------------------------------------------------------------------------ 7.24 (24) R204 SPOT WELDING CONDITION MANUAL OUTPUT Outline It outputs spot welding condition manually. Operation method In case of < Welding condition output type = Discrete >, at "System"[PF2] -> 4. Application Parameter -> Spot & Stud -> 1.Welding Parameter. It will be appeared on the screen as following message.
Page 304: 25) R210
7. R code ------------------------------------------------------------------------------------------------ 7.25 (25) R210 SERVO GUN NUMBER SELECTION Outline It is a code for selection of gun, in case of using multi-servo guns. It needs to execute manual open/close of servo gun and to force manually for each gun. Screen display Enter gun number.( 1 - 2 ) >R210,1...
Page 305: Moving-Tip Consumption Preset
7. R code ------------------------------------------------------------------------------------------------ 7.27 (27) R212 MOVING-TIP CONSUMPTION PRESET Outline It sets wear amount of servo gun's moving welder tip. Screen display Enter move tip consumption.(-10. - 10.) >R212,0.00 Service System Rel.WAIT Cond Set After input wanted wear amount with number keys, and then press [SET] key. Reference ⑴...
Page 306: Equalizerless Gun Number Selection
7. R code ------------------------------------------------------------------------------------------------ 7.29 (29) R219 EQUALIZERLESS GUN NUMBER SELECTION Outline It selects gun, in case of equalizerless multi-air guns are using. It needs for manual open/close and forcing manually. Screen display Enter gun number.( 1 - 2 ) >R219,1 Service System...
Page 307: Monitor Mode Selection
7. R code ------------------------------------------------------------------------------------------------ 7.31 (31) R245 MONITOR MODE SELECTION Outline It displays the encoder value, angle and coordinates value of each axis and input/output status of each axis. It is the same function with "Service"[PF1] -> 1. Monitoring. Screen display 14:39:38 *** Monitoring *** A:0 S:4 0: Monitor OFF...
Page 308: Memory Protection Setting
7. R code ------------------------------------------------------------------------------------------------ 7.32 (32) R269 MEMORY PROTECTION SETTING Outline It sets the program protection in the internal memory. It is the same function with "Service"[PF1] -> 5. File Manager -> 7. Protect. Operation method Program to protect? (1-999) >R269, Service System...
Page 309 7. R code ------------------------------------------------------------------------------------------------ 7.33 (33) R286 SOFTWARE VERSION DISPLAY Outline It displays the system environment (Software Version) of HR Controller. The display items are as following (1) Robot type, number of robot axis and total number of axis. (2) Main system version - Version and the date of the manufacture of the main S/W - Version and the date of the manufacture of the motion S/W - Version and the date of the manufacture of T/P...
Page 310: Manual Output Of Go-Signal
7. R code ------------------------------------------------------------------------------------------------ 7.34 (34) R310 MANUAL OUTPUT OF GO-SIGNAL Outline It outputs 8 signals as 1 group at the same time. Operation method Enter Group number ( 1 - 32 ) >R310,10 Service System Rel.WAIT Cond Set After inputting the group No. with a numeric key, if press [SET] Key, it will be appeared on the screen as followings.
Page 311: Set Max. Speed Of Step Go/Back
7. R code ------------------------------------------------------------------------------------------------ 7.35 (35) R320 SET MAX. SPEED OF STEP GO/BACK Outline It sets the Max. speed when the step go/back in teach mode. It is possible to change from the speed when the step go/back in the range of 1 to 250㎜/s without the received speed.
Page 312: Robot Interrupt Function Record
7. R code ------------------------------------------------------------------------------------------------ 7.36 (36) R323 ROBOT INTERRUPT FUNCTION RECORD Outline While moving to target step, it skip to next step as interruption function by detecting assigned signals. Screen display 0:DI Sig,1:Analog,2:Weld sticking(0 - 1) >R323, Service System Rel.WAIT Cond Set Choose [0] for I-signal or [1] for Analog, [2] for Weld sticking is not available now.
Page 313 7. R code ------------------------------------------------------------------------------------------------ If you choose [0] for reference point setting, other parameters (reference X, reference Y, reference Z) will be 0 automatically, and complete input. If you choose [1] for reference point setting, there will be a message as followings using search function. Enter reference X (-3000.0 - 3000.0) >M29=5,1, Service...
Page 314 7. R code ------------------------------------------------------------------------------------------------ Example S6:End Stop,decel. section Analog1 Voltage F001:M30[1,1.00,3.00,0,0,0,0] : 2.00V Option board Operation method After inputting [1], if press [SET] key, it will be appeared on the screen as followings Enter port No ( 1 - 2 ) >M30= Service System...
Page 315 7. R code ------------------------------------------------------------------------------------------------ Enter reference X (-3000.0 - 3000.0) >M30=1,-5.00,5.00,1, Service System Rel.WAIT Cond Set After inputting the No. of reference X-value with a numeric key, if press [SET] key, it will be appeared on the screen as followings. Enter reference Y (-3000.0 - 3000.0) >M30=1,-5.00,5.00,1,200.0, Service...
Page 316: Execution Code Back-Up
7. R code ------------------------------------------------------------------------------------------------ 7.37 (37) R341 EXECUTION CODE BACK-UP Outline It backups execution codes which are recorded at flash memory of board BD411 through PCMCIA slot with Linear Flash Memory Card. Screen display Backup execution code of controller?[Y/N] > Service System Rel.WAIT...
Page 317: Chapter 8. Programming
8. Programming ------------------------------------------------------------------------------------------------ Chapter 8. Programming Contents ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ Edit step............. 8 - 3 Summary of operation keys ........8 - 4 Edit command..........8 - 6 Example - move sentence ........8 - 7 Variable, numerical formula and string edit ....8 - 13 Line number edit..........
Page 318 8. Programming ------------------------------------------------------------------------------------------------ Chapter 8. PROGRAMMING Outline Program can be divided into 2 parts, Step and Function. There are two way of recording Step 1) Method of recording current position by pressing [RECORD] key. 2) Method of selecting [MOVE] command at menu. For 2) method, pose variables must be used as a factor.
Page 319: Edit Step
8. Programming ------------------------------------------------------------------------------------------------ 8.1 EDIT STEP It is a Command to move manipulator of robot, and most fundamental Command. The position of the end of tool, speed, interpolation etc shall be assigned. 8.1.1 Record of Step There are two methods to store (adding MOVE command) steps. Edition by using [MOVE] key.
Page 320: Summary Of Operation Keys
8. Programming ------------------------------------------------------------------------------------------------ 8.2 SUMMARY OF OPERATION KEYS Command Address Area Statement Cursor Status Word Cursor Status Command As word cursor status. Modify Modify position of current Modify position of current selected step (hidden selected step (hidden posemodify ). posemodify). Position For modify posevariables For modify posevariables and...
Page 321 8. Programming ------------------------------------------------------------------------------------------------ Factor menu Input/Modify of factor Not display Not display (PF1~PF5) command. Move menu frame upward and downward. In case of Move cursor upward and Move cursor upward and ↑ ↓ there is no '+'mark on far downward downward right end, it moves to word cursor up/down...
Page 322: Edit Command
8. Programming ------------------------------------------------------------------------------------------------ 8.3 EDIT COMMAND 8.3.1 Edition Screen Address Area It means the area which displays line number (1~9999) and step number(S1~S999). 14:39:38 *** M A N U A L *** A:0 S:H4 PN:100[*]__ S/F:4/1 Sp:100.00 MOVE P,S=100%,A=0,H=1 MOVE P,S=30cm/min,A=0,H=1 WEAVON WEV#=1 ARCON ASF#=1 MOVE L,S=30cm/min,A=0,H=1...
Page 323: Example - Move Sentence
8. Programming ------------------------------------------------------------------------------------------------ 8.4 EXAMPLE - MOVE SENTENCE Method of adding move sentence is as follows ; If press [REC] key, new move sentence will be created or added with already set performed factors. Interpolation : The lighted value on LED indicates current basic interpolation value. To change interpolation, press [INTERPOLATION] key.
Page 324 8. Programming ------------------------------------------------------------------------------------------------ If you want to change factors, the procedure is same as edit with [Command Modify] as follows ; In case of adding MOVE sentence, first move cursor to the point of want. At that point press [Command Input] or [RECORD] key, then command sentence will be added in the line of the below of cursor point <...
Page 325 8. Programming ------------------------------------------------------------------------------------------------ To move cursor to the next factor, use cursor keys. 14:39:38 *** M A N U A L *** A:0 S:H4 PN:999[*]__ S/F:1/0 Spd:100.00 Robot:H6 , 6axes, 2steps MOVE L,P1,S=300mm/sec,A=0,H=0,_ UN> Enter pose >P1 P. Const Local At word mode which is cursor indicating factor, current selected factor shown in input frame as a form of reverse character.
Page 326 8. Programming ------------------------------------------------------------------------------------------------ ※ If there are 5 more menus, at the end of final menu ' * ' mark will be appeared. By pressing [ ↑ ], [ ↓ ] keys, it displays as follows ; 14:39:38 *** M A N U A L *** A:0 S:H4 PN:999[*]__ S/F:1/0 Sp:100.00 Robot:H6 , 6axes, 2steps...
Page 327 8. Programming ------------------------------------------------------------------------------------------------ 14:39:38 *** M A N U A L *** A:0 S:H4 PN:999[*]__ S/F:1/0 Sp:100.00 Robot:H6 , 6axes, 2steps MOVE L,P3+R[2],S=120mm/sec,A=0,H=0> Enter accuracy ( 0-3 ) >A=0 Variable Expr. [1] [SET] [ ] [ ] - Inputting accuracy. (H=0 ; Same method with Tool number input) Move to MX.
Page 328 8. Programming ------------------------------------------------------------------------------------------------ ※ To change contents in Edit frame with contents in Input frame, press [SET] key. If press [SET] key one more time (that is, the contents of each frame are same), it transfer from word cursor mode to statement cursor mode. If want to change one factor, press [Command Modify] , move to the factor and input values.
Page 329: Variable, Numerical Formula And String Edit
8. Programming ------------------------------------------------------------------------------------------------ 8.5 Variable, numerical formula and string edit In case that variable, numerical formula and string edit is needed when editing an instruction statement, it can be selected in menu. Variable is input by menu method which is in case of unitary (one variable without operator, but a subscript can be used as a variable), numerical formula uses number and variable which includes operator, and it uses edit method by a character.
Page 330 8. Programming ------------------------------------------------------------------------------------------------ ※ If you input it on the input frame, it as added just in front front of cursor. < Variable > < V > < V% > - Select variable again by subscript. Enter variable >V%[V%] < >...
Page 331 8. Programming ------------------------------------------------------------------------------------------------ < Numerical formula > - Entry into numerical formula input state. “ ‘ +-*/^=<>&|~(),[]%!$?{}:;`. @#₩ >V1% Delete <- -> space Present value is displayed in highlighted in the guide frame position. If you want to ignore existing value and input newly, you can input it directly in number or input character frame, and if you want to change it by using present value, press arrow of PF2, PF3 and then the cursor will appear.
Page 332 8. Programming ------------------------------------------------------------------------------------------------ “ ‘ ABCDEFGHIJKLMNOPQRSTUVWXYZ “ ‘ _abcdefghkjklmnopqrstuvwxyz “ ‘ +-*/^=<>&|~(),[]%!$?{}:;`._@#￦ ㄱㄲㄴㄷㄸㄹㅁㅂㅃㅅㅆㅇㅈㅉㅊ ㅋㅌㅍㅎ + ㅏㅐㅑㅒㅓㅔㅕㅖㅗㅛㅜㅠㅡㅣ >*Weld Delete <- -> space ---------------------------------------------------------------------------------------- - 16...
Page 333: Line Number Edit
8. Programming ------------------------------------------------------------------------------------------------ 8.6 Line number edit Step number is created at the same time when MOVE statement (step) is input. Line number is available within 1∼9999 and the input method is that it is input line number in the address area. At first, move a cursor to the address area, 14:39:38 *** M A N U A L *** A:0 S:H4 PNo:100[*]__ SNo/F:4/1...
Page 334: Block Edit
8. Programming ------------------------------------------------------------------------------------------------ 8.7 Block edit Is is a function that copying and moving to other place or deleting after copying whole lines of program. The control statement which includes step number has target step number's change automatically after copying. It is possible to edit by line at the address cursor mode.
Page 335 8. Programming ------------------------------------------------------------------------------------------------ < Selection > [ ][ ][ ][ ][ ] - Press <Selection>key at the beginning line of block to select. Move to last line of block to select by using a cursor key. Selected area is displayed in highlighted as following picture. 14:39:38 *** M A N U A L *** A:0 S:H4 PN:999[*]__ S/F:0/2 Sp:100.00...
Page 336 8. Programming ------------------------------------------------------------------------------------------------ [ ] [ ] - It moves to front line of the line where copied area will be pasted by using a cursor key. (45 DELAY 1 line) 14:39:38 *** M A N U A L *** A:0 S:H4 PN:999[*]__ S/F:1/2 Sp:100.00 Robot:H6 , 6axes, 14steps...
Page 337: Chapter 9. Quick Open Function
9. Quick Open Function ------------------------------------------------------------------------------------------------ Chapter 9. Quick Open Function CONTENTS ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ Function summary ..........9 - 2 Move - step position ........9 - 4 Welding start con. - execution at ASF#=X ....9 - 5 Welding end con. - execution at AEF#=X ...... 9 - 7 Welding aux.
Page 338: Function Summary
9. Quick Open Function ------------------------------------------------------------------------------------------------ 9.1 FUNCTION SUMMARY OUTLINE In case of teaching a work program of arc welding, it is required to set a detailed arc exclusive function such as weaving, Retry/Restart and welding machine's characteristic as well as welding relating condition such as voltage and current. And there's also several cases to need to check the step or auxiliary point's position basically.
Page 339 9. Quick Open Function ------------------------------------------------------------------------------------------------ In each instruction statement, when [QuickOpen] is pressed, the contents are as followings. instructi file, contents detailed contents remark statement present position, ordered position*. MOVE Position X Y Z(mm) Rx Ry Rz(.) *can be edit Robot Configuration CALL program called...
Page 340: Move - Step Position
9. Quick Open Function ------------------------------------------------------------------------------------------------ 9.2 MOVE - step position Outline Press (QuickOpen) key at move instruction. Screen display 14:39:38 *** Step Pose Data *** A:0 S:4 POSE OF CURRENT STEP X: [ 840.000] mm Y: [ 960.000] mm Z: [ 0.000] mm Rx:[ 0.000] deg...
Page 341 9. Quick Open Function ------------------------------------------------------------------------------------------------ 9.3 WELDING START CONDITION - EXE. AT ASF#=x Outline If you press key, when a cursor is at the ARCON ASF#= instruction line, the edit screen appears as followings. Entry screen 14:39:38** Arc Condition File **A:0 S:4 ARC START CONDITION FILE Cond No : [ 1] (chg:[Sft]+[Up/Down])
Page 342 9. Quick Open Function ------------------------------------------------------------------------------------------------ forward after retracting in certain amount of distance, the voltage/current condition follows the welding start condition. ② Shift : After moving in scheduled moving amount at the retry condition of welding aux. condition, it returns to the arc occurrence step. And it tries to make an arc occurrence in the voltage/current condition at retry condition.
Page 343 9. Quick Open Function ------------------------------------------------------------------------------------------------ 9.4 WELDING END CONDITION - EXE. AT AEF#= OUTLINE When a cursor is at ARCOF AEF#= instruction line, if you press key, edit screen is displayed as followings. Entry screen 14:39:38** Arc Condition File **A:0 S:4 CRATER CONDITION FILE Cond No : [ 1] (chg:[Sft]+[Up/Dwn])
Page 344 9. Quick Open Function ------------------------------------------------------------------------------------------------ which is condition of current and voltage value from in steady state to in end state. Gas blowing out : It inputs the time when the gas is blew out continuously after Arc off. Reference (1) If you press [cancel], it ends without saving, if you press “...
Page 345 9. Quick Open Function ------------------------------------------------------------------------------------------------ 9.5 WELDING AUXILIARY CONDITION - RETRY Outline If you press "aux. condition"[PF1] at the welding start condition file screen, the varieties of auxiliary condition file are displayed separately. Entry screen 14:39:38** Arc Condition File **A:0 S:4 ARC AUXILIARY CONDITION FILE <RETRY>...
Page 346 9. Quick Open Function ------------------------------------------------------------------------------------------------ 0,it starts with the current value of welding start condition. Voltage : It is the output value of welding voltage when a retry.(It is applied until the body returns to the welding start point.) But, in case that voltage value is 0, it starts with the current value of welding start condition.
Page 347 9. Quick Open Function ------------------------------------------------------------------------------------------------ 9.6 WELDING AUXILIARY CONDITION - RESTART Outline If you select “ aux. condition” [PF1] at the welding start condition screen and press “ restart” [PF1], restart setting screen is displayed as followings Entry screen 14:39:38** Arc Condition File **A:0 S:4 ARC AUXILIARY CONDITION FILE <RESTART>...
Page 348 9. Quick Open Function ------------------------------------------------------------------------------------------------ In case that error occurs(②) when a welding processes from welding start point(①) to welding end point(④), it moves in three times of speed assigned here as long as amount of superposition(③). It welds with current, voltage and speed which is assigned at restart until ②, and it welds in normal condition assigned at start condition from ②...
Page 349 9. Quick Open Function ------------------------------------------------------------------------------------------------ (2) Gas Off : It is a processing method when “ Gas status(enable/disable)” input signal is input. ① Disable : It stops with “ E1275 gas pressure is not enough.” message, and it doesn't do a bid overlap when it starts after pressing “ start” button again. ②...
Page 350 9. Quick Open Function ------------------------------------------------------------------------------------------------ 9.7 WELDING AUXILIARY CONDITION - AUTO. WIRE STICK RELEASE Outline If you select “ auxiliary condition” [PF1] at welding end condition, automatic wire stick release setting screen is displayed as followings. Entry screen 14:39:38** Arc Condition File **A:0 S:4 ARC AUXILIARY CONDITION FILE <AUTO STICK RECOVERY>...
Page 351: Weaving Condition File
9. Quick Open Function ------------------------------------------------------------------------------------------------ 9.8 WEAVING CONDITION FILE Outline If you press key, when there is a cursor in WEAVON WEA#= instruction line, the edit screen is displayed as followings. Entry screen 14:39:38** Arc Condition File **A:0 S:4 WEAVING CONDITION FILE Cond No: [1] Mode : <Single,Triangle,L>...
Page 352 9. Quick Open Function ------------------------------------------------------------------------------------------------ Moving angle : moving angle can be set within -90.0∼90.0 degree. Moving time : moving time can be set within 0.04∼9.99sec. Timer : timer can be set within 0.00∼2.00sec. Reference Move a cursor on the content which you want to change, and it is set by inputting numerical number or using [Enable]+[→...
Page 353: Program Edit In Running
9. Quick Open Function ------------------------------------------------------------------------------------------------ 9.9 PROGRAM EDIT IN RUNNING Outline If you press key when a robot program is playing back, the program edit in running (Hot Edit) screen is displayed as followings. The function explanation about program edit in running (Hot Edit) can be referred to “ service” [PF1] -> 4: program edit -> 6: program edit in running(Hot Edit).
Page 354: Spot Welding Function
9. Quick Open Function ------------------------------------------------------------------------------------------------ 9.10 SPOT WELDING FUNCTION Outline When SPOT or M72 (spot welding function) is recorded as a function in editing program, if you press key after moving a cursor on, the screen is displayed as followings. 14:39:38*Servo-gun Welding Data*A:0 S:4 1: Welding condition 2: Welding sequence...
Page 355: Welding Sequence
9. Quick Open Function ------------------------------------------------------------------------------------------------ 9.10.2 welding sequence If you select welding sequence, following screen is displayed. The detail about screen can be referred to “ system” [PF2] → 4: application parameter → 1: spot & stud → 3: spot welding data (condition, sequence) → 2: welding system part. The difference from this part is that the number of welding sequence can not be changed but only the parameter about relevant welding sequence number can be changed.
Page 356: Chapter 10. Menu Tree
10. Menu Tree ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ Chapter 10. Menu Tree CONTENTS ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ 10.1 MENU LIST........... 10 - 2 10.2 MOTION I/O..........10 - 3 10.3 FLOW CONTROL..........10 - 5 10.4 ETC............10 - 7 10.5 ARC ............10 - 8 10.6 SUSTITUTIAL STATEMENT ........
Page 357: Menu List
10. Menu Tree ------------------------------------------------------------------------------------------------ CHAP. 10 MENU TREE 10.1 MENU LIST This picture displays groups that each instruction is located at initial menu and instruction input. function MOVE, I/O ARC Weld FlowCtrl Etc. Assign MOVE GOTO ARCON PRINT GOSUB ARCOF pose DEGRAD INPUT...
Page 358 10. Menu Tree ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ 10.2 Move, I/O Grammar: MOVE <interpolation> [,<pose>] , S=<speed> , A=<accuracy> , T=<TOOL> [,MX] [,MX2] [,G1] [,G2] [,BM] [,UNTIL <conditional expression>] ,S=100 Unit MOVE mm/sec, sec cm/min, % MOVE Conversion +R[] +LR[] Linear Local Global mm/sec, sec Circular cm/min, % P.Const...
Page 359 10. Menu Tree ------------------------------------------------------------------------------------------------ PRINT ,V1% PRINT COM1 COM2 String Variable Expr. INPUT <input direction> , <variable> [,<timeout time>] Grammar: ,V1% INPUT ,_100 INPUT Variable pose COM1 Expr. shift COM2 System Signal output (DO signal): It is the same as <variable>'s <out> menu. WAIT <conditional expression>...
Page 360: Flow Control
10. Menu Tree ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ 10.3 FLOW control IF <conditional expression> THEN <address> [ELSE <address>] IF <conditional expression> THEN ∼ [ELSEIF <conditional expression> THEN ∼] [ELSE ∼] ENDIF _ELSE 10 ELSEIF V1%=1 THEN V1%=1 THEN STEP < < STEP ELSEIF LABEL >...
Page 361 10. Menu Tree ------------------------------------------------------------------------------------------------ GOTO <address> ON <number> GOTO <address> [,<address>,...] JUMP(CALL) GOSUB <address> ∼ RETURN <program number> JMPP 1 ON V1% GOTO 1 GOTO 1 CALL 1 GOSUB 1 STEP Variable STEP Variable STEP LABEL Expr. LABEL Expr. LABEL Line no.
Page 362: Etc
10. Menu Tree ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ 10.4 ETC. All instruction input methods except REM are the same as the old REM _COMMEMT M code input method. It inputs by using guide frame and input (status) frame without menu. (input state) ---------------------------------------------------------------------------------------- 10 - 7...
Page 363: Arc
10. Menu Tree ------------------------------------------------------------------------------------------------ 10.5 ARC ARCON [ASF#=<file number>] ARCON C=<current output value> , {V=<voltage output value>|VP=<voltage ratio>} [,T=<time>] [,RETRY] ,V=100 ,_T=1 ,_RETRY _C=100 ARCON ARCON _ASF#=1 Variable RETRY ASF# ARCON ARCON Expr. Variabe Variable Variable Expr. Expr. Expr. 수식 수식...
Page 364 10. Menu Tree ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ ARCVOL V=100 C=100 ARCCUR ARCVOL Variable ARCCUR 수식 Expr. 수식 수식 Variable 수식 수식 변수 Expr. 변수 변수 수식 수식 수식 수식 ARCDV 10 ARCDC 10 Variable Variable Expr. Expr. 수식 수식 변수 변수 수식 수식 WEAVON WEV#=<file number>...
Page 365 10. Menu Tree ------------------------------------------------------------------------------------------------ 10.6 substitutional Statement It is a form of “ variable=expression” . In all case that arithmetic statement can be input as well as substitutional statement, formula menu is supported . At this time, variable menu is as followings. Formula input can be referred to the explanation (screen) about instruction statement edit.
Page 366 11. Robot Language Explanation ------------------------------------------------------------------------------------------------ Chapter. 11 Robot Language Explanation CONTENTS ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ 11.1 BASIC ELEMENTS ..........11 - 3 11.1.1 LINE ..........11 - 3 11.1.2 CHARACTER ......... 11 - 3 11.1.3 ADDRESS ........... 11 - 3 11.1.4 CONSTANT ......... 11 - 4 11.1.5 ROBOT CONFIG.
Page 367: Chapter 11. Robot Language Explanation
11. Robot Language Explanation ------------------------------------------------------------------------------------------------ CHAP. 11 ROBOT LANG. EXPLANATION There are two ways to teach an industrial robot greatly. One is an instruction code method, and the other is a robot language method. Our old controller model such as Hi3CE, Hi3TB, etc.. in Hi controller series has an instruction code method to teach.
Page 368: Basic Elements
11. Robot Language Explanation ------------------------------------------------------------------------------------------------ 11.1 basic elements 11.1.1 Line Line number can be added at forefront of line.(optional). 254 characters can be described in 1 line. 1 line can has only 1 instruction statement. 11.1.2 Character A ∼ Z, a ∼ z, Korean (capital character can be usable except in comment letter statement contents and string ) digit...
Page 369: Constant
11. Robot Language Explanation ------------------------------------------------------------------------------------------------ 11.1.4 Constant constant type range example dec. -32768∼32767 2150, -440 constant bin. &B0∼B1111111111111111 &B01101011, &B1000 hex. &H0∼&HFFFF &H3F77, &H2A real number -3.4E+38∼3.4E+38 55.6, 0.5E-2 "INPUT WORK NUMBER:", string enable with 35 char. "INVALID DATA" constant coordinate type range example...
Page 370 11. Robot Language Explanation ------------------------------------------------------------------------------------------------ 11.1.5 Robot type information 9∼7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 bit 0: base 0: R2<180 0: R1<180 0: S<180 0: flip 0: up 0: front 0: manual 1: robot 1: R2>=180 1:R1>=180...
Page 371: Variable
11. Robot Language Explanation ------------------------------------------------------------------------------------------------ 11.1.6 Variable 11.1.6.1 Global variable It can be shared and used in whole program. variable type grammar example V10%, V%[20], V%[50+V2%] V1%∼V400% or contsant (The type of numerical formula can be written in V%[1]∼V%[400] [ ].) arithmetic real V1!∼V400! or...
Page 372 11. Robot Language Explanation ------------------------------------------------------------------------------------------------ 11.1.6.2 Local variable It exists separately in each main program and auxiliary program called. It is impossible to access local variables of other program. variable type grammar example LV10%, LV%[5], LV%[5+LV2%] LV1%∼LV50% or constant (The type of numerical formula is only written LV%[1]∼LV%[50] in [ ].) arithmetic...
Page 373 11. Robot Language Explanation ------------------------------------------------------------------------------------------------ 11.1.6.3 Input/output variable single general DO2=1 (If 0, RESET, If not 0, SET) output DO1∼256 (SET general output signal DO2) (bit) group general GO3=&B00001111 or GO3=&H0F output GO1∼32 (Output 0F(HEX) through GO3) (byte) single dedicated SO4=0 (if 0, RESET, if not 0, SET) output SO1∼8...
Page 374 11. Robot Language Explanation ------------------------------------------------------------------------------------------------ _RN1~16 It’ s relevant to number of times register No.1~No.16 _RN[1]~_RN[16] $CONVREG Encoder pulse count value of option board Read only Status of option board $CONVSTAT Bit 0 : status in encoder singer wire short(active high) Read only Bit 1 : start limit switch(active high) ----------------------------------------------------------------------------------------...
Page 375: Operator
11. Robot Language Explanation ------------------------------------------------------------------------------------------------ 11.1.7 Operator high example priorit V10! = (V1!^2 + V2!^2 + V3!^2)*2.5 sign(+ -) ↑ IF(V24!>=V50! AND V10$= “ WELD” * / ₩ MOD (1) Three operators are available in String operation which are +(connection between two = <>...
Page 376: Command Line
11. Robot Language Explanation ------------------------------------------------------------------------------------------------ 11.2 Command line 11.2.1 Substitution Description Substitute the value to the variable. Syntax <Variable>=<Value> Variabl Arithmetic, String, Pose, Shift Parameter Value Arithmetic, String, Pose, Shift constant, and shift variable V5%=20 V![V1%]=5.5 V2$= "EMERGENCY STOP!!" example P3 = P3+R1 R2 = (0, 100, 0, 0, 0, 0) The value type must be identical to the variable type.
Page 377: Robot Control
11. Robot Language Explanation ------------------------------------------------------------------------------------------------ 11.2.2 Robot Control 11.2.2.1 MOVE Command Description The tool end of the robot moves to pose position. MOVE <Interpolation>, [<Pose>], S=<Speed>, A=<Accuracy>, H=<Tool Number> Syntax [,<Output Option>] [ UNTIL <Condition>[,<Interrupt Status Variable>] ] Interpo P : No Interpolation, L : Straight, C : ARC lation...
Page 378 11. Robot Language Explanation ------------------------------------------------------------------------------------------------ 11.2.2.2 SMOVE Command Description The tool end of the robot moves to pose position with positioner synchronizing. SMOVE <Interpolation>, [<Pose>], S=<Speed>, A=<Accuracy>, H=<Tool Number> Syntax [,<Output Option>] [ UNTIL <Condition>[,<Interrupt Status Variable>] ] Positio Referred to the positioner synchronizing. ner No.
Page 379: Comment
11. Robot Language Explanation ------------------------------------------------------------------------------------------------ 11.2.3 I/O 11.2.3.1 I/O Substitution Description Outputs DO signal or inputs the DI signal status. <Output Variable> = <Output Value> Syntax <Arithmetic Variable> = <Variable> Output Variable corresponding to DO signal. Variabl Single signal is DO, Group signal is GO Output Arithmetic Equation.
Page 380 11. Robot Language Explanation ------------------------------------------------------------------------------------------------ 11.2.3.3 INPUT Command Description Inputs the information to variable from the Teach Pendant screen or serial port. Syntax INPUT <Input Direction>, <variable>[, <timeout time>] Input #0 : Teach Pendant Directi #1 : Serial port COM1 #2 : Serial port COM2 Variabl Parameter...
Page 381: Program Flow Control
11. Robot Language Explanation ------------------------------------------------------------------------------------------------ 11.2.4 Program Flow Control 11.2.4.1 GOTO Command Description Jumps to the specified address. Syntax GOTO <Address> Parameter Address Address to be jumped. GOTO 99 example GOTO *ERRHDL 11.2.4.2 GOSUB ∼ RETURN Command Calls for the address specified by GOSUB. Description When met with RETURN command, returns to the next line of GOSUB command.
Page 382 11. Robot Language Explanation ------------------------------------------------------------------------------------------------ 11.2.4.4 CALL Command Calls for the specified program. Description When met with END command, returns to the next line of CALL command called. Syntax CALL <Program Number> ..END Program Parameter Positive integer, Program number to call 1∼999 Number ‘...
Page 383 11. Robot Language Explanation ------------------------------------------------------------------------------------------------ 11.2.4.7 STOP Command Description Stops the program. If restarted, it is continued from the next line. Syntax STOP IF DI9=1 THEN example STOP ENDIF 11.2.4.8 END Command Description Stops the program. If restarted, it starts over from the beginning. Syntax example 11.2.4.9 WAIT Command...
Page 384 11. Robot Language Explanation ------------------------------------------------------------------------------------------------ 11.2.4.10 IF∼ELSEIF∼ELSE∼ENDIF Command Description Jumps according to the Condition. IF <Condition> THEN <Address> [ELSE <Address>] IF<Condition> THEN ∼ [ELSEIF <Condition> Syntax ∼ ] (Several Times) [ELSE ∼ ] ENDIF Condition If 0, false Arithmetic Equation, String Condition file If not 0, true.
Page 385 11. Robot Language Explanation ------------------------------------------------------------------------------------------------ ※ Note : The commands inserted between the commands such as GOSUB∼RETURN, IF∼ENDIF, FOR∼NEXT must be executed in one's inside. In other words, program can not branch off to one's outside by using command such as GOTO or IF command when the block commands is being executed.
Page 386: Comment
11. Robot Language Explanation ------------------------------------------------------------------------------------------------ 11.2.5 Comments Description Used for describing the program operation. No effect on the execution. Syntax REM <Description> Descriptio String for description. Up to 254 single byte Parameter characters can be used. REM SPOT WELDING #1 example 'Variables Setting ------------ 11.2.6 ARC Welding...
Page 387 11. Robot Language Explanation ------------------------------------------------------------------------------------------------ 11.2.6.2 ARCOF Command Description Outputs the Welding End Command. ARCOF ARCOF AEF#=<File Number> Syntax ARCOF C=<Current Output Value>, {V=<Voltage Output Value> | VP=<Voltage Rate>} [,T=<Time>] [,ANTSTK] File Arithmetic Equation. Number of welding end condition Rounded. 1∼32 Number file.
Page 388 11. Robot Language Explanation ------------------------------------------------------------------------------------------------ 11.2.6.5 ARCDC Command Description Sets the welding current command value with the set value. Syntax ARCDC <Current Command Value> Current Arithmetic Equation. Welding current command Parameter Command -14.0∼+14.0 value Value example ARCDC 12 11.2.6.6 ARCDV Command Description Sets the welding voltage command value with the set value.
Page 389 11. Robot Language Explanation ------------------------------------------------------------------------------------------------ 11.2.6.9 REFP Command Description Sets the reference point for weaving wall point. Syntax REFP <Ref. Point Number> , [<Aux. Point>] Ref. Point Unsigned integer. 1∼8 Number Parameter Aux. Point Pose type. If hidden pose, it's not set. REFP 1, P8 example REFP 2, (-1073.33, 739.01, 258.30, 0, 76, 23)
Page 390: Others
11. Robot Language Explanation ------------------------------------------------------------------------------------------------ 11.3 Others ※ All the factor values can be used in the Arithmetic Equation. 11.3.1 PRINT Command Description Robot Interrupt (I signal) (M29) RINT I=<Isignal>,RF=<STD.>,X=<X coord>,Y=<Y coord>, Z=<Z Syntax coord> I signal the number of DI signal receiving interrupt DI range Select 0 when using general robot interrupt and select 1 when using search function.
Page 391 11. Robot Language Explanation ------------------------------------------------------------------------------------------------ 11.3.2 RINTA Command Descri Robot Interrupt(Analog signal) (M30) ption RINTA PT=<Port No>,VL=<Lower volt>,VH=<Upper volt> Syntax ,RF=<STD>,X=<X coord>,Y=<Y coord>, Z=<Z coord> Port No. Analog port No. receiving interrupt signal 1∼4 Lower volt if the value of analog is between lower and upper -10.0 volt, interrupt occurs.
Page 392 11. Robot Language Explanation ------------------------------------------------------------------------------------------------ 11.3.3 SPOTCND Command Description Spot Welding Condition (M33) Syntax SPOTCND <Condition Number> Condition The condition number output to the welder for welding Parameter 0∼255 Number current change. example SPOTCND 2 Introduction Spot welding condition signal is used to change the welding current according the thickness of the materials or sheets when spot welding.
Page 393 11. Robot Language Explanation ------------------------------------------------------------------------------------------------ 11.3.5 SONL Command Description On-line shift (M52) SONL ST=<Start/End>,RF=<Std>,R=<Register Number>,SS=<Shelter Step Syntax No> If 1, starts the shift application. If 0, ends. Start/End 0∼1 If 0, all other factors are ignored. Std. If 0, based on the ground plane. If 1, based on the tool. 0∼1 Parameter The register number where the received shift amount is Reg.
Page 394 11. Robot Language Explanation ------------------------------------------------------------------------------------------------ 11.3.6 TONL1 Command Description Online coordinate conversion (Slipping) (M53) TONL1 ST=<Start/End>,RF1=<Basic Step number1>,RF2=<Basic Step Syntax number2>,RF3=<Basic Step number3> Start/End If 1, Coordinate conversion starts. If 0, exits. 0∼1 Parameter Basic Step The step numbers to be set for 3 base points. 0∼999 number example...
Page 395 11. Robot Language Explanation ------------------------------------------------------------------------------------------------ 11.3.8 SREQT Command Description Timer conditional shift function (M56) SREQT R=<Reg. Number>,PT=<Port Number>,WT=<Standby time>,SS=<shelterStep Syntax Number> Reg. Number Register number for saving the received shift amount. 1∼8 RS232C port number to be used for shift requirement and Port Number 1∼1 shift amount transmission.
Page 396 11. Robot Language Explanation ------------------------------------------------------------------------------------------------ 11.3.10 SEA Command Description Search function (M59) Syntax SEA ST=<On/Off>,RF=<Base>,R=<Reg. Number> On/Off If 1, On. If 0, Off 0∼1 Base If 0, ground base. If 1, tool base. 0∼1 Parameter -3000.0∼ Reg. Number Register number to be used for online shift. 3000.0 example SEA ST=1,RF=0,R=1...
Page 397 11. Robot Language Explanation ------------------------------------------------------------------------------------------------ Application of Search (1) 1 dimension search 1 Direction Searc Teach Point Welding Line Search Range As the above picture, 1 dimension search can be used in the case of an alike workpiece moving or same type workpiece that have different size. Search function is used with interrupt function as the above.
Page 398 11. Robot Language Explanation ------------------------------------------------------------------------------------------------ 2 dimension search uses search function twice and records the shift amounts of point P,Q. The shift amount of point P is recorded in R1 register and referenced during moving to P point. The shift amount of point Q is recorded in R2 register and referenced during moving to Q point.
Page 399 11. Robot Language Explanation ------------------------------------------------------------------------------------------------ Introduction It is a function to measure the abrasion amount of tip. Gun search 1 is to use for measurement the total abrasion amount of tip and Gun search 2 is for measurement the abrasion amount of moving tip. The abrasion amount of fixed tip can be calculated by subtracting the abrasion amount of fixed tip from total abrasion amount.
Page 400 11. Robot Language Explanation ------------------------------------------------------------------------------------------------ 11.3.15 PALPU Command Description Palletizing picking up shift (M95) Syntax PALPU P=<Pallet No>,SL=<Start level>,SH=<shift amount> Pallet No Pallet number 1∼16 Start level the level to pick up (1-base) 1∼100 Parameter -2000.0∼ Shift amount shift amount when picking up 2000.0 Example PALEND P=1,SL=4,SH=1000...
Page 401 11. Robot Language Explanation ------------------------------------------------------------------------------------------------ Introduction It makes shift amount to palletize by using the data that recorded in palletizing pattern register. Note (1) Set up Gun 2 as Palletizing in the menu of "System"[PF2] → 5.Initialize → 4.Set up Using item (2) Always conform the data of palletizing pattern register ("System"[PF2] →...
Page 402 11. Robot Language Explanation ------------------------------------------------------------------------------------------------ 11.3.19 CALLPR Command Description Calls other program (Unconditional) (M102) Syntax CALLPR <Program Number> Program Parameter Program number to be called. 1∼999 Number example CALLPR 2 Introduction In case that a robot is handling same workpieces that have a different position repeating identical action, there are specific repeated actions.
Page 403 11. Robot Language Explanation ------------------------------------------------------------------------------------------------ 11.3.20 SELCRD Command Description Shift coordinate system selection (M113) Syntax SELCRD <Coordinate System Number> Coordinate Coordinate System Number to be used among the user Parameter System 0∼10 coordinate systems. Number example SELCRD 4 Introduction It is a function to select a base coordination to shift. Robot shifts in the base of selected coordination.
Page 404 11. Robot Language Explanation ------------------------------------------------------------------------------------------------ 11.3.21 MIT Code Description All kinds of M.I.T. function codes can be used as required. M<Code Number> <Factor 1>,<Factor 2> Syntax I<Code Number> <Factor 1>,<Factor 2> T <Delay Time> Code Number Positive Integer, M : 0∼113, I : 1∼55 Parameter Arithmetic Equation, Factors to be handed to M, I, T...
Page 405: Function
11. Robot Language Explanation ------------------------------------------------------------------------------------------------ 11.4 Function 11.4.1 Arithmetic Function The functions that have the numeric value returned, are called the arithmetic functions. Function Name Description Example ABS(a) Returns the absolute value of a V19!+ABS(V20!) MAX(a, b) Returns the bigger value between a and b. MAX(V20!, 0) MIN(a, b) Returns the smaller value between a and b.
Page 406: String Function
11. Robot Language Explanation ------------------------------------------------------------------------------------------------ 11.4.2 String Function The functions that have the string returned, are called the string functions. Function Name Description Example Returns a character which has the character code CHR$(a) CHR$(7) of a. Returns a decimal string corresponding to number STR$(a) STR$(13.25) Returns a binary string corresponding to a number...
Page 407 11. Robot Language Explanation ------------------------------------------------------------------------------------------------ M I T Function Code Example of corresponding HR - BASIC syntax. DO signal RESET GO1=0 M1∼8 DO signal ON/OFF DO1=1∼DO8=1 DO1=0∼DO8=0 DO signal RESET GO2=0 M11∼18 DO signal ON/OFF DO11=1∼DO18=1 or DO11=0∼DO18=0 Step Jump (Uncond.) GOTO <Address>...
Page 408 11. Robot Language Explanation ------------------------------------------------------------------------------------------------ M I T Function Code Example of corresponding HR - BASIC syntax. Shift Requirements SREQ Online Shift SONL Online Coordinate TONL1 Conversion Online Coordinate TONL2 Conversion Timer Cnditional Shift SREQT(SREQT) Function. XYZ Shift SXYZ Search Function Function setting Step GOTO <Address>...
Page 409 11. Robot Language Explanation ------------------------------------------------------------------------------------------------ M I T Function Code Example of corresponding HR - BASIC syntax. Vp%=Vn%/<Division Count> or Vp%=Vn% MOD <Division Function Jump (Count Count> Conditional) value is initialized out of cycle). ON Vp%+1 GOTO <Address1><Address2><Address3>... Function Jump (I Vn% = DIn2*2^2 + DIn1*2 + DIn0 Conditional) ON Vn%+1 GOTO <Address1><Address2><Address3>...
Page 410: Chapter 12 Signal Connection
12. Signal connection (3) BD481 circuit ------------------------------------------------------------------------------------------------ Chapter 12 Signal Connection INDEX ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ 12.1 EXTERNAL INPUT SIGNAL (BD430/BD431) ......12 - 2 12.2 EXTERNAL OUTPUT SIGNAL (BD430/BD431) ......12 - 7 12.3 BD481 CIRCUIT ..........12 - 17 ---------------------------------------------------------------------------------------- 12 - 1...
Page 411: External Input Signal (Bd430/Bd431)
12. Signal connection (3) BD481 circuit ------------------------------------------------------------------------------------------------ CHAPTER 12 SIGNAL CONNECTION 12.1 EXTERNAL INPUT SIGNAL (BD430/BD431) 12.1.1 INPUT CIRCUIT - Connector Specification Board-side : 3M MDR 10240-52A2JL 38 37 35 34 29 28 27 Plug-side : 3M MDR 10140-3000VE (HOOD;10340-55F0-008) 12 13 25 26 28 29...
Page 412 12. Signal connection (3) BD481 circuit ------------------------------------------------------------------------------------------------ - Connection Diagram Common (+) or (-) voltage User's System BD430 or BD431 Board COMIN1,2,3,4,5,6,7,8 +24V (or 0V) Input User's SMPS Signals Contact (or +24V) Note. (1) Use external power source. ---------------------------------------------------------------------------------------- 12 - 3...
Page 413 12. Signal connection (3) BD481 circuit ------------------------------------------------------------------------------------------------ 12.1.2 CNIN2 Input Signal Pin No. Symbol Description (for expanded board / for base board) DI01 general-purpose input 1 DI02 general-purpose input 2 DI03 general-purpose input 3 DI04 general-purpose input 4 DI05 general-purpose input 5 DI06 general-purpose input 6 DI07...
Page 414 12. Signal connection (3) BD481 circuit ------------------------------------------------------------------------------------------------ 1) General DI Signal DI1 ∼ DI18 signal connect as followings. Connector +24V (External CNIN2 power) Pin no. COMIN 5, 6, 7 Signal DI 01 DI 1 contact DI 08 DI18 (22) contact +24V GND (External power) 2) External start, External stop...
Page 415 12. Signal connection (3) BD481 circuit ------------------------------------------------------------------------------------------------ +24V connector (External power) CNIN2 COMIN pin no signal PI 1 (31) contact PI 8 (38) contact +24V GND (Exteranl power) Connect Discrete/Binary input signal as followings. +24V connector (External power) CNIN2 COMIN pin no signal binary/...
Page 416: External Output Signal (Bd430/Bd431)
12. Signal connection (3) BD481 circuit ------------------------------------------------------------------------------------------------ 12.2 External Output Signal (BD430, BD431) 12.2.1 Output Circuit All output circuit are as followings. - Connector Specification Board-side : 3M MDR 10250-52A2JL 13 12 11 10 Plug-side : 3M MDR 10150-3000VE (HOOD;10350-52F0-008) 13 14 15 16 18 19...
Page 417 12. Signal connection (3) BD481 circuit ------------------------------------------------------------------------------------------------ - Connection Diagram BD431 Board : Common (+) or (-) voltage User's System BD431 Board Output Signals +24V(0V) Load User's SMPS 0V(+24V) COMOUT1,2,3,4,5,6,7,8 BD430 Board : Common (-) voltage only BD430 Board User's System Output +24V Signals...
Page 418 12. Signal connection (3) BD481 circuit ------------------------------------------------------------------------------------------------ 12.2.3 CNOUT2 Output signal Singal Discription DO01 General output signal 1 DO02 General output signal 2 DO03 General output signal 3 DO04 General output signal 4 DO05 General output signal 5 DO06 General output signal 6 DO07 General output signal 7 DO08...
Page 419 12. Signal connection (3) BD481 circuit ------------------------------------------------------------------------------------------------ 1) General DO Signal Connect DO 1∼ DO 8, DO 11 ∼ DO 18 output signal as followings. connector CNOUT2 load pin no signal DO 1 output DO 8 COMOUT5 (9), (10) connecot CNOUT2 load pin no...
Page 420 12. Signal connection (3) BD481 circuit ------------------------------------------------------------------------------------------------ 2) GUN Signal It is output this signal after arriving to the recorded point (destination point) if it is GUN output function on a destination step at playback. connector CNOUT2 load pin no signal GUN 1 (37)
Page 421 12. Signal connection (3) BD481 circuit ------------------------------------------------------------------------------------------------ 4) PROGRAM END It is output when program is ended in playback. Refer to "SYSTEM [PF5] → 2. CONTROL PARAMETER → 6. END Relay Output Time for the setting of end signal output time. connector load CNOUT2...
Page 422 12. Signal connection (3) BD481 circuit ------------------------------------------------------------------------------------------------ 6) EMERGENCY STOP It is output when emergency stop is pressed. connector load CNOUT2 signal pin no (33) output Emegency (User setting) stop (39), (40) COMOUT7 (User setting) 7) STEP SET ALARM SIGNAL It is output this signal when a step which is kept away from the current step by two or more steps, is specified in the one step or teach mode.
Page 423 12. Signal connection (3) BD481 circuit ------------------------------------------------------------------------------------------------ 8) INTERLOCK ERROR SIGNAL It is output this signal in case that interlock signal is not input despite of exceeding the time set in "SYSTEM [PF5] → 2. CONTROL PARAMETER → 7. Interlock Error Time waiting interlock in playback.
Page 424 12. Signal connection (3) BD481 circuit ------------------------------------------------------------------------------------------------ 10) ROBOT RUNNING It is out the confirming signal that robot is running. connector load CNOUT2 signal pin on (41) output (45) robot running (49), (50) COMOUT8 11) IN LOW MODE SIGNAL It is output when low speed command is input or low speed mode is set. connecror CNOUT2 load...
Page 425 12. Signal connection (3) BD481 circuit ------------------------------------------------------------------------------------------------ 12) ROBOT READY SIGNAL It is output when automatic operation is enable. Refer to "SYSTEM [PF5] → 2.CONTROL PARAMETER → 3.Robot Ready for the condition of robot ready. connector load CNOUT2 signal pin no (47) output Robot...
Page 426: Bd481 Circuit
12. Signal connection (3) BD481 circuit ------------------------------------------------------------------------------------------------ 12.3 BD481 CIRCUIT DRAWING C N W IF BD481 Connector 1 : outTO RCH SW 2 : outINCH ING 3 : outRETRACT 4 : outSTICKCHK 5 : outG ASVALVE EXTER NAL 6 : outRESERVED 7 : N.C.
Page 427 12. Signal connection (3) BD481 circuit ------------------------------------------------------------------------------------------------ TBAIO BD481 Term inal Block 10 : AOUT4 9 : AOUT3 8 : AOUT2 7 : AOUT1 6 : AGND 5 : AGND EXTERNAL 4 : AIN4 SYSTEM 3 : AIN3 2 : AIN2 1 : AIN1 ITEM MAKER...

This manual is also suitable for:

Hx series Hi-4 Hr006f Hr006v Hr015f Hr015v ... Show all

Hyundai Heavy Industries HR Series Operation Manual

Chapter 1. Safety, Operation Panel, Teach pendant

Chapter 2. Basic Operation of Robot

Chapter 3. Service Menu

Chapter 4. Condition Setting

Chapter 5. Application Condition

Chapter 6 System Setting

Chapter 7. R Code

Chapter 8. Programming

Chapter 9. Quick Open Function

Chapter 10. Menu Tree

Chapter 11. Robot Language Explanation

Chapter 12 Signal Connection

Quick Links

Need help?

Questions and answers

Related Manuals for Hyundai Heavy Industries HR Series

Summary of Contents for Hyundai Heavy Industries HR Series