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Loctite CARTESIAN 200 series Operation Manual

Features ii variables/ commands/ functions
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EQUIPMENT OPERATION MANUAL
Cartesian 200, 300, 400 and 500 Series
Variables/ Commands/ Functions
Thank you for purchasing the Loctite® Robot.
*Read this manual thoroughly in order to properly use this robot.
Be sure to read "For Your Safety" before you use the robot. It will
protect you from possible dangers during operation.
*After having read this manual, keep it in a handy place so that you or
the operator can refer to it whenever necessary.
Features II

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Summary of Contents for Loctite CARTESIAN 200 series

  • Page 1 Cartesian 200, 300, 400 and 500 Series Features II Variables/ Commands/ Functions Thank you for purchasing the Loctite® Robot. *Read this manual thoroughly in order to properly use this robot. Be sure to read “For Your Safety” before you use the robot. It will protect you from possible dangers during operation.

  • Page 2: For Your Safety

    FOR YOUR SAFETY Safety Precautions The precautions stated in this manual are provided for the customer to make the best use of this product safely, and to provide preventive measures against injury to the customer or damage to property. Be sure to follow the instructions Various symbols are used in this manual.
  • Page 3 FOR YOUR SAFETY CARTESIAN Series Warnings Operators who are involved in the programming, inspection and/or maintenance of this robot must take the “special training course” for industrial robots specified in Article 59 of the Occupational Health and Safety Law and relevant ministry ordinances. Do not leave the unit plugged in (power cord and connectors) when it is not in use for long periods of time.
  • Page 4 FOR YOUR SAFETY Warnings Check the mounting screws regularly so that they are always firmly tightened. Loose screws may cause injury or defect. Power the unit only with the rated voltage. Excessive voltage can cause fire or malfunction of the unit. Do not sprinkle water or oil on the unit, control box, or its cable.
  • Page 5 FOR YOUR SAFETY INSTALLATION Warnings Always use a safety barrier. A person entering the robot’s restricted area may be injured. At the entry/exit gate of the safety barrier, install an interlock that triggers an emergency stop when the gate is opened. Ensure there is no other way of entering the restricted area.
  • Page 6 FOR YOUR SAFETY Warnings Confirm that the unit is properly grounded. Power supply earth should be connected complying with Type D installation. (under 100 Ω of resistance.) Insufficient grounding can cause electric shock, fire, or malfunction of the unit. Plug the power cord into the wall outlet firmly. Incomplete insertion into the wall outlet makes the plug hot and can cause fire.
  • Page 7 FOR YOUR SAFETY Warnings Be sure to confirm that all the air tubes are connected correctly and firmly. Use the robot in an environment between 0 to 40 degrees centigrade with a humidity of 20 to 95 percent without condensation. Failure to do so may result in malfunction.
  • Page 8 FOR YOUR SAFETY Warnings Be sure to remove the eye bolt after installing the robot so that it does not hit the arm. Failure to do so may result in injury or breakdown of the unit. Features II CARTESIAN Benchtop Robot...
  • Page 9 FOR YOUR SAFETY WORKING ENVIRONMENT Warnings When you lubricate or inspect the unit, unplug the power cord from the control box. Failure to do so may result in electric shock or injury. Be sure to shut off the power supply before removing the power cord from the control box.
  • Page 10 FOR YOUR SAFETY DURING OPERATION Warnings When operations are taking place within the safety barrier, ensure no one enters the robot’s restricted area. If you must go inside the safety barrier, be certain to push the emergency stop switch and put a “Do Not Operate” sign on the start switch. When starting the robot, check that, no one is within the safety barrier and no object will interfere with the robot operating.
  • Page 11 FOR YOUR SAFETY CARTESIAN Series Warnings Be sure to check grounding. Improper grounding can cause electric shock or fire. Be sure to use within the voltage range indicated on the unit. Failure to do so may cause electric shock or fire. Plug the power cord into the wall outlet firmly.
  • Page 12 FOR YOUR SAFETY Warnings Use the machine indoors where no flammable or corrosive gas is present. Emission and accumulation of such gasses could lead to fire. IP Protection Rating is “ IP30. ” ( “ IP40 ” for CE specification) Be sure to unplug the power cord from the wall outlet if the robot will remain unused for long periods of time.
  • Page 13 FOR YOUR SAFETY Cautions Be sure to check grounding. Improper grounding may cause malfunction or defect. Use the Benchtop Robot in an environment between 0 to 40 degrees centigrade with a humidity of 20 to 95 percent without condensation. Failure to do so may result in malfunction. IP Protection Rating is “...

  • Page 14: Preface

    PREFACE The Loctite ® Benchtop Robot CARTESIAN Series is a new low cost, high performance robot. We have succeeded in reducing price while maintaining functionality. Energy and space saving is made possible through the combined use of stepping motors and special micro step driving circuits.
  • Page 15 Please be sure to follow the instructions described in these volumes. Proper use of the robot will ensure continued functionality and high performance. The contents described in this volume are based on the standard application. Menu items may vary depending on models. Be sure to shut off the power supply before plugging in the power cord.

  • Page 16: Table Of Contents

    CONTENTS Features II FOR YOUR SAFETY ______________________________________________________________ i PREFACE ____________________________________________________________________ xiii CONTENTS ____________________________________________________________________xv EXPRESSION STRUCTURE_______________________________________________________ 1 COMMAND LIST ________________________________________________________________ 3 VARIABLE LIST _________________________________________________________________ 8 FUNCTION LIST _______________________________________________________________ 10 [ Variables ]____________________________________________________________________ 13 Free variables: #mv, #mkv, #nv, #nkv, #sv, #skv __________________________________ 13 Input variables:#sysIn1 to 15, #genIn1 to 18, #handIn1 to 4__________________________ 14 Output variables: #sysOut1 to 15, #genOut1 to 18, #handOut1 to 4 _____________________ 15 Down timer : #downTimer1 to 10 ______________________________________________ 15...
  • Page 17 [ ON/OFF Output Control ] ________________________________________________________ 28 Outputting to I/O: set, reset, pulse, invPulse ______________________________________ 28 Outputting after X second: delaySet, delayReset __________________________________ 31 Sounding an alarm buzzer: onoffBZ ____________________________________________ 32 Blinking the LED (Green): onoffGLED __________________________________________ 33 Blinking the LED (Red): onoffRLED ____________________________________________ 34 Outputting values from I/O: dataOut,dataOutBCD _________________________________ 35 [ If Branch, Wait Condition ] _______________________________________________________ 36 if Branch: if, then, else, endIf__________________________________________________ 36...
  • Page 18 [ Controlling Tool Movement ]______________________________________________________ 68 Moving the Z axis: upZ, downZ, movetoZ________________________________________ 68 Moving straight in CP drive: lineMoveSpeed, lineMoveStopIf_________________________ 70 Executing mechanical initialization by a point job: initMec ___________________________ 72 Position error detection: checkPos _____________________________________________ 73 [ LCD, 7SLED ]_________________________________________________________________ 74 Displaying the specified strings on the teaching pendant: clrLCD, clrLineLCD, outLCD, eoutLCD ______________________ 74 Displaying arbitrary numbers on the 7SLED: sys7SLED, out7SLED ___________________ 75...

  • Page 19: Expression Structure

    EXPRESSION STRUCTURE Expression An expression is fixed numbers, variables, functions (both of String type and Numeric type) and operators combined. Fixed Number There are 2 types of fixed numbers, Numeric type (e.g.: 125, 2.0,2e15) and String type (e.g.: "ABC".) String type fixed numbers, characters can be specified in hexadecimal code by using “%.” If you want to display “%”...
  • Page 20 Function Function returns a converted value if values or strings are given. Both built-in functions, which are built-in as robot features, and user definition functions, which can be freely defined, can be used with this robot. User definition functions are defined in the customizing mode. Whether they are Numeric functions or String functions depends on the type of returned values.

  • Page 21: Command List

    COMMAND LIST If you assign point job data including one of the highlighted ( ) commands to a CP Passing Point, this command will be ignored. Point Job Commands Command Parameters Content Output Destination ON output reset Output Destination OFF output Output Destination, pulse ON pulse output of specified pulse length...
  • Page 22 Command Parameters Content Boolean Variable or ON input Expression Boolean Variable or OFF input Expression Boolean Variable or Serial ON input Expression Boolean Variable or Serial OFF input Expression Boolean Variable or Parallel ON input Expression Boolean Variable or Parallel OFF input Expression Blocks serial connection Blocks parallel connection...
  • Page 23 Command Parameters Content Control Variable, Repeats commands from “for” to “next” until the Initial Value, specified variable changes from Initial Value to End Value, Step Value End value. next exitFor Exits “for” sentence. Repeats commands from “do” to “loop.” loop exitDo Exits from “do”...
  • Page 24 Command Parameters Content outCOM Port, Character String Outputs a character string from the COM. Port, Character String eoutCOM Outputs the result of an expression from the COM. Expression Sets Wait Time (Period for Time Out) for receiving setWTCOM Port, Wait Time from the COM.
  • Page 25 Execute Condition Command Parameters Content Boolean Variable or ON input Expression Boolean Variable or OFF input Expression Boolean Variable or Serial ON input Expression Boolean Variable or Serial OFF input Expression Boolean Variable or Parallel ON input Expression Boolean Variable or Parallel OFF input Expression Blocks serial connection...

  • Page 26: Variable List

    VARIABLE LIST Built-in variables, which are built-in as robot functions, and user definition variables, which can be freely defined, can be used with this robot. User definition variables, except local variables (variables effective only in defined point job data which are defined by the “declear” command), are defined in the customizing mode. (Refer to the operation manual “Features IV”...
  • Page 27 [ Variables] Category Type Identifier Description Set to 1 when #seqTCount #seqT(1 to 99) reaches given value greater. One counter can count from 0.001 #seqTCount (1 to 50): Integrating Timer to 2,147,483,647 seconds. (0.001 #seqTCount (51 to 99): Unintegrating Timer sec increment) 1 when #seqCCount reaches the #seqC (1 to 99)

  • Page 28: Function List

    FUNCTION LIST Built-in functions, which are built in as robot functions, and user definition functions, which can be freely defined, can be used with this robot. User definition functions are defined in the customizing mode. (Refer to the operation manual “Features IV”...
  • Page 29 x, y: Numeric value or numeric variable n, m: Numeric value made a certain digit or greater by rounding or truncation a, b: String or string variable Category Type Identifier Description chr(x) Returns a string (1 character) with the given character code. ord(a) Returns the top string code.
  • Page 30 x, y: Numeric value or numeric variable n, m: Numeric value made a certain digit or greater by rounding or truncation a, b: String or string variable Category Type Identifier Description Regards the top 2 characters as a 2 byte signed integer little val2SILE(a) endian and converts it.

  • Page 31: [ Variables ]

    [ Variables ] Free variables: #mv, #mkv, #nv, #nkv, #sv, #skv A “variable” is a container into which a value is placed. This robot has the following variables which can be used freely. When using the following variables, variable declaration is unnecessary. Identifier #mv(1 to 99) Boolean variable...

  • Page 32: Input Variables:#Sysin1 To 15, #Genin1 To 18, #Handin1 To 4

    Input variables:#sysIn1 to 15, #genIn1 to 18, #handIn1 to 4 An input variable is a Boolean variable that can be referenced only. A value cannot be written. The input variables correspond to the I/O-SYS, I/O-1, and I/O-H input pins. When an ON signal is received, the input variable becomes “1”...

  • Page 33: Output Variables: #Sysout1 To 15, #Genout1 To 18, #Handout1 To 4

    Output variables: #sysOut1 to 15, #genOut1 to 18, #handOut1 to 4 Output variables are Boolean variables. Output variables corresponds to the I/O-SYS, I/O-1, and I/O-H output pins. When an ON signal is output, the output variables become “1” (true). Identifier Identifier Category Connector...

  • Page 34: Point Job Starting Height : #Jobstarthight

    Point job starting height : #jobStartHight When a value is assigned (let) to the variable “#jobStartHight” before movement or during movement, the point job starts from an assigned value above the set point Z coordinate. Setting point job data that includes “#jobStartHight” at “point job” is meaningless because the robot has already arrived at the point job start position.

  • Page 35: Pallet : #Palletflag (1 To 100), #Palletcount (1 To 100)

    Pallet : #palletflag (1 to 100), #palletCount (1 to 100) #palletCount(1 to 100) is a numeric variable and #palletflag(1 to 100) is a Boolean variable. These variables retain the value of the pallet counter and pallet flag of the “Pallet Routine” under Additional function data (1 (true) when the pallet counter is full).
  • Page 36 Point job data set on P1 set #handOut1 Pick up workpiece. Point job data set on P2 ld #palletCount(3) = 5 #palletCount (3) is other than 5 (P2-5), 11 (P2-11), or #palletCount(3) = 11 else reset #handOut1 Place (release) workpiece. endIf loopPalette 3,1 Increase the pallet 3 counter by 1.

  • Page 37: Workpiece Adjustment: #Workadj_X, #Workadj_Y

    Workpiece adjustment: #workAdj_X, #workAdj_Y, #workAdj_Z, #workAdj_R, #workAdj_Rotation Numeric variables. These variables hold the adjustment amount and rotation adjustment amount of each axis of the [Workpiece Adjustment] under Additional function data. Category Identifier Description Workpiece adjustment amount in the X direction #workAdj_X (1 to 100) (Corresponds to workpiece adjustment 1 to 100) Workpiece adjustment amount in the Y direction...
  • Page 38 Point job data set in P1 declear str hosei String type local variable “hosei” declaration. inCom hosei,port1,10 Receive workpiece adjustment from COM1 at #workAdj_X(6) = hosei “hosei”. The “hosei” value is assigned to #workAdj_X (6) (#workAdj_X(6)=X direction adjustment amount of workpiece adjustment 6) Point job data set in P2 (Setting point of [Workpiece Adjustment]) set #handOut1...

  • Page 39: Point Coordinates: #Point_X,#Point_Y,#Point_Z

    Point coordinates: #point_X,#point_Y,#point_Z, #point_R,#point_TagCode These variables hold the coordinates and tag code value of the running point. “Running point” is the point with point job data containing this variable set. When point job data containing this variable is set to a job before moving, job while moving, or job while CP moving, the current position of the tool center point and the value of this variable are different.

  • Page 40: Given Point Coordinates: #P_X, #P_Y, #P_Z, #P_R, #P_Tagcode

    Given point coordinates: #P_X, #P_Y, #P_Z, #P_R, #P_TagCode These variables hold the coordinates and tag code value of a given point in the current program. This variable holds the original coordinates of the point. This value does not change even when [Workpiece Adjustment] and “#jogStartHight”...

  • Page 41: Given Point Coordinates In Given Programs: #Prog_P_X

    Given point coordinates in given programs: #prog_P_X, #prog_P_Y, #prog_P_Z, #prog_P_R, #prog_P_TagCode These variables hold the coordinates and tag code value of a given point in a given program. This variable retains the original coordinates of the point. This value does not change even when [Workpiece Adjustment] and “#jogStartHight”...

  • Page 42: [ Functions ]

    [ Functions ] Robot functions Built-in functions, that are built-in as robot functions, and user definition functions, which can be freely defined, can be used with this robot. User definition functions are defined in the customizing mode. (Refer to operation manual “Features IV”...

  • Page 43: Arithmetic Functions

    Arithmetic functions The following can be used as arithmetic built-in functions. x, y : Numeric value n, m : Rounded integer value Category Identifier Description abs(x) Absolute value max(x,y) Maximum value min(x,y) Minimum value π degrad(x) Conversion from degree to radian (x* /180) π...

  • Page 44: String Functions

    String functions The following can be used as string built-in functions. x, y: Numeric value or Numeric variable n, m: Numeric value made a certain digit or greater by rounding or truncation a, b: String or string variable Category Type Identifier Description chr(x)
  • Page 45 x, y: Numeric value or Numeric variable n, m: Numeric value made a certain digit or greater by rounding or truncation a, b: String or string variable Category Type Identifier Description Regards a string as a binary string (list of “0” and “1”) valBin(a) and converts it to a numeric value.

  • Page 46: [ On/Off Output Control ]

    [ ON/OFF Output Control ] Outputting to I/O: set, reset, pulse, invPulse This section explains commands to be output to a tool (output to the I/O.) These commands belong to the category [ON/OFF Output Control.] Command Category Command Parameter ON output to a specified output Output Destination destination OFF output to a specified output...
  • Page 47 Therefore, Hand Tool OPEN ← #sysOut15 OFF & #sysOut16 ON Hand Tool CLOSE ← #sysOut15 ON & #sysOut16 OFF Below are the output commands to open/close the hand tool. set #sysOut15 #sysOut16 ON output Open hand tool. reset #sysOut16 #sysOut15 OFF output set #sysOut15 #sysOut16 ON output Close hand tool.
  • Page 48 The commands [pulse] and [invPulse] move on to the next command before the pulse stops. In the following example 2 point job data have different results: pulse #genOut1 100 set #genOut1 delay 100 reset #genOut1 pulse #genOut2 200 set #genOut2 delay 200 reset #genOut2 set #genOut3...

  • Page 49: Outputting After X Second: Delayset, Delayreset

    Outputting after X second: delaySet, delayReset The commands “delaySet” and “delayReset” are used to output ON/OFF signals to a specified output destination after a specified period of time. The delay time can be set from 0.001 sec to 9999.999 sec. Command Category Command Parameter...

  • Page 50: Sounding An Alarm Buzzer: Onoffbz

    Sounding an alarm buzzer: onoffBZ A point job sounds an alarm buzzer. Command Category Command Parameter Output Destination Sounds an alarm buzzer. (BZ) Output Destination ON/OFF Output Control reset Stops an alarm buzzer. (BZ) Sounds an alarm buzzer off onoffBZ ON Time, OFF Time and on.

  • Page 51: Blinking The Led (Green): Onoffgled

    Blinking the LED (Green): onoffGLED The following commands are valid for the CARTESIAN series only. The following explains how to turn ON or blink the LED light on the front body using point job commands. Command Category Command Parameter Output Destination Turns the LED (Green) ON.

  • Page 52: Blinking The Led (Red): Onoffrled

    Blinking the LED (Red): onoffRLED The following commands are valid for the CARTESIAN series only. The following explains how to turn ON or blink the LED light on the front body using point job commands. Command Category Command Parameter Output Destination Turns the LED (Red) ON.

  • Page 53: Outputting Values From I/O: Dataout,Dataoutbcd

    Outputting values from I/O: dataOut,dataOutBCD The optional numeric values “0 to 999,999,999” or tag codes can be output to the I/O or the Boolean free variables (#mv(1~99), #mkv(1~99).) Command Category Command Parameter Output Output Output Outputs values from the dataOut ON/OFF Output Value Destination...

  • Page 54: [ If Branch, Wait Condition ]

    [ If Branch, Wait Condition ] if Branch: if, then, else, endIf This section explains point job data commands for executing different jobs according to certain conditions. These commands belong to the category [if Branch, Wait Condition.] Command Category Command Parameter if Branch if Branch, Wait...
  • Page 55 Example 2: If #genIn1 and #genIn2 are both Label 1 ON, sound an alarm buzzer and stand by until a start instruction is received. If either #genIn1 or #genIn2 are not ON, advance to the next job. #genIn1 #genIn2 Sound Alarm And Wait Start The commands for Example 2 are shown below.

  • Page 56: Wait Condition: Waitcond,Waitcondtime,Timeup,Endwait

    Wait Condition: waitCond,waitCondTime,timeUp,endWait This section explains the point job data commands for waiting until the sensor (connected to #genIn2) comes ON. These commands belong to the category [Wait Condition.] Command Command Parameter Category waitCondTime Period for Time Out Waits for conditions for a certain period. timeUp Executes when time is up.
  • Page 57 [endWait] and [timeUp] cannot be used alone. A period for Time Out of “waitCondTime” can be set using variable and expressions. Example) declear num wtime Declare the local variable “wtime.” ld #genIn3 #genIn3=ON then then wtime = 3000 Assign 3000 to”wtime.” else wtime = 1000 Assign 1000 to “wtime.”...

  • Page 58: [ Condition ]

    [ Condition ] Condition Settings: ld, ldi, and, ani, or, ori, anb, orb The following describes the condition commands placed after the If Branch, Wait Condition (if, waitCond, waitCondTime) commans. The command category it belongs to is [Condition.] Command Command Parameter Category Boolean variable or expression...
  • Page 59 ld: ON input waitCond Waits in place until the following condition is met. ld #genIn2 #genIn2=ON (condition) endWait End of condition line ldi: OFF input waitCond Waits in place until the following condition is met. ldi #genIn2 #genIn2=OFF (condition) endWait End of condition line and: Series ON input waitCond...
  • Page 60 anb: Block series connection waitCond Waits in place until the following conditions are met. ld count>=10 count is 10 or greater Condition 1 or flag or flag is ON ldi #genIn1 #genIn1 is OFF Condition 2 ani #genIn2 and #genIn2 is OFF Condition 1 is true and condition 2 is also true endWait End of condition line...

  • Page 61: [ Delay, Data In, Wait Start ]

    [ Delay, Data In, Wait Start ] Time Delay: delay This section explains the point job data command for controlling time delay. Command Category Command Parameter Delay, Data In, Stand by in place for a specified period of delay Delay Time Wait Start delay time.
  • Page 62 Delay Time can be set using variable or expression instead of values. Example) declear num wtime Declare the local variable “wtime.” ld #genIn1 #genIn1=ON then then wtime = 100 Assign 100 to “wtime.” else If not wtime = 200 Assign 200 to “wtime.” endIf set #genOut1 Output ON signal to #genOut1.

  • Page 63: Waiting For A Start Instruction: Waitstart, Waitstartbz

    Waiting for a start instruction: waitStart, waitStartBZ This section explains the point job data commands to stop running until a start instruction is received. Command Category Command Parameter Stands by in place until a start instruction waitStart is received. Delay, Data In, Stands by in place while sounding an Wait Start waitStartBZ...
  • Page 64 If using “waitCondTime” “timeUp” … “endWait” or “if” … ”endIf”, command lines are indented. (See below.) waitCondTime 200 Be sure not to exceed the 9 level of the ld #genIn2 indent. timeUp set genOut2 If point job data including a line with an indent exceeding the 9 level, it will recognize a ld #genIn1...

  • Page 65: Inputting From I/O: Datain, Datainbcd

    Inputting from I/O: dataIn, dataInBCD Read out a value from the I/O or Boolean variable (#mv (1 to 99), #mkv (1 to 99)) and assign it to the specified variable. Command Category Command Parameter Variable to Input Input Read out numeric data from dataIn Delay, Data In, assign to...

  • Page 66: [ Pallet Control ]

    [ Pallet Control ] Pallet Command: loopPallet, resPallet, incPallet There are two methods for updating the pallet counter. One is [Auto Increment], which increases the counter automatically (the arm will proceed to the next position on the pallet), and the other is [Increment by Point Job], which will not increase the counter (that is, the tool unit will not move to the next position on the pallet) unless the point job specifies it.
  • Page 67 During the pallet operation [Increment by Point Job], the tool unit can move as shown in the figure on the previous page. The tool unit returns to P1 before it moves to the next position each time. (P1 → P2 (P2-1) → P1 → P2-2 →...
  • Page 68 Below are the pallet commands for using the command “incPallet (Increase the specified pallet counter by one)” instead of “loopPallet.” <Use “incPallet” instead of “loopPallet”> reset #genOut1 Hold (pick up) the workpiece. incPallet 10 Increase the counter of Pallet 10 by one. ld #palletFlag(10) The counter of Pallet 10 does not reach the maximum, else...

  • Page 69: [ Execution Flow Control ]

    [ Execution Flow Control ] Subroutine call of type setting job: callBase When a point job, etc. is set at a user definition type point created in the customizing mode, the point job, etc. added to the type is not executed. Also, when an additional function is set at user definition type, and a function of the same type but different number is set at the point, the function data number of the function set at the point has priority.
  • Page 70 In these cases, when the “callBase” command is used in the point job data set at a user definition type point, a subroutine of the point job, etc. added to the type can be called. When the “callBase” command is used in point job data 7 of the example, a subroutine of the command string for the “point job”...

  • Page 71: Subroutine Call Of Point Job Data: Calljob

    Subroutine call of point job data: callJob While a point job is running, different point job data can be called and executed. The point job data is reduced and easier to read if error Operation and other parts common to multiple point jobs are made into one point job data and used by calling it from another point job data.
  • Page 72 When the point job data called by “callJob” command contains a “callJob” command, and the nest level exceeds 10, an error (No. 42) is generated. ( ↓ Example of nest level 2) (Command execution flow) callJob callJob Nest level 1 Nest level 2 Point job data number can also be given by expression.

  • Page 73: End Of Point Job: Returnjob

    End of point job: returnJob When there are complex conditions and operations that correspond to them and there are no more operations in the point job, the point job can be ended by “returnJob” command. Command category Command Parameters Execution flow control returnJob Ends a point job.

  • Page 74: Subroutine Call Of Program: Callprog

    Subroutine call of Program: callProg The following explains how to call and execute other programs while running a point job. Command Category Command Parameter Call a subroutine of a program Execute Flow Control callProg Program Number specified by number. The command is invalid at the CP Passing Point or a point whose Base Type is CP Passing Point.
  • Page 75 Also, Program Number can be set using expressions. Example) declear num eprg Declare the local variable “eprg.” waitCondTime 200 Wait for 0.2 sec until the following condition is met. ld #genIn1 #genIn1=ON (Condition) timeUp If the conditions are not met within 0.2 sec, ld #genIn2 #genIn2=ON then...
  • Page 76 Example: The subprogram is set to [Absolute.] The tool unit runs on the coordinates of the point data regardless of the position of the called point. It executes the point job at the start in the work home (in the subprogram) at the current point (called point) and then shifts to P1 (SP1.) Calling Point Calling Point...
  • Page 77 If you run the program as a subprogram, the tool unit will not return to the work home. If the program is set to “Relative” or “Moving Amount”, the tool unit will also not return to the work home. The tool unit returns to the work home only when the program is set to “Absolute” and executed independently (not “callProg”...

  • Page 78: Calling Points: Callpoints

    Calling points: callPoints Call a point string (defined in customizing mode) with identifier to execute it. Command Category Command Parameter Calls a subroutine of the Execute Flow Control callPoints Point String Identifier specified point string. The command “callPoints” is invalid at the CP Passing Point or a point whose Base Type is CP Passing Point.

  • Page 79: Ending A Program: Endprog

    Ending a program: endProg The following explains how to end a program (running the operation) at the current point. The arm will not return to the Work Home position. Command Category Command Parameter Execute Flow Control endProg Ends program run at the current point. The command “endProg”...

  • Page 80: Assigning The Returned Value Of A Function: Returnfunc

    Assigning the returned value of a function: returnFunc Assign a value of the specified expression as a returned value and end the function. Command Category Command Parameter Assigns a value of the specified expression Execute Flow Control returnFunc Expression as a returned value and end the function. The command “returnFunc”...

  • Page 81: Jumping To A Specified Point: Gopoint, Gorpoint, Gocrpoint

    Jumping to a specified point: goPoint, goRPoint, goCRPoint The following explains how to jump to a specified point after carring out a point job instead of going to the next point. Command Command Parameter Category PTP Condition Number, goPoint Jumps to a specified point. Point Number Execute Flow PTP Condition Number,...
  • Page 82 [goPoint PTP3,25]: Jump to Point 25. (Comply with PTP Condition 03.) If you set “0” as the PTP Condition Number, the movement will comply with the PTP Conditions setting in the program data. If you set “o” as the point number, the arm will go to the Work Home position. (Jump to a point specified by number.) [goRPoint PTP3,-4 : Subtract four from the current reference point number and jump to the point with that number.

  • Page 83: Jumping To A Specified Command Line: Jump, Label

    Jumping to a specified command line: jump, Label Command Category Command Parameter jump Label Number Jumps to a “Label” specified by number. Execute Flow Control Label Label Number Destination mark to “jump” to. Example: If #genIn2 is ON, the alarm buzzer sounds and stands by until a start signal comes. If #genIn2 is not ON, go to the next job.

  • Page 84: [ For, Do-Loop ]

    [ For, Do-loop ] For, Do-loop: for, next, exitFor, do, loop, exitDo Command Command Parameter Category Control Variable, Initial Value, Repeats commands from “for” to “next” until End Value, the specified variable changes from Initial Step Value Value to End value. next for, do-loop exitFor...
  • Page 85 Parameters (the initial value, end value and step value) of the command “for” can be set using variables or expressions. declear num loop Declare the local variable “loop.” declear num ival Declare the local variable “ival.” ld #genIn1 #genIn1=ON then then loop = 5 Assign 5 to “loop.”...

  • Page 86: [ Controlling Tool Movement ]

    [ Controlling Tool Movement ] Moving the Z axis: upZ, downZ, movetoZ The following explains how to raise/lower the Z axis only by setting a point job. These commands belong to the category [Move.] Command Category Command Parameter Raises only the Z axis by the specified Distance, Speed distance.
  • Page 87 The distance or speed can be set using variable or expressions. waitCond Wait in place until the following conditions are met. ld #genIn2 #genIn2=ON (Condition) endWait End of conditions downZ #P_Z(1)-#point_Z,20 Lower or raise only the Z axis at the speed of 20 mm/sec by a distance calculated by deducting the Z coordinates of the current point from the Z coordinates of P1.

  • Page 88: Moving Straight In Cp Drive: Linemovespeed, Linemovestopif

    Moving straight in CP drive: lineMoveSpeed, lineMoveStopIf The following explains how to move straight in CP drive using point job data commands. The speed of CP drive and the moving amount of each axis coordinates can be set. You also can end shifting by setting conditions.
  • Page 89 Stopping the arm shift due to setting conditions while running. lineMoveSpeed 3 X:20 lineMoveStopIf ld #sysIn1 Condition to stop shifting endLineMove callJob11 If #sysIn1 comes ON, the tool unit stops shifting and goes the next command (callJob11) even before the movement in the Z direction does not reach +20.

  • Page 90: Executing Mechanical Initialization By A Point Job: Initmec

    Executing mechanical initialization by a point job: initMec The following commands are valid for the CARTESIAN Series only. The following explains how to execute mechanical initialization (executed when the power of the robot is turned ON) using point job commands. Even if a position error occurs, the tool unit returns to the absolute coordinates (x:0, y:0, z:0, r:0) by executing mechanical initialization.

  • Page 91: Position Error Detection: Checkpos

    Position error detection: checkPos The following commands are valid for the CARTESIAN Series only. The following explains how to detect a position error using a point job command. If the checkPos command is executed, the tool unit goes to the absolute coordinates (x:0, y:0, z:0, r:0) regardless of where the tool unit is.

  • Page 92: [ Lcd, 7Sled ]

    [ LCD, 7SLED ] Displaying the specified strings on the teaching pendant: clrLCD, clrLineLCD, outLCD, eoutLCD The following explains how to display/ not display entered items on the teaching pendant LCD. Command Category Command Parameter clrLCD None Clears the LCD display. Clears only the specified line on the clrLineLCD Rows...

  • Page 93: Displaying Arbitrary Numbers On The 7Sled: Sys7Sled, Out7Sled

    Displaying arbitrary numbers on the 7SLED: sys7SLED, out7SLED The following commands are valid for the CARTESIAN Series only. The following explains how to display arbitrary numbers on the 7SLED on the front body using “out7SLED” command. When executing “sys7SLED” command or switching programs, the program number will be displayed again.

  • Page 94: [ Com Input/Output ]

    [ COM Input/Output ] COM Input/Output: outCOM, eoutCOM, setCOM, cmpCOM, ecmpCOM, clrCOM, shiftCOM Data can be output or input from the COM. Command Command Parameter Category outCOM Port, Character String Outputs a character string from the COM. Port, Character String Outputs the result of an expression from the eoutCOM Expression...
  • Page 95 COM Input: inCOM A specified number of characters out of data received from the COM is assigned to a variable. If received data exceeds the specified number of characters, characters counted from the top by the specified number are assigned. If received data is less than the specified number of characters, the robot stands by for a time specified in [setWTCOM] and data which has been received is assigned to a variable.
  • Page 96 If point job data including this receive cmpCOM(1) comparison command is set at a CP Passing Point, the robot stands by for 0 sec X = 1 to receive data. Time Out Wait Time for Reciving Received Turns sysFlag(5) ON. Specified Receive ≠...
  • Page 97 Setting Wait Time for receiving data from the COM: setWTCOM You can set Wait Time for receiving data using “inCOM” or “cmpCOM” command. If no data is received after a specified time goes by, it will be recognized as Time out. (Turns a system flag ON.) 0.1 sec is set for the defalt wait time.

  • Page 98: Pc Communication: Stoppc, Startpc

    PC Communication: stopPC, startPC Stopping/Starting COM1 communication stopPC, startPC COM1 is normally used to communicate with the PC. If you use COM1 not to communicate with PC (for sending/receiving C&T data) but to connect to devices to control the robot by point job commands, it is necessary to stop PC communication transaction operated by the system.

  • Page 99: [ Variables, Comments, System Control ]

    [ Variables, Comments, System Control ] Declaration and assignment of variable: declear, let A variable that is valid only in point job data containing a declaration command and a user function (customizing mode) is known as a “local variable”. A local variable sets the type and identifier at declaration time. The identifier is the name of the variable and type can be selected from either “numeric type”...
  • Page 100 Both of the following point job data use the local variable “count”, but since a local variable is a function which is valid only in point job data containing a declaration command, they do not interfere. For example, 0 is assigned to “count” at point job data 24, but the value of “count” used by point job data 05 does not change.

  • Page 101: Comment Insertion: Rem,Crem

    Comment insertion: rem,crem Comments can be added to point job data and sequencer program commands. Command category Command parameters Variable, comment, String 1 line comment system control crem String Comment in the end of a command line e.g.) ld #genIn1 #genIn1 is true, rem #genIn1 Obstruction sensor (#genIn1: Obstruction sensor) : Comment line...

  • Page 102: Changing A Program Number Using Point Job: Setprogno

    Changing a program number using point job: setProgNo The program number being selected can be changed by the point job. It is available in the following cases. If you set a program number by the point job after the power is turned ON, the same program number will always be activated when the power is turned ON.

  • Page 103: Changing A Sequencer Program Using Point Job: Setseqno

    Changing a sequencer program using point job: setSeqNo The sequencer number being selected can be changed using the point job. However, a complicated command cannot be created because the number of commands for sequencer program is 100 steps maximum. Therefore, you need to create some sequencer programs (executed when the power is turned ON, during standby and during operation) separately so that you can switch between the programs using “setSeqNo.”...
  • Page 104 Henkel Corporation warrants, to the original Buyer for a period of one (1) year from date of delivery, that the Loctite ® Equipment or System sold by it is free from defects in material and workmanship. Henkel will, at its option, replace or repair said defective parts. This warranty is subject to the following exceptions and limitations.
  • Page 105 Henkel’s warranty herein is in lieu of and excludes all other warranties of Henkel and its affiliated and related companies (hereinafter the “seller companies”), express, implied, statutory, or otherwise created under applicable law including, but not limited to, any warranty or merchantability and/or fitness for a particular purpose of use.
  • Page 106 No part of this manual may be reproduced in any form, including photocopying, reprinting, or translation to another language, without the prior written consent of LOCTITE®. ©2005, JSMC., Ltd., All rights reserved. P/N 989524 Features II Manual, 07/2005...

This manual is also suitable for:

Cartesian 300 seriesCartesian 400 seriesCartesian 500 series

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