Main System Software Version 2.3*
Contents
1. Function Registers viapoints in the free curve motion Format SETSPLINEPOINT lt Free curve trajectory number gt lt Viapoint gt Explanation Registers the points designated by lt Viapoint gt as the viapoints of the free curve designated by lt Free curve trajectory number gt lt Viapoint gt is a type P or type J variable Related Terms CLRSPLINEPOINT GETSPLINEPOINT MOVE Example PROGRAM PRO1 TAKEARM CLRSPLINEPOINT 5 Clears all viapoints for the free curve with trajectory 5 SETSPLINEPOINT 5 P4 Sets P4 as the first viapoint for the free curve with trajectory 5 SETSPLINEPOINT 5 P1 Sets P1 as the second viapoint for the free curve with trajectory 5 SETSPLINEPOINT 5 J5 Sets J5 as the third viapoint for the free curve with trajectory 5 MOVE S 5 Executes free curve motion to J5 through P4 and P1 Notes 1 Up to 200 viapoints can be specified every trajectory number Exceeding the limit triggers the 685A Free curve pass point overflow error 2 If free curve motion with no viapoint registration is executed error 685B Number of free curve mismatch occurs 3 Up to 20 trajectory numbers can be specified Exceeding the limit triggers the 685B Number of free curve mismatch error 4 If a designated viapoint is outside the motion range an error at the level of 6070 J software motion limit over occurs 5 Before executing the SETSPLINEPOINT command change the tool coordinates or2. screen for CALSET will appear as shown below Select Joint Cancel OK 2 Select the target joint for CALSET Note If selecting 0 the all axis CALSET will be performed 3 If pressing the OK key the CALSET will be executed TIP For details about the CALSET procedure refer to the INSTALLATION amp MAINTENANCE GUIDE Chapter 4 CALSET 20 Main System Software Version 2 3 4 2 Resetting the motor encoder data Only for the encoder model connected via bus Ex G siries robot Access AUX key ArmAux EncRst You need to reset encoders and perform CALSET if Error 641 occurs due to run down encoder backup batteries or Error 677 occurs due to a great impact applied to the robot when the power is off is any of 1 to 6 denoting the object axis 1 The Select Joint screen for the encoder resetting will appear as shown below Select Joint Cancel OK 2 Select the target joint for the encoder resetting 3 If pressing the OK key the encoder resetting will be executed 21 Main System Software Version 2 3 4 3 Setting the calendar clock built in the robot controller Date setting Access AUX key Maintenance Date Sets the calendar clock built in the robot controller 1 The Date Display amp setting screen will appear as shown below Date A Disnlav Cancel OK 2 If selecting Display the Date screen wil
3. controller repair the controller 2C2E 11VH over voltage 5 The voltage of 11V line exceeded the permissible upper value If the error persists after rebooting the controller you need in the power supply inside the controller to investigate or repair the controller 2C2F 11VH under voltage 5 The voltage of 11V line exceeded the permissible lower value If the error persists after rebooting the controller you need in the power supply inside the controller to investigate or repair the controller 2C30 Power board overheated A 5 The temperature of board A exceeded the permissible upper Check the filter clogged or low rotation of the fan value in the power supply inside the controller If the error persists after checking you need to investigate or repair the controller 2C50 DCSV of power board over voltage 5 The voltage of 5V line exceeded the permissible upper value in If the error persists after rebooting the controller you need the power supply inside the controller to investigate or repair the controller 2C51 DC5V of power board under voltage 5 The voltage of 5V line exceeded the permissible lower value in If the error persists after rebooting the controller you need the power supply inside the controller to investigate or repair the controller 2C52 DC12V of power board over voltage 5 The voltage of 12V line exceeded the permissible upper value If the error persists after rebooting the controller you need in the
4. Del OVERVIEW aan hes ts see E shaved acess Arta croatian E E houses A E A E awed Ae Gebel 2 22 Pr graMmMin Bebe ck se cveveen cestode ace E E E E E E teens tule caecuveeantostee E bare essere 2 23 Free Curve Features as sos intense ks a tau a a uns e aa aaa o a e a a a 4 2 4 Notes on Using Free Curve Interpolation cccccccssesssessceesceescesecesecaeceaecseecaeeeaeeeseeeeeseeeeaeeneeeeaecnsseaeenaeenaees 5 2 5 Addition of Free Curve Interpolation to Operation Command MOVE ecesscceseesseeeceeeercneeeeeeaeentaes 6 MOVE Statement neri EE E E E A TE EE see toes sss uadedne doves deb te EN ating 6 2 6 Commands and Libraries for Free Curve Interpolation ccccceeccescceseceseeeseceeeseeeseeeeeeeeceeeeseeeseenseenaeeaeeaees 8 SETSPLINEPOINT stae O as T a aa aa a a a aaa aniria oint 8 CLRSPLINEPOINT statement a a aa aa a a aa ERE rao Caaan rE 9 GETSPLINEPOINT statement 2 ae E E E ae Gh E aks E aT 10 xd WAITSPEINE Oo TT A e E E EE AEA A E 11 xdSPLPASSNUM library renin iein i E R EEE RAE E E ai 12 LdSPEClTakeArm brary oee S EEE eens cece Boe E O ee cncoe en cotiees 13 3 Reading and writing plural projects by USB flash memory ssccsssssssecssscesccessseessesescescsceesssessseseesseees 14 3 1 Reading USB Memory Data into Robot Controller ccecceccceseceseeeseceeeeseeeseeseceseceseeaecaecaeeeeeeeeneenes 16 3 2 Writing Data Stored in Robot Controller into USB Flash Memory cce
5. clogged and cooling fan B 1 the power supply inside the controller 2CB3 Caution IPM Board overheated 1 The temperature of IPM harness board exceeded the warning Check the filter clogged and cooling fan value in the power supply inside the controller 2CB4 Lamp disconnection 2 Disconnection of the motor on detected lampe Check the wiring or connection 2CB5 Caution Power board 1 The temperature of board B 2 exceeded the warning value in Check the filter clogged and cooling fan overheated B 2 the power supply inside the controller 27 SUPPLEMENT Main System Software Version 2 3 First Edition July 2005 DENSO WAVE INCORPORATED 7G The purpose of this manual is to provide accurate information in the handling and operating of the robot Please feel free to send your comments regarding any errors or omissions you may have found or any suggestions you may have for generally improving the manual In no event will DENSO WAVE INCORPORATED be liable for any direct or indirect damages resulting from the application of the information in this manual
6. contactor Only for RC7M 660A Safety board communication error 5 Safety board communication error detected 1 Check the connections between the I O board and ESC peripheral devices 2 Check that there is no noise source e g welding machine near the robot controller 660B Safety board communication error 5 Safety box communication error detected 1 Check the connections between the I O board and BOX peripheral devices 2 Check that there is no noise source e g welding machine near the robot controller 24 Main System Software Version 2 3 5 2 Error codes for the free curve interpolation added in version 2 3 2 Code Message Level Description Remedy 6858 Free curve calculation error 3 Free curve calculation error occurred Check that via points are adequate or not 6859 Free curve exec condition error 3 Free curve motion can not be executed Check the executable conditions During conveyor tracking no free curve motion is allowed 685A _ Free curve pass point overflow 3 Exceeding 200 viapoints were specified in free curve Reduce viapoints up to 200 685B Number of free curve mismatch 3 Free curve trajectory number is mismatched Check the trajectory number of free curve Specify the viapoints if not specified 685C_ Number of free curve pass point 3 The viapoint number is mismatch Check the viapoint number of free curve mismatch 685D Free curve step back error 3 Step back e
7. power supply inside the controller to investigate or repair the controller 26 Main System Software Version 2 3 Code Message Level Description Remedy 2C53 DC12V of power board under 5 The voltage of 12V line exceeded the permissible lower value If the error persists after rebooting the controller you need voltage in the power supply inside the controller to investigate or repair the controller 2C54 DC24V of power board over voltage 5 The voltage of 24V line exceeded the permissible upper value If the error persists after rebooting the controller you need in the power supply inside the controller to investigate or repair the controller 2C55 DC24V of power board under 5 The voltage of 24V line exceeded the permissible lower value If the error persists after rebooting the controller you need voltage in the power supply inside the controller to investigate or repair the controller 2C56 DC24V of power board over voltage 5 The voltage of 24V I O line exceeded the permissible upper If the error persists after rebooting the controller you need IO value in the power supply inside the controller to investigate or repair the controller 2C57 DC24V of power board under 5 The voltage of 24V I O line exceeded the permissible lower If the error persists after rebooting the controller you need voltage IO value in the power supply inside the controller to investigat
8. the work coordinates to the same ones as teaching viapoints with the CHANGETOOL or CHANGEWORK command Main System Software Version 2 3 CLRSPLINEPOINT statement Function Clears all viapoints for free curve motion Format CLRSPLINEPOINT lt Free curve trajectory number gt Explanation Clears all viapoints registered by SETSPLINEPOINT for the free curve trajectory designated by lt Free curve trajectory number gt Related Terms SETSPLINEPOINT GETSPLINEPOINT Example PROGRAM PRO1 TAKEARM CLRSPLINEPOINT 5 Clears all viapoints for the free curve with trajectory 5 SETSPLINEPOINT 5 P4 Sets P4 as the first viapoint for the free curve with trajectory 5 SETSPLINEPOINT 5 P1 Sets P1 as the second viapoint for the free curve with trajectory 5 SETSPLINEPOINT 5 J5 Sets J5 as the third viapoint for the free curve with trajectory 5 MOVE S 5 Executes free curve motion via P4 and P1 to J5 Notes Executing CLRSPLINEPOINT results in non registration of viapoints Execution of free curve motion without viapoint registration results in error 685B Number of free curve mismatch Main System Software Version 2 3 G ETSPLI N EPOI NT statement Function Gets the viapoints for a registered free curve motion Format lt Approach point gt GETSPLINEPOINT lt Free curve trajectory number gt lt Viapoint number gt Explanation Outputs each viapoint designated by lt Viapoint number g
9. viapoint for the free curve with trajectory 5 SETSPLINEPOINT 5 P1 Sets P1 as the second viapoint for the free curve with trajectory 5 SETSPLINEPOINT 5 J5 Sets J5 as the third viapoint for the free curve with trajectory 5 MOVE S 5 NEXT Executes free curve motion to move to J5 through P4 and P1 DELAY 500 CALL xdSPLPASSNUM I1 Sets the passed viapoint number to 11 12 Main System Software Version 2 3 xdSPLCirTakeArm library Function Changes the validity of free curve viapoint clear process execution during TakeArm Format xdSPLCirTakeArm lt Set value gt Explanation If the lt Set value gt is 0 the viapoint of the free curve during TakeArm is not cleared If the lt Set value gt is a different value the viapoints of the free curve during TakeArm are cleared Related Terms CLRSPLINEPOINT SETSPLINEPOINT Example PROGRAM INITIAL CLRSPLINEPOINT 5 Clears all viapoints for the free curve with trajectory 5 SETSPLINEPOINT 5 P4 Sets P4 as the first viapoint for the free curve with trajectory 5 SETSPLINEPOINT 5 P1 Sets P1 as the second viapoint for the free curve with trajectory 5 SETSPLINEPOINT 5 J5 Sets J5 as the third viapoint for the free curve with trajectory 5 CALL xdSPLClIrTaleArm 0 Does not clear the viapoints of the free curve during TakeArm Notes In the initial state after controller power on free curve viapoints are cleared during TakeArm To register the free curve notion via
10. DENSO ROBOT SUPPLEMENT Main System Software Version 2 3 Copyright DENSO WAVE INCORPORATED 2005 All rights reserved No part of this publication may be reproduced in any form or by any means without permission in writing from the publisher All products and company names mentioned are trademarks or registered trademarks of their respective holders Specifications are subject to change without prior notice Preface DENSO WAVE has updated main system software designed for DENSO robot series from Version 2 2 to Version 2 3 with the introduction of G series configured with RC7M controller This book is a supplement to the DENSO robot manuals It describes newly added and updated functions Use this supplement together with other robot manuals For the following new products refer to the related manuals as listed below 1 G series General Information About Robot and Installation amp Maintenance Guide for the corresponding model 2 RC7M controller Interface Manual for Denso Robot RC7M Controller 3 Options including teach pendant mini pendant and extension boards Options Manual for Denso Robot RC7M Controller Contents 1 Newly added language selection window on TP top screen ccsscssscccecessessceecessesssesescescceeesssessceeseseeees 1 2 Free Curve Interpolation Control csscsscssscsscssssssssssccssecssessssssesesessssssssssesscsssesesssesssessssssssesscesssesesssees 2
11. SPLINEPOINT Example PROGRAM PRO1 TAKEARM CLRSPLINEPOINT 5 Clears all viapoints for the free curve with path No 5 SETSPLINEPOINT 5 P4 Sets P4 as the first viapoint for the free curve with trajectory 5 SETSPLINEPOINT 5 P1 Sets P1 as the second viapoint for the free curve with trajectory 5 SETSPLINEPOINT 5 J5 Sets J5 as the third viapoint for the free curve with trajectory 5 MOVE S 5 NEXT Executes free curve motion to J5 through P4 and P1 CALL xdWAITSPLINE 1 1 Waits until the robot passes the first viapoint P4 SET 10 240 Sets port 240 to ON CALL xdWAITSPLINE 2 1 Waits until the robot passes the second viapoint P1 RESET 10 240 Sets port 240 to OFF Notes When xdWAITSPLINE is called with the free curve not executed the robot does not wait Also if xXdWAITSPLINE is called after passing the viapoint designated by the lt Viapoint number gt the robot does not wait 11 Main System Software Version 2 3 xdSPLPASSNUM library Function Obtains the viapoint through which the free line has passed Format xdSPLPASSNUM lt Viapoint number gt Explanation For free curve motion in progress the robot sets the viapoint number through which the command value has passed to the lt Viapoint number gt Related Terms MOVE SETSPLINEPOINT Example PROGRAM PRO1 TAKEARM CLRSPLINEPOINT 5 Clears all viapoints for the free curve with trajectory 5 SETSPLINEPOINT 5 P4 Sets P4 as the first
12. a error from the mini I O occurred Check that there is no noise source e g welding machine near the robot unit or controller And restart the controller 202F Controller specifications error 4 The robot type does not match the controller type Make a suitable combination of the robot unit and controller And restart the controller 602A Motor on failure 2 Communication timeout occurred and failed motor on If the error persists after turning the motor on again you need to investigate or repair the controller 602B Motor on failure 2 Communication data error occurred and failed motor on If the error persists after turning the motor on again you need to investigate or repair the controller 602C PWR communication error1 1 Power communication timeout occurred and stopped to If the error occurs frequentry you need to investigate or execute a process repair the controller 602D PWR communication error 2 1 Power communication data error occurred and stopped to If the error occurs frequentry you need to investigate or execute a process repair the controller 6101 Watchdog error 5 1 Interrupt process stopped If the error persists after rebooting the controller you need 2 Power supply CPU stopped Only for RC7M to investigate or repair the controller 6140 Motor brake fuse blown 4 1 The motor brake fuse was blown Check the motor encoder cable 2 The contactor was failed Only for RC7M Check the motor 3 You need to investigate or repair the
13. cally modifies the path between the preceding and following viapoints as shown below 4 Main System Software Version 2 3 If the free curved path move deviates from the ideal one shorten the viapoint to viapoint interval Specifying such viapoints that produce reciprocating motions or sharp angled motions decreases the speed at the viapoints triggering the 676 Jx command accel limit over or 60D0 Motion optimization function unexecutable error To prevent occurrence of such errors decrease the speed specified lt To execute a non motion command such as I O setting in synchronization with a motion use an xXdWAITSPLINE library as shown below The coding sample below sets I O when the robot tool tip passes through P11 4th viapoint on the free curve path given in Section 1 2 1 PROGRAM PRO1 TakeArm CALL PASSPOINT 1 Register viapoints MOVE S 1 NEXT Execute free curve motion specified by trajectory 1 CALL xdWAITSPLINE 4 1 Wait for the tool tip to pass through 4th viapoint SET IO 240 END 2 4 Notes on Using Free Curve Interpolation 1 2 Up to 200 viapoints can be specified every trajectory number Exceeding the limit triggers the 685A Free curve pass point overflow error Up to 20 trajectory numbers can be specified Exceeding the limit triggers the 685B Number of free curve mismatch error Modifying viapoints after a free curve motion does not allow a St
14. ck codes used for checking data corruption and guaranteeing accurate data read write 15 Main System Software Version 2 3 3 1 Reading USB Memory Data into Robot Controller Access F6 Set F3 USB Memory F1 Read Reads data stored in a USB flash memory into the robot controller 1 Press F3 USB Memory in the Setting Main window and the USB Memory Access Menu appears as shown below F1 F2 2 Press F1 Read in the USB Memory Access Menu and plural projects stored in a USB flash memory appear as shown below Project List No of projects 3 PRJ name Date Robot Type Yersion 04 22 2002 YP 6242F 2 3 0 01 10 2005 04 22 2002 YP 6242F 2 3 0 01 10 2005 04 22 2002 YP 6242F 2 3 0 01 10 2005 Select data to read from the USB flash memory and then press the OK button 16 Main System Software Version 2 3 3 The Select File to Read window appears as shown below Select data to read from the USB flash memory and then press the OK button A Caution Never read in arm data prepared for other robots Doing so will cause the robot to malfunction It is very DANGEROUS 4 System message CALSET RANG will be update Are you sure appears 17 Main System Software Version 2 3 5 Press the OK button and data reading from the USB flash memory will start Upon completion of reading system message appears I a weer zont Hore 6 Upon co
15. e language English or Japanese lt Operation method gt 1 When turning the controller power on the Language selection window appears on the teach pendant 2 Select the English and press the OK button 3 The system message Show language select menu on next power on appears If you select No and press the OK button the teach pendant is usable in English after this operation Main System Software Version 2 3 2 Free Curve Interpolation Control 2 1 Overview Refer to the PROGRAMMER S MANUAL I Section 3 3 Interpolation Control Main system software version 2 3 supports the free curve interpolation control that is useful in sealing packing and deburring As shown below the free curve interpolation control moves the robot tool tip on a free curve passing through a series of specified viapoints at a constant speed The tool tip can accelerate to a constant speed and then decelerate to a stop at the end point This control provides stabilized robot motions in sealing packing and deburring Viapoints y Free Curve Interpolation Control 2 2 Programming 1 Teaching viapoints Use the teach pendant to teach viapoints with position P or joint J variables Position data taught with homogeneous transform matrix T variables requires conversion to position variables using a T2P command in coding described in 2 Registering viapoints Create a corresponde
16. e motion of trajectory 1 END Coding sample 2 Specifying Viapoints Immediately Preceding a Free Curve Motion Command Main System Software Version 2 3 When specifying viapoints in programs other than free curve motion programs execute an xdSPLClrTakeArm 0 to prevent the specified viapoints from getting erased by execution of TakeArm command in free curve motion programs This is because execution of the TakeArm command erases all viapoints specified by SETSPLINEPOINT Coding sample 3 is an initialization program specifying viapoints For details refer to the description of library xdSPLCIrTakeArm PROGRAM INITIAL CALL PASSPOINT 1 Register viapoints CALL xdSPLClrTakeArm 0 Make viapoint clearing by TakeArm invalid END Coding sample 3 Specifying Viapoints in Initialization Program 4 Adjusting viapoints Run the robot in Teach check mode to check the free curved path move by using Halt Step Back and Step Start functions If the path move deviates from the ideal one interpolate viapoints to shorten the viapoint to viapoint intervals Increasing the speed may cause the path move to deviate inside the curve To adjust it teach viapoints outside the ideal curve 2 3 Free Curve Features 1 Specifying a single viapoint produces a linear motion 2 Teaching four viapoints on a straight line produces a straight path between the middle two viapoints as shown below 3 Modifying a viapoint s automati
17. e or repair the controller 2C80 Power board overheated B 1 5 The temperature of board B 1 exceeded the permissible Check the filter clogged or low rotation of the fan upper value in the power supply inside the controller If the error persists after checking you need to investigate or repair the controller Code Message Level Description Remedy 2C81 Power board overheated B 2 5 The temperature of board B 2 exceeded the permissible Check the filter clogged or low rotation of the fan upper value in the power supply inside the controller If the error persists after checking you need to investigate or repair the controller 2C82 IPM harness board overheated B 5 The temperature of IPM harness board B exceeded the Check the filter clogged or low rotation of the fan permissible upper value in the power supply inside the If the error persists after checking you need to investigate or controller repair the controller 2CA1 Caution Power board overheated 1 The temperature of board A exceeded the warning value in Check the filter clogged and cooling fan A the power supply inside the controller 2CB0 Cooling fan error 2 The coolling fan stop detected inside the controller Check the cooling fan 2CB1 Caution Fan speed dropped 1 The low rotation of cooling fan detected inside the controller Check the cooling fan 2CB2 Caution Power board overheated 1 The temperature of board B 1 exceeded the warning value in Check the filter
18. ep Back operation on the free curve path specified before the modification of viapoints and triggers the 737D Cannot step back further error If the move distance between viapoints is short and the posture change is great the 608 Jx command speed limit over or 60D0 Motion optimization function unexecutable error may occur To prevent occurrence of such errors decrease the speed specified During conveyor tracking no free curve motion is allowed Under the free curve interpolation control no recovery from power failure is allowed Main System Software Version 2 3 2 5 Addition of Free Curve Interpolation to Operation Command MOVE Refer to the PROGRAMMER S MANUAL I Section 12 1 Operation Control MOVE M OVE Statement Format MOVE lt lInterpolation method gt lt Pass start displacement gt lt Pose gt lt EX or EXA option gt lt Pass start displacement gt lt Pose gt lt EX or EXA option gt lt Motion option gt NEXT Ver 2 3 or later Add the following For a free curve MOVE S lt Pass start displacement gt lt Trajectory number gt lt EX or EXA option gt lt Motion option gt NEXT Explanation Ver 2 3 or later Add S to the interpolation method Selection from four types P L C and S is possible as the lt Interpolation method gt Interpolation method Meaning P or PTP The robot moves from the current position to the designated coordina
19. l appear as shown below Sco Date 2005 3 14 16h 21m 24s 3 If selecting Setting the Date Set screen will appear as shown below DateSet EMA 3 14 16h 21m 24s Cancel OK 4 Choose an input field with the right and left cursor keys then enter a new value with the numeric keypad If pressing the OK key the date will be set 22 Main System Software Version 2 3 4 4 Setting the next battery replacement date Access Aux key Maintenance Battery Sets the next replacement date of the memory backup battery of the robot controller When the replacement day comes an error 2103 level 1 Time to change controller backup battery will occur 1 The next Battery Replacement date screen will appear as shown below M te ais 100 Battery me 3 i4 Cancel OK 2 Choose an input field with the right and left cursor keys then enter a new value with the numeric keypad If pressing the OK key the date will be set Note For the battery replacement procedure refer to the INSTALLATION amp MAINTENANCE GUIDE 23 Main System Software Version 2 3 5 Error Code Tables Modified Refer to the ERROR CODE TABLES The table below lists the error codes that are modified in Ver 2 3 or later 5 1 Error codes added or modified in version 2 3 1 Code Message Level Description Remedy 202E Mini I O data error 5 Dat
20. mpletion of reading restart the robot controller 4 Caution Without restarting the robot controller the robot may malfunction Notes on reading new variables data from USB flash memory Reading new variables from the USB flash memory overwrites the current variables stored in the robot controller with the new ones Note that if the robot controller has 50 integer variables and the USB flash memory contains 30 integer variables the 31st to 50th variables in the controller will be lost at the end of the read operation 18 Main System Software Version 2 3 3 2 Writing Data Stored in Robot Controller into USB Flash Memory Access F6 Set F3 USB Memory F2 Write Writes Saves data stored in the robot controller into a USB flash memory 1 Press F2 Write in the USB Memory Access Menu and the Enter Project Name window appears Enter the project name y 2042204 Pew ea OCECCOCCOCE AE m ee ee ae 19 Main System Software Version 2 3 4 Newly added operations by the mini pendant Refer to the SETTING UP MANUAL Chapter 6 You can operate the following items by the mini pendant from Ver 2 3 or later 1 Performing CALSET 2 3 4 Setting the next battery replacement date Resetting the motor encoder data 1 2 3 Setting the calendar clock built in the robot controller Date setting 4 4 1 Performing CALSET Access AUX key ArmAux CalSet 1 The Select Joint
21. nce table as shown below for clarifying the relationship between viapoint numbers and position joint variable numbers h Motion start P26 P5 point P28 P30 Variables P5 P7 P10 P11 P12 P13 P14 P15 P16 P21 P22 P23 P26 P28 P30 Correspondence Table Sample for Viapoints and Variable Numbers Main System Software Version 2 3 2 Registering viapoints Specify the desired free curve trajectory number and register viapoints with SETSPLINEPOINT commands It is necessary to specify the trajectory number per viapoint As shown in coding sample 1 create source code specifying viapoints in the order of passing through In this sample the trajectory number is 1 See the descriptions of SETSPLINEPOINT and CLRSPLINEPOINT commands for details PROGRAM PASSPOINT1 CLRSPLINEPOINT 1 SETSPLINEPOINT 1 P5 SETSPLINEPOINT 1 P7 SETSPLINEPOINT 1 P10 SETSPLINEPOIN SETSPLINEPOIN END T 1 P2 T 1 P3 1 1 Coding sample 1 Registering Viapoints 3 Executing free curve interpolation Execute free curve interpolation with the free curve motion command MOVE S lt Trajectory number gt Specification of viapoints should precede the free curve motion command See the description of MOVE When specifying viapoints immediately preceding the free curve motion command write code as shown in coding sample 2 PROGRAM PRO1 TakeArm CALL PASSPOINT1 Register viapoints MOVES 1 Execute free curv
22. points other than by the free curve motion program for registration by the intialization program set by CALL xdSPLClIrTakeArm 0 so as not to clear the viapoints for the free curve during Take Arm 13 Main System Software Version 2 3 3 Reading and writing plural projects by USB flash memory Refer to the SETTING UP MANUAL Chapter 5 The robot controller RC7M supports to read write plural projects using the USB flash memory The following USB flash memories are available to the controller Manufacturer Model I O DATA EDP 4M EDC 44M Logitec LMC UDA Note 1 denotes the capacity 2 When formatting the USB flash memory select tne FAT in the file system menu 3 Never touch or remove a USB flash memory drive or turn the controller power off when the USB flash memory drive is being accessed For details about the USB flash memory access status refer to the memory s user s manual USB connector CN2 BATTERY J CN1 O arias 0 l i ERE RS 232C USB LAN PENDANT RC7M controller 14 Main System Software Version 2 3 Data that can be handled by USB flash memory drive The table below lists data that can be handled by USB flash memory drives Select the appropriate data to read or write as necessary Data Type File or Data Remarks Source program files PAC H PNL Only files with their compile So
23. pply voltage 2C09 DC BUS over voltage 5 The DC BUS voltage exceeded the permissible upper value in If the error persists after rebooting the controller you need the power supply inside the controller to investigate or repair the controller 2C0A DC BUS under voltage 5 The DC BUS voltage exceeded the permissible lower value in If the error persists after rebooting the controller you need the power supply inside the controller to investigate or repair the controller 2C0C DC output over voltage 5 The DC output voltage exceeded the permissible upper value If the error persists after rebooting the controller you need in the power supply inside the controller to investigate or repair the controller 2COE IPM module over voltage 5 The voltage to the IPM module exceeded the permissible If the error persists after rebooting the controller you need upper value in the power supply inside the controller to investigate or repair the controller 2COF IPM module under voltage 5 The voltage to the IPM module exceeded the permissible lower If the error persists after rebooting the controller you need value in the power supply inside the controller to investigate or repair the controller 2C2B_ Regenerative resistor overheated 5 The temperature of regenerated resistor exceeded the Check the filter clogged or low rotation of the fan permissible upper value in the power supply inside the If the error persists after checking you need to investigate or
24. rror is occurred in the free curve After execution of the free curve motion execute Step Back Modifying viapoints after a free curve motion does not allow a operation Step Back operation on the free curve path specified before the modification of viapoints 685E Free curve path deviation error 3 Path deviation is too much Check that via points are adequate or not 25 5 3 Error codes for the power supply board added in version 2 3 Main System Software Version 2 3 3 Code Message Level Description Remedy 230D Power supply start error 5 Power supply start failed If the error persists after rebooting the controller you need to investigate or repair the controller 230E Power supply A watchdog error 5 A watchdog error occurred in the power supply A If the error persists after rebooting the controller you need to investigate or repair the controller 230F Power supply B watchdog error 5 A watchdog error occurred in the power supply B If the error persists after rebooting the controller you need to investigate or repair the controller 240D Power supply communication 4 Power supply communication failed If the error occurs frequentry you need to investigate or time out repair the controller 2C07 Interruption power detected 5 Interruption power detected in the AC power supply 1 Check the connection of the AC power supply cable 2 Check the AC power su
25. s executed after the operation starts Notes Ver 2 3 or later Note 3 Including free curve motion 3 In CP motion arc interpolation motion and free curve interpolation motion if the robot passes in the vicinity of a singular point refer to Setting up Guide 4 1 3 Figures of the Shoulder Elbow and Wrist 2 Boundaries of Robot Figures an error with a level of 6080 Command speed limit over will occur and the robot may stop In this case reduce the speed or set 2 or 3 in the optimal load capacity setting mode refer to PROGRAMMER S MANUAL I 4 6 Control Sets of Motion Optimization If the error still occurs avoid the path in the vicinity of the singular point Ver 2 3 or later Addition of Notes 11 and 12 11 If the figure at the viapoint registered by SETSPLINEPOINT differs greatly from the current figure in free curve motion error 607F Robot posture mismatch results 12 If the figure change is great because of short moving distance between viapoints in free curve motion an error at a level of 6080 designated speed limit over may occur and motion may stop In this case either slow down the speed or set 2 or 3 in optimal load capacity setting mode Main System Software Version 2 3 2 6 Commands and Libraries for Free Curve Interpolation The commands and libraries used for free curve interpolation are shown below 2 6 1 Commands for Free Curve Interpolation SETS PLI N E POI NT statement
26. sscsssesceceeeecneeeeceeeeceaeeeeeneens 19 4 Newly added operations by the mini pendant ccssccssseccsscescesssscessersscssesceesscssescessssessscesessessocessesees 20 41 gt Performing CALSET ss s ested E soeeien eden elena nh ome tarde EE E E 20 4 2 Resetting the motor encoder data ceccceeccesecesecsecesecesecseecseecseeeneceneeeeesseeeseesseeaeeaecaecaaecaeceeseeeeereneeens 21 4 3 Setting the calendar clock built in the robot controller Date setting ceceseeseeeeeseeeseeeeeeneeeeeeeseeeseens 22 44 Setting the next battery replacement date ec ceccesccsseesseeseeeseeeeceecesecnsecaecaeceaecseecaeeeaeeeeecaeeeaeeeereeatens 23 5 Error Code Tables Mod ified ccecisssesccetssscccteoesevecsessssdessvetussssubesousevesassusndestesesedessascdeadesnseseesesenessosevesuussseuas 24 5 1 Error codes added or modified in version 2 3 1 ccccecscesssesscessceseceseesseceecseeeseeseenseeeaeceaecaecaeceeeeeeneeaes 24 5 2 Error codes for the free curve interpolation added in version 2 3 2 cccsscesceesseesccessceeeceecsseenteeneeeneenes 25 5 3 Error codes for the power supply board added in version 2 3 3 cccescccssessseessceeeceeeceeceseesseeseeeeeeneenes 26 Main System Software Version 2 3 1 Newly added language selection window on TP top screen The language selection window was added on the teach pendant top screen When turning the controller power on use the teach pendant after selecting th
27. t for the free curve designated by lt Free curve trajectory number gt to the lt Viapoint gt The lt Viapoint gt is a type P variable Related items CLRSPLINEPOINT SETSPLINEPOINT Example PROGRAM PRO1 TAKEARM CLRSPLINEPOINT 5 Clears all viapoints for the free curve with trajectory 5 SETSPLINEPOINT 5 P4 Sets P4 as the first viapoint for the free curve with trajectory 5 SETSPLINEPOINT 5 P1 Sets P1 as the second viapoint for the free curve with trajectory 5 SETSPLINEPOINT 5 J5 Sets J5 as the third viapoint for the free curve with trajectory 5 P10 GETSPLINEPOINT 5 2 Sets the second viapoint for the free curve with trajectory 5 as P10 The data for P1 is set as P10 Notes Designating an unregistered viapoint results in error 685C Number of free curve pass point mismatch 10 Main System Software Version 2 3 2 6 2 Libraries for Free Curve Interpolation xdWAITSPLINE library Function Waits for the free curve to pass the designated viapoint Format XdWAITSPLINE lt Viapoint number gt lt Waiting condition gt Explanation Free curve motion in progress waits until passage on the point designated by the lt Viapoint number gt If O is designated as the lt Waiting condition gt the robot waits until the command value passes the designated viapoint If a different value is specified the robot waits until the encoder value passes the designated viapoint Related Terms MOVE SET
28. tes using PTP control The robot moves from the current position to the designated coordinates using CP control C The robot moves to a purpose pose performing arc interpolation via a relay point pose from the current position The robot performs an interpolation motion from the figure of the current position to that of the purpose pose the figure of the relay point pose is ignored In arc interpolation a relay point pose and a purpose pose must be designated A pose array cannot be used for C Even if pass start displacement is designated to a relay point pose the motion does not change Use MOVE C P1 P P2 to designate the pass taken when the arc interpolation motion is finished S Free curve Moves from the current position to the final viapoint Ver 2 3 or later through the registered viapoints by SETSPLINEPOINT 2 The path becomes a smooth curve and the tool moves at a constant speed on the path except upon acceleration deceleration The pose passes each viapoint by pass movement lt Trajectory number gt is the trajectory number of the free curve and represents the free curve viapoints registered by SETSPLINEPOINT for each lt Axis Number gt results Up to 20 points can be designated Main System Software Version 2 3 Example of use Addition to Ver 2 3 or later MOVE S P 2 S 10 NEXT Pass operation at an internal speed of 10 for a free curve with Trajectory number 2 The next command i
29. urce program Executable files NIC MAP flags active Enable in the data Settings files DAT Use column can be written into USB flash memory All global data Reading variables data into Number of variables used the robot controller Variables data automatically changes the number of variables used in the controller I O settings VO gata Settings for expansion board Arm parameters e Never read in arm data Tool work area coordinates prepared for other robots definition e Tool and work data modified by TOOL or WORK command will not be updated when written Arm data into the memory To write updated data first save the system parameters see the SETTING UP MANUAL p 5 179 and then write data into the USB flash memory Visual related Visual equipment settings Write to USB flash memory data only Communications settings Log data Version information Various log data Backup data Various data Version 2 3 or later Data exchange between robot controller and WINCAPSII Data can be exchanged between the robot controller and WINCAPSII by means of a USB flash memory drive For the operating procedures in WINCAPSII refer to WINCAPSII Guide Chapter 4 Sections 4 3 4 and 4 3 5 USB memory data modification not allowed Never modify data stored in the USB flash memory drive from the robot controller Any modification makes it impossible to access the memory because USB memory data contains che
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