Home

OPU-320

1. 1 amp H20 2 amp H21 m amp H 1F m 32 amp H3F Cursor operation function example Moves cursor up one character If the cursor is on the top line it moves to the bottom line PRINT 24 CHRS amp H1B A PRINT 24 HELLO Moves cursor up one character and displays HELLO function Moves cursor down one character If the cursor is on the bottom line it moves to the top line function Moves the cursor one character to the right If the cursor is on the last character in the line it moves to the first character in the same line function Moves the cursor one character to the left If the cursor is on the first character in the line it moves to the last character in the same line Note The distance of cursor movement is determined by the size of characters selected LF CR movement is also defined by letter size function example description Moves the cursor to the home position PRINT 24 CHRS amp H1B F HELLO Moves cursor to the home position and displays HELLO Home position is defined as the top left corner of the screen ESC Ymn function example description Moves the cursor to column m line n m 1 32 n 1 8 PRINT 24 CHRS amp H1B Y CHRS amp H2A CHRS amp H22 PRINT 24 HELLO Moves to column 11 and line 3 and displays HELLO function exa
2. z Figure 2 1 AUTO mode OPU state transition diagram Console You can set up and use the remote function in I O 1 When I O 1 is used like this it is referred to REMOTE3 as REMOTE3 Reset screen REMOTE3 Screen 6 Program execution Monitor screen REMOTE3 screen Screen 7 1 Figure 2 2 AUTO mode REMOTES state transition diagram Console When the console is either of the RS 232C 20 21 connectors or the bus in AUTO mode it is RS 232C 20 called S NET mode RS 232C 21 BUS Reset screen S NET Screen 8 Program execution Monitor screen S NET screen Screen 9 D Figure 2 3 AUTO mode S NET state transition diagram 1 The monitor screen is one of the screens shown in Figure 2 5 State transition diagram for monitor screens The monitor screen displayed is the screen that was previously monitored TEACH mode The state transition diagram for TEACH mode is as follows regardless of the console Reset screen TEACH Screen 10 Program execution screen TEACH Screen 11 Monitor screen D Figure 2 4 TEACH mode state transition diagram 1 The Monitor Screen is one of the screens shown in Figure 2 5 State transition diagram for monitor screens The Monitor Screen displayed is the screen that was previously monitored 10 M
3. Description Screen Layout Key Functions 32 Input Output port byte monitor screen VO MONITORING byte 0 1 2 3 4 5 6 7 0 1 2 3 4 5 6 7 ony oO Os W NY EF LOMOGILAILE ae Input output port byte monitor screen The top line shows the screen title Starting at the top the center portion of the screen shows the input and output port status in units of bytes Only the I O numbers equipped in the controller are displayed The bottom line shows the monitored device on the left side and the function menu on the right The screen is updated once a second RESET PAUSE START and MONITOR are same as in the monitor selection screen screen 12 F1 Invalid F2 Invalid F3 OPTN Switches to the I O status display format selection screen screen 20 F4 EXIT Switches to the monitor selection screen screen 12 EDA Invalid Screen 20 Description Screen Layout Key Functions I O status display format screen VO STATUS DISP FORMAT ony oO Os W NY EF ON 6 wonton C Selects and changes I O monitor screen display format The top line shows the screen title The bottom line shows the monitored device on the left side and the function menu on the right RESET PAUSE START and MONITOR are the same as in the monitor selection screen screen 12 F1 IBIT Switches to the input
4. 2 1200 HALT 8 QUIT 3 o QUIT 9 QUIT QUIT 10 QUIT 0 o QUIT 11 QUIT o QUIT 12 o QUIT E G DO I oO OF W NY H nae Task line number status monitor screen Shows present task execution line and status Two column display with each column showing task number on the left and line number and status on the right Status RUN Execution status HALT Temporary stop status QUIT Stop status The bottom line shows the monitored device on the left and the function menu on the right Screen is updated once a second RESET PAUSE START and MONITOR are same as in the monitor selection screen screen 12 F1 PREV Displays the previous screen F2 NEXT Displays the next screen F3 OPTN Switches to the task status display format selection screen screen 16 F4 EXIT Switches to the monitor selection screen screen 12 EDA Invalid 27 Screen 15 Screen Layout Key Functions 28 Task line number status and source program monitor screen Line Stat Source O2MOUNT 1 2290 RUN WAIT SW 1 1 OFF 2 3010 HALT JUMP P27 D30 OFF 3 o QUIT QUIT 0 o QUIT o QUIT LILIES o I Dn oO A WN EF no Task line number status source program monitor screen The source program for the current task execution line status and line number are shown Converts spaces or tabs immediately after the line number of the source
5. 320 to a controller Connect to the REMOTE2 connector on the rear panel of the controller 1 4 Environmental conditions The OPU 320 must be used in a suitable environment for it to function safely and as intended Please install it in an environment that satisfies the requirements specified in this manual Ambient temperature 5 to 40 C with minimal variation Ambient relative humidity 10 to 80 with no condensation Electrostatic noise less than 5 KV condensor charge method Momentary power interrupt 10 ms maximum Environment Keep away from direct sunlight Keep away from dust oily smoke salinity metal powder and other contaminants Keep away from flammable or corrosive solvents and gases Keep away from water Do not subject to physical shocks or vibrations Keep away from sources of electronic noise 1 5 Cable connections CAUTION 1 6 Contrast When installing the OPU 320 leave a space of at least 60 mm above the cabinet for cable connections Make certain that the power to both the OPU 320 and the controller is off before you connect or disconnect cables Connecting and disconnecting cables while power is on may cause equipment failure Make certain that all cables are connected securely Please avoid placing heavy objects on cables or taking any other actions that could damage them Damaged or abnormal cables are hazardous as they could cause t
6. cancel the emergency stop 2 Cancel the mechanical hold by turning the emergency stop switch to the right 3 Push the RESET switch Mode selector switch with key NOTE Please do not switch modes while a program is being executed In other words do not turn the key The program stops if you switch modes while the program is being executed Motor power status display For controller SRC 310A or SRC 320 only If the controller is SRC 310A or SRC 320 OPU 320 always displays the motor power status except for the setting of user mode NOTE Ez Motor power status is not displayed when the controller is SRC 300 or SRC 310 B Low power mode High power mode Refer to 4 2 Safety door input functions of controller manual for state transition of motor power 2 Modes and Consoles 2 1 Controller modes What is the console The controller has two modes TEACH mode which is exclusively for teaching and program ming and AUTO mode which is for factory operation Futher in AUTO mode there are a num ber of possible consoles to choose from When either an RS 232C 20 or 21 or the bus is assigned as the console it is called S NET mode m TEACH AUTO REMOTE2 OPU 320 REMOTE3 I O m RS 232C 20 21 S NET L BUS Serial bus You can switch between the AUTO mode and TEACH mode by turning the key of the mode selector switch on the OPU 320 Select the mode when the contro
7. monitor screen is updated once a second Reset status RESET Switches to reset screen OPU screen 1 REMOTE3 S NET TEACH invalid PAUSE Invalid START Executes program REMOTE3 S NET TEACH invalid MONITOR Switches to the reset screen for each console OPU screen 1 REMOTE3 screen 6 S NET screen 8 TEACH screen 10 F1 TASK Switches to the task monitor screen screen 13 14 15 F2 I O Switches to the I O monitor screen screen 17 18 19 F3 MI O Switches to the memory I O monitor screen screen 21 22 F4 DEV Switches to the monitor device selection screen screen 24 EDA Invalid Execution Status During execution the key functions vary as a function of the mode and console as shown below AUTO Mode OPU OPU 320 RESET Exits program when pushed during pause condition PAUSE Temporary program stop START Resumes program execution when pushed after temporary program stop MONITOR Switches to program execution screen screen 4 REMOTE3 I O 1 RESET Invalid PAUSE _ Invalid functional by software switch See Chapter 2 START Invalid functional by software switch See Chapter 2 MONITOR Switches to program execution screen screen 7 S NET 20 21 BUS RESET Invalid PAUSE _ Valid invalid by software switch See Chapter 2 START Valid for restart only invalid by software switch See Chapter 2 MONITOR Switches to the program executio
8. port bit monitor screen screen 17 F2 OBIT Switches to the output port bit monitor screen screen 18 F3 BYTE Switches to the input output byte monitor screen screen 19 F4 EXIT Switches to the I O monitor screen screen 17 19 EDJA Invalid 33 Screen 21 Description Screen Layout Key Functions 34 Memory I O bit monitor screen MEMORY I O MONITORING bit 0 1 2 3 4 5 6 7 0 0 0 o0 0 o0 0 0 O0 O 0 0 O O 0 0 O O ony nan Os W NY FEF EE EU ON LOJLOJLOJLO ni Memory I O bit monitor screen The top line shows the screen title The bottom line shows the monitored device on the left side and the function menu on the right The screen updated once a second RESET PAUSE START and MONITOR are same as in the monitor selection screen screen 12 F1 PREV Displays the previous screen F2 NEXT Displays the next screen F3 OPTN Switches to the memory I O status display format selection screen screen 23 F4 EXIT Switches to the monitor selection screen screen 12 n Scroll the screen display gt Invalid Screen 22 Description Screen Layout Key Functions Memory I O byte monitor screen MEMORY I O MONITORING byte 0 1 2 3 4 5 6 7 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 EN Need ON SU oOo I oO OF WN H 10 CONS O
9. program it will always start in the continuous execution mode The top line shows from left to right the current file being run the task number and the line number Additionally the right corner will display OPU during continuous execution and STEP MODE during step execution The bottom line shows the function menu The task number and line number are updated once a second RESET PAUSE START Pushing RESET after a pause stops the program and switches to the reset screen screen 1 Temporarily stops the program Pushing START after a pause resumes program execution MONITOR Switches to the monitor screen without affecting the program under execution Works for both continuous and step execution F1 CONT Switches from step to continuous mode F2 STEP Switches from continuous to step mode F3 After pushing F2 the indicated task is stepped If a task number for the step execution is not selected in the step execution task selection screen screen 5 task 1 is selected Invalid F4 TASK Switches to the step execution task selection screen screen 5 LEZ La Invalid Screen 5 Description Screen Layout Key Functions Step execution task selection screen OPU ony oO OF W NY H STEP TASK SELECT ROBOT LOADER UNLOADER E olojo wonron C Selects a step execution task to be executed in the execution screen Screen 4
10. trademarks of the Microsoft Corporation Other brand and product names are trade marks or registered trademarks of the respective holders Please direct any inquiries about the use of this manual to Operating Unit OPU 320 SEIKO EPSON CORPORATION Sales Engineering Group TEL 81 266 24 2004 FAX 81 266 24 2017 iii iv Safety Precautions Please carefully read this manual and other related manuals before using this equipment After reading the manual store it in a convenient place so that you can refer to it at any time WARNING Before using the OPU 320 be sure to confirm that the emergency stop switch functions properly Do not hesitate to push the emergency stop switch when you sense danger CAUTION Please handle the OPU 320 with sufficient care as it is a piece of electronic equipment equipped with a liquid crystal display 1 Please do not subject the OPU 320 to physical shocks The liquid crystal display is particularly susceptible to damage from physical shocks 2 Please do not place any object on top of the OPU 320 The OPU 320 must be used in a suitable environment for it to function safely and as intended Please install it in an environment that satisfies the requirements specified in this manual Please do not use the OPU 320 in any other kind of environment Make certain that the power to both the OPU 320 and the controller is off before you connect or disconnect cables Connecting a
11. when the console is OPU 320 in the AUTO mode The screen shows the task number on the left and the function name of the task being executed on the right in a two column format The bottom line shows the function menu RESET PAUSE START MONITOR F1 PREV F2 NEXT F3 SET F4 EXIT E gt Pushing RESET after a pause exits the program Temporarily stops the program Pushing START after a pause resumes program execution Switches to the monitor screen Displays the previous screen Displays the next screen Sets the highlighted task as the indicated task in step execution and returns to the execution screen screen 4 Cancels selection of the step execution task and returns to the execution screen screen 4 Select highlight 17 Screen 6 Reset screen REMOTES 1 2 3 4 5 6 7 8 F1 F2 F3 H F4 LOJLOJLOJLO no Description Reset screen when the console is REMOTE3 in the AUTO mode Screen Layout Key Functions RESET PAUSE START MONITOR F1 F2 F3 F4 2nv 18 The top line shows from left to right the execution file name task number line zero The function menu is blackened out no display in the bottom line Invalid Invalid Invalid Switches to the monitor screen Invalid Invalid Invalid Invalid Invalid Screen 7 Description Screen Layout Ke
12. with the menu displayed on the OPU 320 screen Therefore the OPU 320 has a large number of screens for each function Here we show the screen transition diagram for each console assignment in AUTO mode NOTE The state transition diagram screen of TEACH mode is the same regardless of the console CE assignment in AUTO mode When power is turned on the reset screens of each state transition diagram are displayed The proper way to read the state transition diagrams is as follows A solid line with arrows on both ends means that the screen can be switched in lt Js gt both directions A dotted line with an arrow on only one end means that the screen can only be switched in one direction The screen number is shown on the bottom of each screen frame Examples of all screen displays and operation methods in those screens are explained in 3 Examples of all screens and their operating method Please look up the Screen 2 screens using this screen number Also use this screen number to reference switching of screens in the state transition diagrams in 3 Examples of all screens and their operating method AUTO mode Console Reset screen OPU 320 OPU Screen 1 File selection File selection Monitor Program execution Step execution screen 1 screen 2 screen screen OPU task selection Screen 2 Screen 3 CD Screen 4 Screen 5
13. 4 4 Escape sequence The escape sequence In addition to using the commands described earlier to display characters on the liquid crystal display characters can be displayed using the PRINT command Characters are output to the OPU 320 as follows PRINT 24 If you wish to change lines please add the following sentence to the end of the output CHRS 13 CHRS 10 Example PRINT 24 A CHRS 13 CHRS 10 Description Display A on the OPU 320 and return the cursor When you use the PRINT command use the escape sequence to set the position of characters output on the screen and the size of characters to display The escape sequence uses the ESC code amp H1B of the ASCII code and performs functions relating to screen operation by setting a number of parameters behind that code Parameter Print 24 CHRS amp H1B Character location and the base position for screen erasure are determined by the cursor The cursor is made up of 8 x 16 pixels see Figure 4 2 and has an under bar The top left pixel is the cursor s home position Cursor home position 16 pixels Under bar ae 8 pixels Figure 4 2 Cursor configuration diagram The escape sequence will be explained in page 45 to 47 for each function Parameters m n and l in the escape sequence are numbers and those numbers are assigned a special code for the escape sequence The special code for each number is shown in the table below
14. EL III reference manual and the SPEL Editor SPEL for Windows manual for further details of the commands In the case of SRC 310A the motor power status that is always displayed on the OPU 320 will not be displayed in a user mode The OPU 320 has a system mode with normal functions the functions explained up to this point and a user mode in which the input and output key input amp screen output of the OPU 320 is open to the user Use the OPUNIT command to toggle between modes OPUNIT Mode number Mode numbers 0 System mode 1 User mode 1 2 User mode 2 3 User mode 3 The mode is stored in memory even after power is turned off Sets the mode of the OPU 320 If you omit the mode number the mode number that is currently set is displayed System mode In order to activate the monitor or to select a file or to use other standard functions of the OPU 320 please use a function key assigned to perform a dedicated function Although you may display messages on the monitor in the system mode the system may rewrite the monitor display 1 Although you may use a function key as a customized user key you must be careful about using it in the program for a single key not to assume more than one function since each key has already a system function assigned 1 The system rewrites the monitor display when there is an error or other status change to be reported while monitoring the robot User mode 1 In th
15. EPSON N 4 d OPERATING UNIT OPU 520 Rev 2 EM010P900F J CE OPERATING UNIT OPU 320 Rev 2 Copyright 1998 2001 SEIKO EPSON CORPORATION All rights reserved WARRANTY The robot and its optional parts are shipped to our customers only after being subjected to the strictest quality controls tests and inspections to certify its compliance with our high performance standards Product malfunctions resulting from normal handling or operation will be repaired free of charge during the normal warranty period Please ask your Regional Sales Office for warranty period information However customers will be charged for repairs in the following cases even if they occur during the war ranty period 1 Damage or malfunction caused by improper use which is not described in the manual or careless use 2 Malfunctions caused by customers unauthorized disassembly 3 Damage due to improper adjustments or unauthorized repair attempts 4 Damage caused by natural disasters such as earthquake flood etc Warnings Cautions Usage 1 If the robot or associated equipment is used outside of the usage conditions and product specifications described in the manuals this warranty is void 2 If you do not follow the WARNINGS and CAUTIONS in this manual we cannot be responsible for any malfunction or accident even if the result is injury or death 3 We cannot foresee all possible dangers and consequ
16. OPU 300 s keys DSW 2 DSW 3 DSW 4 bitO RESET bit 0 M bit 0 Unfixed 1 PAUSE 1 Vv 1 AUTO mode 2 START 2 2 TEACH mode 3 Unfixed 3 gt 3 Unfixed 4 Unfixed 4 F1 4 Unfixed 5 Unfixed 5 F2 5 Unfixed 6 Unfixed 6 F3 6 Safety door 7 MONITOR 7 F4 7 E Stop input 39 Usage example If function key F1 is on move the program control to JOB 100 IF DSW 3 AND amp H10 lt gt 0 THEN GOSUB JOB 200 JOB 4 3 Displaying characters on the liquid crystal display You can easily display English numbers and characters in the desired position on the liquid crystal display You can also easily specify such things as character size and reverse display OPU 320 screen configuration The screen is composed of columns and lines as shown in Figure 4 1 It measures 32 columns across by 8 lines down The smallest unit of screen control is a 1 column by 1 line area 1 x column 10 20 30 12345678901324567890123456789012 il Mass TI EE NON PE SE NN ess a a Bal o ge ed Role PR na ee ante oe oa Al de RE mp nr rl EE eee eee ee ee a Figure 4 1 OPU 320 screen configuration 1 Screen resolution is 256 x 128 dots W x H Characters are made up of 8 x 16 dots 40 Character output to OPU 320 Usage example OPU PRINT x column y line string I string n value value va
17. OR are same as in the monitor selection screen screen 12 F1 LINE Switches to the task line number screen screen 13 F2 STAT Switches to the task line number and status monitor screen screen 14 F3 PROG Switches to the task line number status and source program monitor screen screen 15 F4 EXIT Switches to the task monitor screen screens 13 15 EDA Invalid 29 Screen 17 Description Screen Layout Key Functions 30 Input port bit monitor screen O MONITORING bit INPUT 0 1 2 3 4 5 6 7 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 ony nan Os W NY H D Du Sa EU ONONO OO ni Input port bit monitor screen The top line shows the screen title and displays the word INPUT on the right side The center portion of the screen shows the input port status in units of bits Only the I O numbers equipped in the controller are displayed The bottom line shows the monitored device on the left side and the function menu on the right F1 PREV and F2 NEXT appear when more than three I O slots are established The screen is updated once a second RESET PAUSE START and MONITOR are same as in the monitor selection screen Screen 12 F1 PREV Displays the previous screen when more than three I O slots are used F2 NEXT Displays the next screen when more than three I O slots are used F3 OPTN Switches to the I O status display for
18. PE Me ae eh ei HELLO T T ae pe ua JA EST fe el Note Only one of attribute functions mentioned above can be used for a display For example if reversed letters are in the display the other attribute function will be ignored Erase screen m 1 32 n 1 8 Erases an area of m columns x 8 pixels and n lines x 16 pixels from the cursor position 47 5 Specifications 5 1 Standard specifications General specifications Power source DC 7V DC 24 V approx 120 mA approx 100 mA Weight Approx 1 0 kg Ambient temperature 5 to 40 C little variation Ambient humidity 10 to 80 RH no condensation Environment Display specifications Display panel Very little dust oily smoke salinity metal powder etc No flammable or corrosive solvents and gases in the vicinity LCD panel with fluorescent backlight Display colors Displayed information black Background white Dot number 256 x 128 W x H Dot dimensions 0 43 x 0 43 mm Dot pitch 0 47 x 0 47 mm Available display area Serial interface specifications Electrical characteristics 127 0 x 70 0 mm Compliant with EIA RS 232C standard Communications system Full duplex Synchronization system Asynchronous start bit 1 bit Stop bit 1 bit Data length 8 bit Transmission speed 9600 bps Parity Connector pin as
19. am without specifying the HTASK all tasks are temporarily halted When the HTASK command is used to specify the tasks which are to be temporarily halted only these tasks are halted and the execution of all other tasks continues undisturbed 5 START switch Executes a program when in AUTO mode Also used to restart after a pause 6 MONITOR switch Monitors various states 7 Function keys Select and execute the functions displayed in reverse on a black background on the bottom of the screen 8 Arrow keys Move the cursor and program number up or down 9 Mode selector switch with key Selects the operation mode either AUTO or TEACH You can lock the mode into place by removing the key If you switch the mode while a program is being executed the program stops 10 EMG STOP LED Lights up during the emergency stop state 11 SYSTEM ERROR LED Lights up when there is an MPU abnormality When this LED is illuminated such things as the error code display do not function properly Turn off the power immediately 12 ERROR LED Lights up when an error occurs 13 SAFE GUARD LED Lights up when the safeguard is open when the safety door input of the robot controller is open 14 MOTOR POWER LED Lights up when the motor is excited 15 HOME LED Lights up when the robot is in the home position the position specified by HOMESET 16 REMOTE connector A connector terminal for connecting the OPU
20. characters file number of file name Pushing the key searches for file numbers in ascending order while pushing the V key searches for file numbers in descending order The file name appears on the right side of the top line The left side of the top line shows the screen title and the right side shows the name of the file Screen Layout being referenced The bottom line shows the function menu Key Functions RESET Switches to the reset screen screen 1 PAUSE Invalid START After an error message displays screen 3 again MONITOR Switches to the monitor screen F1 Invalid F2 Invalid F3 LOAD Selects the file shown in the top line as the execution file and switches to the reset screen F4 EXIT Cancels file selection and switches to the reset screen M Searches in ascending order for files having numerals as the first two characters and displays the file names in the top line Searches in descending order for files having numerals as the first two characters and displays the file names in the top line e gt Invalid 15 Screen 4 Description Screen Layout Key Functions 16 Program execution screen OPU o I Dn oO A WN H O1TEST Task01 01000 OPU CON GES a WS Oll l ae Program execution screen when the console is OPU in the AUTO mode Can perform continuous execution and step execution When executing the
21. creen 32 Screen 20 T O status display format selection screen 33 Screen 21 Memory I O bit monitor screen 34 Screen 22 Memory I O byte monitor screen 35 Screen 23 Memory I O status display format selection screen 36 Screen 24 Monitor device selection screen 37 12 Screen 1 Description Screen Layout Key Functions Reset screen OPU DO I oO Os W NY H O1TEST TaskO0 00000 OPU LONG ONO Lae Reset screen when the OPU 320 is the console in the AUTO mode The top line shows from left to right the execution file name task number line number and console name OPU 320 The line number is always zero The bottom line shows the function menu RESET PAUSE START MONITOR F1 FILE F2 M ON MOFF F3 HOME F4 MCAL nv Clears the screen and shows Screen 1 again Invalid Executes the program screen 4 Switches to the monitor screen Changes to file selection screen screen 2 Turns motor power on and off Displays the opposite motor status to the present motor status in the function menu Moves to stand by position Returns to origin Switches to the file selection screen screen 3 for files having numerals for first two characters of file name Does not switch if there are no execution files with numerals as first two characters Invalid 13 Screen 2 Description Screen Layout Key Function
22. creen 9 Description Screen Layout Key Functions Program execution screen S NET O1TEST Task01 00100 S NET DO I oO Os W NY FEF e OOO Program execution screen when the console is RS 232C 20 21 or BUS S NET mode in the AUTO mode The top line shows from left to right the execution file name task number line number and present mode S NET The function menu is blackened out no display in the bottom line The task number and line number are updated once a second RESET Invalid PAUSE Valid Invalid by software switch Refer to Chapter 2 START Restart only valid Invalid by software switch Refer to Chapter 2 MONITOR Switches to the monitor screen F1 Invalid F2 Invalid F3 Invalid F4 Invalid EDJA Invalid 21 Screen 10 Description Screen Layout Key Functions 22 Reset screen TEACH o I Dn oO A WN EF O1TEST Task01 00000 TEACH Oll l uae TEACH mode reset screen The top line shows from left to right the execution file name task number line number and present mode TEACH The line number is always zero The function menu is blackened out no display in the bottom line RESET PAUSE START MONITOR F1 F2 F3 F4 E gt Invalid Invalid Invalid Switches to the monitor screen Invalid Invalid Inva
23. creen can display up to eight lines of 32 characters each The name of the program being executed mode screen title and other information is displayed at the top of the screen The functions of the function keys are displayed in reverse on a black back ground on the bottom of the screen Users are free to display the characters of their choice on the liquid crystal display 2 EMERGENCY STOP switch 3 RESET switch An emergency stop switch When this switch is pushed the emergency stop state is held both mechanically and electrically Pushing the switch stops the program halts robot excitation and causes the robot to come to a quick stop The EMG STOP and RESET LEDs light up and the screen display switches from the Program Execution Screen to the Reset Screen 1 To cancel the emergency stop first turn the EMERGENCY STOP switch to the right to release the mechanical hold Then push the RESET switch to cancel the electrically held emergency stop The EMG STOP LED goes off 1 Reset Screen The basic screen when the controller is in the reset state robot stop state 1 Stops execution of a program during the pause state and switches the display to the Reset Screen 2 Switches various kinds of screen displays that are in the reset state to the Reset Screen 3 Cancels the emergency stop state 4 PAUSE switch Temporarily halts execution of a program When the PAUSE switch is pushed during execution of a multitask progr
24. e wonron C Memory I O byte monitor screen The top line shows the screen title The center portion of the screen shows the memory I O status in units of bytes The bottom line shows the monitored device on the left side and the function menu on the right The screen is updated once a second RESET PAUSE START and MONITOR are same as in the monitor selection screen screen 12 F1 PREV Displays the previous screen F2 NEXT Displays the next screen F3 OPTN Switches to the memory I O status display format selection screen screen 23 F4 EXIT Switches to the monitor selection screen screen 12 Y Scroll the screen display gt Invalid 35 Screen 23 Description Screen Layout Key Functions 36 Memory I O status display format selection screen MEMORY I O STATUS DISP FORMAT Ory Dn oO A WN EF CH Be Nats 2 LOJLOJLOJLO no Selects and changes memory I O monitor screen display format The top line shows the screen title The bottom line shows the monitored device on the left side and the function menu on the right RESET PAUSE START and MONITOR are same as in the monitor selection screen screen 12 F1 BIT Switches to the memory I O bit monitor screen screen 21 F2 Invalid F3 BYTE Switches to the memory I O byte monitor screen screen 22 F4 EXIT Switches to the memory I O monitor scree
25. ences Therefore this manual cannot warn the user of all possible hazards SERVICE CENTER Contact the following service center for robot repairs inspections or adjustments Please have the model name Serial No or M CODE software version and a description of the prob lem ready when you call If service center information is not indicated here please contact the supplier office for your region as listed in the following SUPPLIERS section SUPPLIERS Japan amp Others SEIKO EPSON CORPORATION North amp South America Europe NOTICE TRADEMARKS Okaya Plant No 2 1 16 15 Daiei cho Okaya shi Nagano ken 394 0025 Japan TEL 81 266 23 0020 switchboard 81 266 24 2004 direct FAX 81 266 24 2017 EPSON AMERICA INC Factory Automation Robotics 18300 Central Avenue Carson CA 90746 TEL 562 290 5900 FAX 562 290 5999 E MAIL info robots epson com EPSON DEUTSCHLAND GmbH Factory Automation Division Zuelpicher Str 6 D 40546 Duesseldorf TEL 49 211 5603 391 Inside Sales FAX 49 211 5603 444 E MAIL robot infos epson de E No part of this manual may be copied or reproduced without authorization M The content of this manual is subject to change without notice E We ask that you please notify us if you should find any errors in this manual or if you have any comments regarding its content Microsoft is a registered trademark and Windows and Windows logo are registered
26. es to the x y position If you omit x column or any column thereafter the entire region is erased At this time the cursor moves to home position 1 1 gt CLS 5 38 10 2 x column 10 20 30 12345678901324567890123456789012 ROBOT ROBOT ieee y line o I oO OF WYN H Shows the region to be erased Reverse display of display characters Format Description Normal display of display characters Format Description Cursor display non display Format Description REVERSE x column y line column number x integer between 1 and 32 y integer between 1 and 8 Column number integer between 1 and 32 Reverses a specified range of column numbers from x y When the specified range exceeds the end of the line the excess part is ignored The specified range is displayed in reverse unless the reverse display is canceled by the NORMAL command or erased by the CLS command NORMAL x column y line column number x integer between 1 and 32 y integer between 1 and 8 Column number integer between 1 and 32 Normally displays a range of specified column numbers from x y When the specified range exceeds the end of the line the excess part is ignored CURSOR ON OFF When ON is specified the cursor is displayed When OFF is specified the cursor is erased When power is turned on the off default setting is assumed 43
27. gency stop switch with safety lock The emergency stop switch has improved The new emergency stop switch comes with a safety lock feature in which the contact would not be activated until the push button is completely locked This prevents malfunction due to an operator s wrong operation or contact with other utensils Although the depth dimension is slightly longer than OPU 300 to implement the above new features there is no changes to the mounting dimensions and the positioning of the fixing screws Please refer to the External Dimensions for further details Depth 43 to 53 mm Emergency stop switch protrusion 16 to 25 mm TABLE OF CONTENTS 1 Before Using This Equipment 1 1 1 Unpacking 1 1 2 Whatis the OPU 320 1 1 3 Part names and functions 2 1 4 Environmental conditions 4 1 5 Cable connections 4 1 6 Contrast 4 1 7 Safety 5 2 Modes and Consoles 6 2 1 Controller modes 6 2 2 The console during auto mode 6 2 3 State transition diagram 8 3 Example Screen Displays and Operating Procedures 12 4 User Modes 38 4 1 OPU 320 modes 38 4 2 Determination of key states 39 4 3 Displaying characters on the liquid crystal display 40 4 4 Escape sequence 44 5 Specifications 48 5 1 Standard specifications chart 48 5 2 External dimensions diagram 49 vii viii 1 Before Using This Equipment 1 1 Unpacking Contents 7 OPU 320 xl Mode switching key x2 Cable standard 3m xl This manual x 1 N The operating u
28. gnment in AUTO mode In AUTO mode In TEACH mode Console PAUSE START MONITOR PAUSE START MONITOR OPU 320 a a a c b a In AUTO mode In TEACH mode Console REMOTE3 PAUSE START MONITOR PAUSE START MONITOR C c a C 0 a a b a c b a In AUTO mode In TEACH mode Console RS 232C 20 PAUSE START MONITOR PAUSE START MONITOR RS 232C 21 BUS a b a b Meaning of symbols PAUSE START MONITOR Switches on the OPU 320 a input valid b only restart after pause is valid except pause executed by Esc key c input invalid Software Function On Off switch SS1 1 Selection of main remote REMOTE3 1 0 REMOTE2 OPU SS1 2 Input function of subremote Pause and restart are valid All input is invalid Use SPEL Editor SPEL for Windows to set software switches Refer to the SPEL Editor or SPEL for Windows manual for a description of the setting method There are two remotes REMOTE2 OPU and REMOTE3 I O Select one as the main remote console The remote that was not selected is called the subremote You can use some subremote functions by turning on SS1 2 2 3 State transition diagram The OPU 320 is equipped with such things as a file selection and execution function and a monitor function for all states You can use these functions by pressing function keys in accordance
29. he robot to operate improperly Please read the manuals for both the robot and the controller before connecting cables After reading the manuals connect the OPU 320 to the controller using the cable that was in cluded with the OPU 320 Plug the cable into the REMOTE2 connector on the rear panel of the controller Contrast is adjusted at the factory However if for some reason it is necessary to adjust the contrast of the liquid crystal display after you have received the operating unit you can do so by inserting a thin flat screwdriver into the small contrast adjustment hole on the rear of the OPU 320 cabinet and turning the screwdriver right and left while looking at the liquid crystal display to make fine adjustments 1 7 Safety Emergency stop 1 WARNING Before using the OPU 320 please confirm that the emergency stop switch functions properly Do not hesitate to push the emergency stop switch when you sense danger When the emergency stop switch is pushed the execution of programs stops and robot excitation ceases Programs and point data and such will not be damaged When pushed the emergency stop switch mechanically holds that state and electrically holds the emergency stop state Please cancel the emergency stop by following the procedures below when you want to restart work You do not have to turn off the equipment to cancel the emergency stop state 1 Remove the cause so that you can
30. is mode you are free to use the following keys F1 to F4 M VY Not free during monitor mode However when you switch to monitor mode using the MONITOR key use the free keys above as system keys If you use them in a program they may assume a double assignment of states Therefore they must be used with caution When an error occurs an error message is not displayed User mode 2 In this mode you are free to use the following keys F1 to F4 M Y Not free during monitor mode However when you switch to monitor mode using the MONITOR key use the free keys above as system keys If you use them in a program they may assume a double assignment of states Therefore they must be used with caution When an error occurs the screen is cleared and an error message is displayed User mode 3 Almost all system functions are invalid so you can use this mode freely Users are fee to use the following keys FitoF4 gt MONITOR Screens which are not used by the system are available for your use The START PAUSE and RESET switches are always used by the system 4 2 Determination of key states To use freed keys in the user modes in a program it is necessary to determine i e ascertain the state of the key that is determine whether it is on or off The state of keys is determined by the DSW function DSW Port number Port number 2 3 4 DSW returns a 1 byte value which indicates the status of the
31. lid Invalid Invalid Screen 11 Program execution screen TEACH O1TEST Task01 00100 TEACH oOo I oO Os WN FEF lLOslOJLOslO AGG mO Description Program execution screen for TEACH mode Screen Layout The top line shows from left to right the execution file task number line number and present mode TEACH The function menu is blackened out no display in the bottom line The task number and line number are updated once a second Key Functions RESET Invalid PAUSE Invalid START Valid for restart depending on the console assignment in AUTO mode and the setting of software switch SS1 Refer to Chapter 2 MONITOR Switches to the monitor screen F1 Invalid F2 Invalid F3 Invalid F4 Invalid EDA Invalid 23 Screen 12 Description Screen Layout Key Functions 24 Monitor selection screen MONITOR SELECTION OBJECT FILE O1TEST SOURCE FILE O1TEST POINT FILE lt U gt 01TEST o I Dn oO A WN EF LILOILOIG a Monitor selection screen Select monitor device from this screen Monitor devices are task I O and memory I O The top line shows the screen title Lines 2 through 4 show the execution source and point files When the source or point files contain modifications lt U gt appears at the beginning of the file name The bottom line shows the function menu The
32. ller is in the reset state stop If you switch the mode while it is running a program is being executed it will stop running and the mode reset screen for the selected mode will be displayed on the OPU 320 In TEACH mode the TEACH connector on the front panel of the controller is the console The connected equipment is either a personal computer running SPEL Editor SPEL for Windows a program development support software or Teaching pendant TP 300 TP 320 You can connect a personal computer OPU 320 user remote REMOTES3 or other equipment to the controller and from each piece of equipment execute start programs and implement pauses continuos execution stops and other operations The console is defined as both the piece of equipment that performs these operations and the connector by which that equipment is connected 2 2 The console in AUTO mode The console in AUTO mode is assigned from among the following OPU 320 REMOTE 1 O 1 REMOTE3 RS 232C 20 RS 232C 21 Serial bus In the default setting the OPU 320 is the console Please see the robot controller manual and reference manual for an explanation of how to select another console When a piece of equipment other than the OPU 320 has been assigned as the console in AUTO mode all OPU 320 functions except the PAUSE START input and monitor functions become invalid Whether a function of OPU 320can be used or not is displayed for each console assi
33. mat selection screen screen 20 F4 EXIT Switches to the monitor selection screen screen 12 M v Scroll the screen display when more than three I O slots are used gt Invalid Screen 18 Output port bit monitor screen 1 VO MONITORING bit OUTPUT 2 0 1 2 3 4 5 6 7 3 0 0 0 0 0 0 0 0 4 0 0 0 0 0 0 0 0 5 6 7 8 DS D CN ET Ft F2 H F3 F4 E DE O Description Output Port Bit Monitor Screen The top line shows the screen title and displays the word OUTPUT on the right side The center Screen Layout portion of the screen shows the output port status in units of bits Only the I O numbers equipped in the controller are displayed The bottom line shows the monitored device on the left side and the function menu on the right F1 PREV and F2 NEXT appear when more than three I O slots are established The screen is updated once a second Key Functions Di PAUSE START and MONITOR are same as in the monitor selection screen screen F1 PREV Displays the previous screen when more than three I O slots are used F2 NEXT Displays the next screen when more than three I O slots are used F3 OPTN Switches to the I O status display format selection screen screen 20 F4 EXIT Switches to the monitor selection screen screen 12 M Scroll the screen display when more than three I O slots are used gt Invalid 31 Screen 19
34. mple description Sets the cursor display non display m 1 non display Default setting when power is turned on m 2 display under bar cursor PRINT 24 CHRS amp H1B X CHRS amp H20 PRINT 24 CHRS amp H1B C PRINT 24 HELLO Sets the cursor on non display moves the cursor one character to the right and displays HELLO 45 Character size setting Attribute display function 2 4 9 1 6 function example description NE standard x1 2 x 2 3 x 3 sixteen times 4 x 4 Default setting when power is turned on four times nine times Changes the size of characters displayed Characters are magnified up and to the right of the cursor position PRINT PRINT 24 CHRS amp H1B W CHRS amp H23 24 HELLO Magnifies the size of characters to be displayed four times and displays HELLO at quadruple magnification ESC Omn m 1 n 1 32 Display n columns in reverse from the cursor position m 2 n unnecessary Cancel full screen reverse display m 3 n 1 32 Cancel n columns reverse display from the cursor position Sets and cancels reverse mode for specified number of columns PRINT 24 CHRS amp H1B Y CHRS amp H22 CHR amp H21 PRINT 24 HELLO PRINT 24 CHRS amp H1B Y CHR amp H22 CHRS amp H21 PRINT 24 CHRS amp H1B 0 CHR amp H20 CHRS amp H24 Displays HELLO i
35. n screen 21 or 22 EDA Invalid Screen 24 Description Screen Layout Key Functions Monitored device RAIOC selection screen MONITORING DEVICE SELECTION EGE 02 03 04 05 oOo I an Os W NY EF DEN Ge Sd EU loVosloslo Oe wonton C Selects and changes monitor device robot RAIOC The top line shows the screen title The center portion of the screen shows addresses for the display devices created by the MAXDEV commands The bottom line shows the function menu RESET PAUSE START and MONITOR are same as in the monitor selection screen screen 12 F1 Invalid F2 Invalid F3 SET Selects the device corresponding to the highlighted address as the monitor and switches to the monitor selection screen screen 12 F4 EXIT Cancels selection of monitored device and switches to the monitor selection screen screen 12 EDA Move the cursor 37 4 User Modes 4 1 OPU 320 modes 38 NOTE S The OPU 320 has two other functions than explained in the above 1 To create a message to be displayed on the backlight monitor screen 2 A system function key can be assigned as a user key in the program to customize for specific use The above features can be enabled by one of the following 1 to send a command to OPU 320 from the SPEL Editor or SPEL for Windows or 2 to code the user program to support such features Refer to the SP
36. n reverse mode as shown bellow 123456789 T T T T T T T T T Le ae RP a at si 4 l EE EE EER Imy 2 glee 3 PP i eb Se Tae ce TT ESC 1mn m 1 n 1 32 Display n columns blinking from the cursor position m 2 n unnecessary Cancel blinking display for full screen m 3 n 1 32 Cancel n columns blinking display from the cursor position 46 function example Sets and cancels blink mode for specified number of columns PRINT 24 CHRS amp H1B Y CHRS amp H22 CHRS amp H21 PRINT 24 HELLO PRINT 24 CHRS amp H1B Y CHRS amp H22 CHRS amp H21 PRINT 24 CHRS amp H1B 1 CHRS amp H20 CHRS amp H24 Displays HELLO in blink mode as shown bellow 123456789 T T T T T T T T Hy if x J N HELLO ESC2mnl m 1 n 1 32 1 1 8 Enclose n columns and lines area with rectangle m 2 n and l unnecessary Erase rectangle enclosures for full screen m 3 n 1 32 1 1 8 Erase rectangle enclosure from n columns and I lines area Displays and erases rectangle enclosure example PRINT 24 CHRS amp H1B Y CHR amp H22 CHR amp H21 PRINT 24 HELLO PRINT 24 CHRS amp H1B Y CHRS amp H22 CHRS amp H21 PRINT 24 CHRS amp H1B 2 CHRS amp H20 CHRS amp H24 CHRS amp H20 Displays HELLO with rectangle enclosure as shown bellow 123456789 a ee
37. n screen screen 9 TEACH Mode RESET Invalid PAUSE Invalid START Valid for restart depending on the console assignment in AUTO mode and the setting of software switch SS1 See Chapter 2 MONITOR Switches to the program execution screen screen 11 Function key functions are the same as in reset status 25 Screen 13 Task line number monitor screen Task Line Task Line Task Line 1 1100 7 1700 13 0 1200 8 1800 14 0 1300 9 O 15 0 1400 10 16 0 0 1500 11 0 1600 12 0 D Ga EU OJNOMO OO o I oO oO A WN H no Description Task line number monitor screen Shows present line numbers of each task being executed Screen Layout Three column display with each column showing task number on the left side and line number of task being executed on the right side The bottom line shows the monitored device on the left and the function menu on the right The screen is updated once a second Key Functions RESET PAUSE START and MONITOR are same as in the monitor selection screen screen 12 F1 Invalid F2 Invalid F3 OPTN Switches to the task status display format selection screen screen 16 F4 EXIT Switches to the monitor selection screen screen 12 EDA Invalid 26 Screen 14 Description Screen Layout Key Functions Task line number and status monitor screen Task Line Stat Task Line Stat 1 1100 RUN 7 2030 QUIT
38. nd disconnecting cables while power is on may cause equipment failure Make certain that all cables are connected securely Please avoid placing heavy objects on cables or taking any other actions that could damage them Damaged or abnormal cables are hazardous as they could cause the robot to operate improperly The person who enters inside the manipulator safe guard for teaching shall remove the mode switching key from the OPU 320 after switching to the TEACH mode and shall keep the key with him her when entering inside the guard This is for preventing the person from the danger that the mode will be switched to an automatic operation by mistake If TP 320 is used in this case attach the OPU 320 s key to the key holder of the TP 320 FOREWORD MANUALS This manual specifies matters that you need to know to use the operating unit correctly Please thoroughly read this and other related manuals before using the equipment 1 User s manual A manual that gives a general description of robots It describes such things as safety precaution operating methods teaching methods program ming methods and file management Please read the user s manual first 2 Manipulator manual A manual for the manipulator itself The basic volume describes the safety tips to be observed by the user prior to in setting up the equipment The maintenance volume describes the maintenancce procedure and part replacement 3 Robot controlle
39. nit is a piece of delicate electronic equipment and is equipped with a fragile LCD liquid crystal display panel Please handle it with sufficient care j C A UT l ON 1 Do not subject the OPU 320 to physical shocks The LCD panel is particularly susceptible to damage from physical shocks 2 Do not place any object on top of the OPU 320 1 2 What is the OPU 320 The OPU 320 is an operating unit designed exclusively for our SRC 300 SRC 310A and SRC 320 robot controller In addition to all the basic functions such as start and stop the OPU 320 also has as a standard feature a large LCD panel that enables it to display a variety of information OPU 320 features A large LCD panel capable of displaying a large amount of information at once Display of file name and selection of file for execution using cursor key I O and task monitor function On screen description of the content of errors Ability to freely display characters from the user s program on the liquid crystal display 1 3 Part names and functions OPU 320 EMERGENCY STOP p gt 10 Peal 11 moron POWER E 12 RESET 13 14 OPERATION res aro F1 F2 F3 F4 15 OIONONO 3 EN bron 4 Fig 1 1 Part names 1 Liquid crystal display Displays various information The s
40. onitor selection screen Screen 12 Memory I O monitor screens Task monitor screens I O monitor screens Pa Task line number Input port bit monitor screen monitor screen Monitored device selection screen Memory I O bit monitor screen Screen 13 Screen 17 Screen 21 Screen 24 Task li b Se ee Output port bit and status monitor screen monitor screen Memory I O byte Screen 18 monitor screen Screen 14 Screen 22 Task line number status source program monitor screen Input Output port byte monitor screen Screen 19 Screen 15 Task status display I O status display Memory PO Sens display format format format selection screen selection screen selection screen Screen 16 Screen 20 Screen 23 Use the MONITOR key to switch to the monitor screen The monitor screen that is displayed is the last screen that was monitored For example if you leave the monitor screen when screen 17 is being displayed and then switch back to the monitor screen screen 17 will be displayed again The screen being monitored is kept in memory even when power is shut off When you select the task monitor screen on the monitor selection screen screen 12 eithe
41. program into a single space NOTE Be careful since the line number and source program will not correspond if the source CE program and the object program execution program in the main memory are different The top line shows the execution file name on the right The center portion of the top line shows from left to right the task number line number status RUN HALT QUIT and source program corresponding to the line number in the descending numerical order of the task numbers The bottom line shows the monitored device on the left side and the function menu on the right The screen is updated once a second RESET PAUSE START and MONITOR are same as in the monitor selection screen Screen 12 F1 PREV Displays the previous screen F2 NEXT Displays the next screen F3 OPTN Switches to the task status display format selection screen screen 16 F4 EXIT Switches to the monitor selection screen screen 12 Y Scroll the screen display gt Invalid Screen 16 Description Screen Layout Key Functions Task status display format selection screen TASK STATUS DISP FORMAT DO I oO Os W NY H lofosloslo 6 wonron C Selects and changes the task monitor screen display format The top line shows the screen title The bottom line shows the monitored device on the left and the function menu on the right RESET PAUSE START and MONIT
42. r manual A manual that describes the robot controller who executes an operating software and controls T O and the servo mechanism The functions volume describes connecting the robot to the peripheral equipment and basic robot settings The maintenance volume describes the such things as a power supply circuit schematics parts replacement trouble shooting etc 4 Reference manual A manual that describes the commands for the SPEL III robot language 5 Operating unit manual option A manual for the operating unit that describes such things as operating methods 6 Programming support software manual option A manual for the program development support software It describes such things as operating environments and operating methods for SPEL Editor or SPEL for Windows We provide two kinds of software SPEL Editor for MS DOS and SPEL for Windows for Microsoft Windows We also provide Vision Guide the integrated robot vision system as an option of SPEL for Windows 7 Teaching pendant manual option A manual for the teaching pendant It describes such things as how to operate the teaching pendant vi Differences with the OPU 300 OPU 320 is an operating unit made exclusively for the SRC 300 SRC 310A and SRC 320 controller OPU 320 is a successor model to OPU 300 Added features and the differences from OPU 300 are as follows The new LCD panel has attained higher contrast and improved visibility Emer
43. r screen 13 screen 14 or screen 15 will be selected The selected screen corresponds to the last of the task monitor screens to have been monitored For example when you switch to the monitor selection screen screen 12 from screen 14 and then reselect the task monitor screen screen 14 is displayed The default screen of each monitor is as follows 11 3 Example Screen Displays and Operating Procedures In this chapter we shown screen display examples and describe operations which can be performed from these screens AUTO Mode OPU OPU 320 Screen 1 Reset screen OPU 13 Screen 2 File selection screen 1 OPU 14 Screen 3 File selection screen 2 OPU 15 Screen 4 Program execution screen OPU 16 Screen 5 Step execution task selection screen OPU 17 REMOTE3 I O 1 Screen 6 Reset screen REMOTE3 18 Screen 7 Program execution screen REMOTE3 19 S NET 20 21 BUS Screen 8 Reset screen S NET 20 Screen 9 Program execution screen S NET 21 TEACH Mode Screen 10 Reset screen TEACH 22 Screen 11 Program execution screen TEACH 23 Monitor Screen 12 Monitor selection screen 24 Screen 13 Task line number monitor screen 26 Screen 14 Task line number and status monitor screen 27 Screen 15 Task line number status and source program monitor screen 28 Screen 16 Task status display format selection screen 29 Screen 17 Input port bit monitor screen 30 Screen 18 Output port bit monitor screen 31 Screen 19 Input Output byte monitor s
44. riable name variable name function name function name Displays the specified character line using the x y position of the operating unit as the base point Character size is the size specified by CHARSIZE When the specified size of characters is larger than the standard size the characters are enlarged upward and to the right using x y as the base point gt CHARSIZE 2 gt OPU PRINT 5 2 ROBOT gt CHARSIZE 4 gt OPU PRINT 5 4 ROBOT gt CHARSIZE 9 gt OPU PRINT 5 7 ROBOT x column 10 20 30 12345678901324567890123456789012 1 2 ROBOT oe 3 gaf ROBOT Te 26 DRE ARR TE RE Py LE et 25 E z Far EN i APANA ROBOT res 7 er af Rp cag in See ee o Shows the base point x y specified by OPU PRINT 41 Specification of character size Erasing characters 42 Format Usage example CHARSIZE size number Size number choose among 2 4 9 and 16 Sets the size of characters which are output by the OPU PRINT command by specifying the size number The size numbers and character sizes are shown in the table below All other size numbers are invalid Size number Character 2 Standard 4 4 times 9 9 times 16 16 times CLS x column y line number of columns number of lines Erases a rectangular region made by the specified column and line number from x y After erasure the cursor mov
45. s 14 File selection screen 1 OPU FILE SELECTION A ROBOT lt re gt lt TEST gt lt DUMMY gt O1TEST O2MOUNT 05 DUMMY O9ABCDEF 25BIN_10 26BIN_11 30RH99 40RH99 50RH99 o I Dn oO A WN EF LOJLOJLOJLO ni Execution file selection screen The top line shows the screen title and directory containing the execution files Lines three through six show files and directories which can be selected Subdirectories are indicated by lt Directory Name gt and root directories are indicated by lt gt The bottom line shows the function menu F1 PREV and F2 NEXT do not appear when the number of files is small RESET Switches to the reset screen screen 1 PAUSE Invalid START After an error message displays screen 2 again MONITOR Switches to the monitor screen F1 PREV Displays the previous screen F2 NEXT Displays the next screen F3 LOAD Selects the highlighted file as the execution file and switches to the reset screen F4 EXIT Cancels file selection and switches to the reset screen ENV Move the cursor Screen 3 File selection screen 2 OPU File Selection Screen for files having numerals for first two characters of file name FILE SELECTION O1TEST oOo I oO Os WN FF DEN EN TS EU OO OO Oe wonron C Description Execution file selection screen for files with numerals for first two
46. signment None SD E STOP E STOP S ERR LED control input E STOP LED control input TEACH AUTO 2 3 4 5 6 7 8 9 24 V 24 V RGND 48 RGND Cable length 3 meters 5 2 External Dimensions Please use the threaded holes on the side of the OPU 320 if you wish to attach it to something such as a panel Use M4 screws whose shank is 5 to 8 mm max Leave at least 60 mm of space above the operating unit for cables 214 78 3 SLA CR OPU 300 EMERGENCY STOP p gt C EMG STOP SYSTEM ERROR ERROR SAFE GUARD MOTOR POWER HOME QO Oo RESET OPERATION MODE a islolale DI 4 M4 threaded hole Figure 5 1 External dimensions mm 49 50
47. y Functions Program execution screen REMOTE3 O1TEST Task01 00100 REMOTES DO I oO Os W NY FEF e OOO Execution screen when the console is REMOTE3 in the AUTO mode The top line shows from left to right the execution file name task number line number and console name REMOTE3 The function menu is blackened out in the bottom line The task number and line number are updated once a second RESET Invalid PAUSE Invalid Functional by software switch Refer to Chapter 2 START Invalid Functional by software switch Refer to Chapter 2 MONITOR Switches to the monitor screen F1 Invalid F2 Invalid F3 Invalid F4 Invalid EDA Invalid 19 Screen 8 Description Screen Layout Key Functions 20 Reset screen S NET o I Dn oO A WN H O1TEST TaskO0 00000 S NET Oll l no Reset screen when the console is RS 232C 20 21 or BUS S NET mode in the AUTO mode The top line shows from left to right the execution file name task number line number and present mode S NET The line number is always zero The function menu is blackened out no display in the bottom line RESET PAUSE START MONITOR F1 F2 F3 F4 2nv Invalid Invalid Invalid Switches to the monitor screen Invalid Invalid Invalid Invalid Invalid S

OPU-320

Contents

Download Pdf Manuals

Related Search

Related Contents