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STARTUP HANDBOOK

1. In the Select Operation Mode window select X Y use the UP and DOWN cursor keys or the Jog dial X Y appears on the status bar Press F2 Arm The Current Robot Position window appears Press the P position variable button to show the current robot position You may press the shift key and F7 Show P in the menu bar instead of the P button This is necessary to run the robot in X Y mode V 2 e HM 40702 D x veteli ia Current Robot Position x FIG i The P lamp comes on and the y S screen changes to one where the ji current robot position is expressed 416 00 a J2 l in position variables T 167 77 e FIG No 1 a Cancel Close this window HAF a Robot operode Var Speed fux Run the robot by pressing the arm traverse keys with the deadman switch held down O weem ja SAAN Arm traverse keys aan a Ha h Motion in X direction ar asl T Motion in Y direction Fi we CD UU CEE L Motion in Z direction Rotation around T axis cko ml O POWER DENSO Motion along the Z axis Rotation around T axis Motion along y the X axis J Motion along the Y axis Chapter 8 Teaching 8 1 What is Teaching Teaching refers to a method of programming in which you guide a robot through its motions using
2. O O O O O O O O O O V1 8 V1 8 O O O O O O O O O O O O Vision device ODOOO Available with the 4 axis robots and the 6 axis robots Refer to 15 12 15 13 15 14 15 15 15 16 15 17 15 18 15 19 15 20 15 21 15 22 15 23 15 24 15 25 15 26 15 27 15 28 15 29 15 30 15 31 15 32 15 33 15 34 15 34 15 35 15 36 15 37 15 38 15 39 15 40 15 41 4 axis 6 axis Vision device Available with all series of robots and vision device O O O Available with all series of robots The command specifications differ between the 4 axis 6 axis robot and vision device V1 2 Available with the 4 axis robots and the 6 axis robots of Version 1 2 or later Functions Refer Classified by functions Commands __ Vision 4 axis 6 axis devi to evice POSRY Extracts the Y axis rotation 15 42 component POSRZ Extracts the Z axis rotation 15 43 component POST Extracts the T axis rotation 15 44 component Figure Component RVEC Extracts a posture 15 45 Position Function AREAPOS Returns the center position and 15 46 direction of a rectangular parallelepiped with the position type for an area where an interference check is performed AREASIZE Returns the size each side 15 47 length of a rectangular parallelepiped which defines the interference check area with the vector type TOOLPOS Returns a tool coordinate
3. Communication Program Interpreter I O DNet Master Path Config No Property 9 Floor mount or Overhead mount 10 Mass of payload g 11 Payload center of gravity X mm 12 Payload center of gravity Y mm 13 Inertia of payload kgcm 2 14 Encoder pulse count for positioning allowance J1 15 Encoder pulse count for positioning allowance J2 Mask disabled item OK Cancel Double click the Control set of motion optimization initialize and you can change the parameter value After completion of parameter setting transfer the data to the robot controller using the following procedure First turn the motor power off with the MOTOR key on the teach pendant In WINCAPSIII choose Connect Transfer data to display the following window Select Parameters Arm parameters and then press Send Transfer data WINCAPS III Controller VI Local data SAMPLE 001 EI Controller 10 8 102 128 a cA Program C3 Program CIE Source file sive H 0 IE Source file OO Executable file Map file OO Executable file Map file J Variable J Variable H Tool Work Area H J Tool Work Area 4 Parameter 4 Log PEENE w 5 Parameter I O parameters C Program Parameters 16 8 Chapter 17 Robot Control Statements 17 1 Robot Motion 17 1 1 Absolute Motion and Relative Motion Absolute Motion An absolute motion is a motion to move a taught position An absolute moti
4. DO IF I0 35 OFF THEN Tf stick sensor is OFF tflos 1 store workpiece drop flg 1 CALL MotionSkip Interrupt arm motion command use library EXIT DO Forcedly exit DO LOOP statement ENDIF CALL MotionComp comp Check completion of motion use library LOOP UNTIL comp 1 Repeat DO LOOP until completion of motion a gn ces a ie SSI a PSS a co E E EE E EEE EE Ng PS aS Na Oe Os ee essar Processing when the sensor is turned OFF workpiece drop halfway IF flg 1 THEN Check the current state of stick sensor PRINTMSG Work drop 2 Error Display error message on teach pendant SET I0 104 Issue workpiece drop error signal 10 104 STOP Terminate program ENDIF Pe N NEE og a EEE EE E EE EEEE EE E EEEE E EEE E E EEE EN EEE EEE E E EE E E EEE EE PO Oe ER a CN E ES E E EEC Oe See END Library MotionSkip MotionComp App 4 6 E 7 Palletize in an Alternate Checker Pattern Take out workpieces from every other palletizing position on a partitioned pallet Description The two program samples given below enable the robot to take out workpieces from odd and even numbered positions respectively Palletizing from Palletizing from odd numbered positions even numbered positions Program Samples Initial input parameters Variables to be used Palletizing counter for workpiece take out At the first execution of palletizing programs either of the following 11 values should be entered 1 for palletizing from odd
5. Newline Del Line Copy ine Paste FditLine Save V 10 5 Move the cursor to the 3rd line and press F1 NewLine Enter SPEED 100 from the keyboard This is displayed in this window The program edit window Program PRO1 is displayed and Press OK SPEED 100 is displayed in the 4th line M R a GY vse Joint Hoto az Program PR01 L 6 9 lines Dir ON 002 PROGRAM PRO1 easy TEACH 0003 Takefirm Q i 0004 SPEED 100 F 0005 MOVE L P1 Enter all of the program codes ine aa given on p 10 3 in the same way used to enter SPEED 100 0008 END Back Next Jump To BP GetPos Displays the program a Neul ine Del Line Copy ine Paste EditLind Save J After completing entry of all me codes press F6 Save V vse Joint noro m Program PR01 L 6 9 lines Q System Message Do you want to save this program a aa eel em Press OK to save the newly TP a entered program 0007 008 END Back Next Jump To BP GetPos EC eJ J T F The display will return to the Program List window 2 GY yss Joint woro x Program List LNo of programs 1 Back Next Search UpFolder Diaplay config Cancel Close this window Ce NeuProg Delete Copy Yar Edit flux Caution 1 If you do not want to save the changes made
6. re Cancel Config Select Program and press OK OK It chooses Cr CS D S S a a 10 2 Next type the file name of the program here we will use PRO1 to be created M Q GQ vse zint noro ax Enter Program Name PROIE OK Take in new entry Cancel Discard new entry Ci eA LOEO EEOC ial et ead a HE EEEE e OAE Eo Type PRO1 using the letter and numeric buttons ESEN After typing PRO1 correctly press OK Ci This ends the preparation for program editing 2 yss Joint woro x Program PROL L 17 Dir me 70001 ITITLE PROL 002 PROGRAM PROL 0003 Take rm 0004 005 END 0006 Back Next Jump Ta BP GetPos Displays the program Newt ine Del Line Copy ine Paste FditLine Save 10 2 2 Entering Program Codes 6 lines The preset program codes are displayed Cs In this step you will create a program to move from P1 to P2 Enter the program codes listed in the table below PROGRAM PROI TAKEARM SPEED 100 MOVE L PI MOVE L P2 GIVEARM END Coding List for PRO1 Acquires the arm semaphore Specifies internal speed Moves to specified coordinates for P1 Moves to specified coordinates for P2 Releases the arm semaphore 10 3 In the Program PRO1 window move the cursor to the 3rd line using the cursor keys or jog dial Press F5 EditLine 2
7. If specified together with lt motion option gt the NEXT option becomes invalid When the NEXT option is specified and the program waits for the next motion command to execute executing a Step stop first executes that next motion command and then interrupts the running program Therefore the tool end moves a long distance until it stops Note The NEXT option is invalid in Teach check mode Crt LI2y L3 Tidy Joy bes LTL 3 0 Move lil axis to 30 degree position from the current position Lads LEL Move lil axis to the 1f1 degree position from the current position P Lit eT BRAD Lao 12 p L3 brs Move lil axis to 0 78 rad 112 axis to 1f2 degree position and 113 axis to 1f3 degree position from the current position 17 3 17 2 2 Syntax DRIVE Execute a relative motion of each axis DRIVE lt pass start displacement gt lt axis number gt lt relative movement gt lt axls number gt lt relative movement gt lt motion options NEXT Description The DRIVE statement moves the axis specified by lt axis number gt by the angle DEG Example Ex 1 specified by lt relative movement gt If lt relative movement gt is positive the specified axis moves in the positive direction and if negative in the negative direction If you specify the same axis more than one time the last specification takes effect lt pass start displacements Is any of 0 P 1 to 255 and E
8. 11 22 specified label depending upon the value of an expression Declare the remainder of a 11 23 program line to be remarks or comments Executes the absolute O O 12 1 movement designated in the tool coordinate system Executes the relative motion in O O 12 4 the tool coordinate system Executes the relative 12 7 movement designated in the work coordinate system Executes the relative motion of 12 9 each axis App 2 4 Classified by functions 4 axis 6 axis O Commands DRIVEA GOHOME MOVE ROTATE ROTATEH CURJNT CURPOS CURTRN CUREXJ DESTJNT DESTPOS DESTTRN DESTEXJ ARRIVE Vision device Available with all series of robots and vision device O Available with all series of robots The command specifications differ between the 4 axis 6 axis robot and vision device V1 2 Available with the 4 axis robots and the 6 axis robots of Version 1 2 or later Functions Refer Vision to 4 axis 6 axis device Executes the absolute motion 12 11 of each axis Moves to the position home 12 13 position defined by the HOME statement Moves to the designated O O 12 14 coordinate Executes a rotation movement O O 12 19 around the designated axis Executes rotary motion by taking an approach vector as an axis Obtains the current angle of the robot using type J Obtains the current position in O O 12 25 the tool coord
9. 3 4 Mini I O Functions in Compatible Standard or All User I O Mode When any of the I O allocation modes compatible standard or all user I O except the mini I O dedicated mode is selected all of the ports except CPU Normal occupied by the system I O signals in the mini I O dedicated mode will be released and used as user I O ports as shown below System input ports 0 to 7 Terminals 11 to 18 on CN5 will be used as user input ports System output ports 17 to 23 Terminals 46 to 52 on CN5 will be used as user output ports Note The system output signal CPU Normal remains assigned to port 16 Terminal 45 on CN5 even in the compatible standard or all user I O mode 3 5 Requirements for Interface Setting 3 5 1 Configuring the I O Allocation Mode Parameter To switch between the mini I O dedicated compatible standard and all user I O modes you need to change the I O allocation mode parameter using the teach pendant or WINCAPSIII For the changing procedure refer to the Section 3 6 Configuring the I O Allocation Mode Parameter Note If the controller has an I O extension board that can be used in the compatible or standard mode as a factory option the default is the standard mode 3 5 2 Setting up the I O Power Source 24 VDC The mini I O board CN5 and parallel I O board option can select the power source 24 VDC from internal and external power supplies by changing the jumper switch setti
10. Assign Mode i r n RF Project name Device parallel v Options DeviceNet CC Link PROFIBUS Return to default a Ce Step 8 Confirm your settings If they are correct press Finish to terminate the wizard WINC APS M Project wizard Finish The project is made by the following content mn lt Robot gt Project name Type HS 45351G dib Spec Standard i Ex Joint Not use lt Project gt Name SAMPLE 002 Path C Documents and Settings dwu909778 My Documents WINCAPS3S_DATA 7 lt O gt VaMables Device Parallel Assign Compatible lt Options gt Stroke Z 150mm Please click Finish to finish the wizard and to create the project This procedure has created a new project 11 3 3 Creating a Program Create a program in the project using the following procedure Step 4 Choose Project Add Programs to display the Create new program window WING APS I Project Connect Debug Arm Tor me Add Program n l Add Existing F Enable Disable Folder Create Macro Definition File Import Macro Definition File Command builder Ctrl B Program Bank Make Executable Parameter Property Step 2 Select Program PAC in Type and enter the program name and file name The program name should be a maximum of 64 alphanumeric characters beginning with an alphabet Entering a program name automatically enters the same name into the file name field To give a diff
11. Change Parameter G g a wm sesan Jit noto i Check the number of variables used Check the number of variables used No of type I variables No of type F variables 7 oj No of type D variables No of type Y variables afs No of type P variables E 2 al No of type P variables L o CANCEL o apo No of type I variables of type F variables of type D variables of type variables a jNnje S OK Take in new entry Cancel Discard new entry Cm F5 Change the selection OK Exit with saving won Al a Back Next Jump To Change F5 15 5 4 Check the entered value and press the OK button The following system message will appear Press the OK button and compiling will start Upon successful completion of compiling and loading the number of variables you have entered becomes effective Q a m sem Joint wotelf om Select Variahle System Message ZA Do you want to compile Integ F1 Cancel OK Double Tran String YarsUsed F8 F19 F11 F12 SHORT CUT fo ee ee ee If you press the Cancel button in the above window the entered value does not become effective until compiling and loading takes place next time NOTE Regarding the number of global variables In this controller the number of variables used can be modified only when the execution program is loaded When the number of variable
12. Pass start displacement feo The robot moves in the end motion If omitted the default 0 applies The robot moves in the pass motion Note The specified numeric value is the radius of a sphere whose center is located at the destination position and it is expressed in units of mm when the motion command value enters the sphere range control passes to the next one This is merely used as a guide value for changing the pass start timing not a guaranteed value The robot checks the arrival at the destination position with the encoder value lt motion option gt Is any of SPEED ACCEL and DECEL Specifies the motion speed Specifies the acceleration Specifies the deceleration If the NEXT option is specified control passes to the next non motion command without waiting for the current motion to finish Note that the following instructions are not executed until the current robot motion finishes pass start Robot motion commands CHANGETOOL CHANGEWORK SPEED JSPEED ACCEL JACCEL DECEL JDECEL Motion optimization libraries aspACLD aspChange Arm motion libraries mvSet PulseWidth etc P or 1 to 255 If specified together with lt motion options the NEXT option becomes invalid When the NEXT option is specified and the program waits for the next motion command to execute executing a Step stop first executes that next motion command and then interrupts the running program Therefore the
13. Operation Preparation Start Poe CHO ele CAL Execution Operation Preparation Start EE e et Start up SP100 Operation Preparation Start Set the external speed to 100 External Mode Switching Operation Preparation Start Switch to the external mode Initialize all programs stopped Program Reset Operation Preparation Start Program start after initialization executes the program from the beginning Program Number Selection Execute the specified program Operation Start a Program Reset Program Number Selection Program Start Robot Stop Stop the robot when the signal is turned OFF Robot Stop Stop the robot when the signal is turned OFF Step stop all programs when the signal is Stop mlep stp turned OFF Instantaneous Stop Stop all programs instantaneously when the signal is turned OFF Clear Error EE Clear errors Operation Preparation Start l Stop execution of the current stop and execute the next step Continue Start Continue Start Program Start Execute Continue Start Note Two or more signals added with a plus sign indicate that they should be used in combination Cancel the current program and execute the Program Execution specified program from the beginning Program Interrupt Interruption Skip 13 10 13 5 2 Processing I O Commands in Compatible Mode I O commands are executed according to the following process Example Operation Preparation Start ON short Enable Auto C
14. pick place02 pac irichi Executable file Map fila 2 107 1 Es Save _ Oo Data send finished Please check the translation results IIIT Close STEP 6 On the teach pendant press F1 Program to display the Program List window Check that programs transferred are shown in the list The program transfer to the robot controller has been completed 11 28 Part 4 Program Verification Chapter 12 Starting a Program Chapter 13 Running the Robot from External Devices Chapter 14 Monitoring and Manipulating the I Os Chapter 15 Monitoring and Modifying Variables Chapter 12 Starting a Program 12 1 Simulating a Program Operation with WINCAPSIII Run the program which you have created on a PC and uploaded to the robot controller in machine lock in order to simulate the robot motion on the PC screen 12 1 1 Opening an Arm View Choose View Arm View to display the Arm view window where the simulated robot images appear SAMPLE 002 WINCAPS I File Eat ee La Monitor Project windo Wey Froject Connect Debug BE Project View Program List oe ee 12 1 2 Monitoring the Robot Controller from WINCAPSIII Choose Connect Motor Communication Online Monitor to connect WINCAPSIII to the robot controller and display its internal data SAMPLE 002 WINC APS M File Edit Wrew Project Connect Debue rm 2 ail 4 Ja om ee eh 12 1 12 1 3 Placing the
15. 13 4 2 Processing I O Commands in Standard Mode I O commands are executed according to the following process Command Area input Data Area input 1 Odd parity for each of command and data areas input 3 at D Strobe Signal input 2 1 ms min Status Area output Status Parity output J Ti A Command Processing Completed output 100 ms max Robot Error output Outline of I O Command Processing Standard Mode 1 Set a command area data areas if necessary and odd parity to each of command and data areas for the command execution I O signal from the external equipment to the robot controller Note The data to be set must be defined at least 1 ms before the Strobe Signal is turned ON 13 7 2 4 5 6 7 8 9 After completion of setting turn the Strobe Signal ON Note The command input with a Strobe Signal should be preceded by the output of the Robot Initialized If a Robot Error signal has been issued however execute a Clear Robot Error 001 since no Robot Initialized will be issued The controller reads the command area data areas and odd parities according to the input of Strobe Signal The controller starts processing based on the command read If the command is to output the status the controller sets the status area and parity After completi
16. 15 48 system as the position type WORKPOS Returns the user coordinate 15 49 system as the position type Character String Function ASC Converts to a character code 15 50 BINS Converts the value of an 15 51 expression to a binary character string CHR Converts an ASCII code to a 15 52 character SPRINTF Converts an expression to a 15 53 designated format and returns it as a character string HEX Obtains a value converted from 15 56 a decimal to a hexadecimal number as a character string LEFT Extracts the left part of a 15 57 character string LEN Obtains the length of a 15 58 character string in bytes MID Extracts a character string for 15 59 the designated number of characters from a character string ORD Converts to a character code 15 60 RIGHT Extracts the right part of a 15 61 character string STRPOS Obtains the position of a 15 62 character string STR Converts a value toa character 15 63 string VAL Converts a character stringtoa 15 64 numeric value Constants Built in Constants OFF Sets an OFF 0 value 16 1 App 2 13 Vision device 4 axis 6 axis Available with all series of robots and vision device O O O Available with all series of robots The command specifications differ between the 4 axis 6 axis robot and vision device V1 2 Available with the 4 axis r
17. Alphabets are not case sensitive 9 3 9 6 3 Declaring Program Names PROGRAM command Description This command declares items required for program execution such as program names and variables prior to execution A program name must be declared on the first valid line of the program This statement is called a PROGRAM declaration statement Syntax PROGRAM lt program name gt Note Programs to initiate from external equipment should have a name of PRO lt number gt 9 6 4 Obtaining an Arm Semaphore TAKEARM command Description Under multi tasking control it is necessary to transfer receive the arm semaphore robot control priority When using a motion command that moves the robot arm be sure to insert a TAKEARM command so that the program can obtain the control priority Syntax TAKEARM 9 6 5 Stopping a Program END command Description Executing this command ends the robot motion commanded by the program Syntax END 9 6 6 Specifying the Arm Speed SPEED command Description The internal speed is specified in percentage from 1 to 100 Actual arm speed External speed x Internal speed The external speed is the speed specified from external equipment such as the teach pendant or PLC A SPEED command is effective until the next SPEED command is executed Syntax SPEED lt motion speed gt 9 6 7 Comment REM command Description This statement declares the remainder of a program line to be remarks o
18. DOUBLE DOUBLE Boundary 180 7 Bru A SINGLE 1 80 Boundary Boundary between SINGLE and DOUBLE 6 12 Chapter 7 Preparations for Teaching 7 1 Handling the Teach Pendant 7 1 1 Holding the Teach Pendant and the Deadman Switch Tip Grasp the teach pendant when operating it as shown below The teach pendant has a deadman switch es for ensuring safety Deadman switch The deadman switch is provided to stop the robot automatically and safely when the operator can no longer operate the robot correctly due to unforeseen circumstances such as the operator suffering a blackout or dying while running the robot manually with the teach pendant If a situation such as this arises the strength with which the operator is pressing the deadman switch will become either decrease or increase markedly The deadman switch is a 3 position switch which is able to recognize and react to the following 3 operating statuses 1 When the switch is not being pressed or is being pressed lightly Switch OFF 2 When the switch is being pressed with correct pressure Switch ON 3 When the switch is being pressed too strongly Switch OFF If the switch is OFF or goes OFF the robot cannot run or the running robot will stop respectively In order to ensure safety the robot is so designed that in manual mode the deadman switch should be held down for example when the operator presses any of the arm traverse keys Note The
19. OFF open Operation Preparation 1 ms min Start ON short OFF open Motor power is turned ON Motor Power ON ON short OFF open r Start of CAL CAL Execution ON short End of CAL OFF open P 100 SP100 ON short SERA OFF open l Switch to External mode External Mode ON short Switching OFF open a 5 Auto Mode output Servo ON ON short OFF open CAL Completed ON short OFF open ON short External Mode output OFF open l Note Thin lines indicate signal input and output the bold lines indicate the robot motion Timing Scheme of Operation Preparation Start Compatible Mode 13 11 Example Program Start Waiting for start command or in Robot status previous cycle 1 cycle operation Program Start input ON short OFF open 1ms min required Program Number Selection 2 to 2 ON short Parity OFF open Timing Scheme of Program Start Compatible Mode 13 12 13 5 3 Types and Functions of System Output Signals in Compatible Mode The table below lists the system output signals in the compatible mode Output signal name Used to tell external equipment weeps That the OPERATION PREPARATION command Robot Initialized is executable Check Before Start of That the robot is in Manual mode or Teach check Teaching ON Program Execution mode Program Start Reset That the program start
20. To use these programs you have to only know the number of partitions provided in the pallet and the positions of each of the 4 corners of the pallet and teach this information to the robot The palletizing programs update the partition information as each position is called to enable the robot to know which partition it should place the next part in remove the next part from Partitioned Pallet 20 2 2 Simplified Palletizing Library To perform palletizing it is necessary to import the xdGetPalt library from the program bank into the project beforehand No Program name File name Title Enable a pickplaceO1 pick placeO1 pac lt Titile gt Enable 2 pickplace02 pick place02 pac lt Titile gt Enable imported Output Search result Program list 20 4 The Simplified Palletizing 3 xdGetPalt xdgetpalt pac EasyPalletizina Library xd G etPalt h as been Palletizing parameters Figures 1 2 3 and Table 4 show the parameters needed for palletizing PAC language retains these parameters as value sets of variables Figure 2 Side view of pallet APR H1 DEP H2 Path of robot motion Figure 3 Stacked pallets 20 5 Table 4 Parameters needed for palletizing None regen Count regen Count regen NOOI STACKER Number of stacked pallets Count Integer pallets Approach clearance where the robot approaches mm Single DCm eArance a pallet precision FPT
21. rom Se tt rom S tt 30 v 31 ERE He m Brown Yellow Green User output User output Ea EA EA Ea EEN TEE om e0 Reseed o E R E Jefa 0 T e Ea O8 Power for conveyor tracking board Green when JP13 on mini I O board is shorted Gray DC power output OV ey DC power input OV when external power Gray Reserved Reserved Power for conveyor tracking board Oo O when JP12 on mini I O board is shorted DC power output 24V 89 Oo N DC power input 24V when external power source is used source is used Bue DC power output OV when internal power source is used Blue ic OO DC power output 24V when internal power source is used Se ms 13 16 13 6 4 Mini I O Board CNS on standard type of controller in Compatible Standard and All User I O Modes Terminal Sianainame Terminal Siona name Port No g No g No Enable Auto Internal 24V input Black 35 Enable Auto input Pink External Emergency Stop 1 b 1 input Internal 24V Brown 36 External Emergency Stop 1 b 2 input Pink External Emergency Stop 2 b 1 input f Internal 24V External Emergency Stop 2 b 2 input Pink Orange Whi 5 Reserved Emergency Stop 7 1 Mini relay output Emergency Stop 1 2 Mini relay output Emergency Stop 2 1 output Mini relay Mini relay Dea
22. 1 input Internal 24V Brown External Emergency Stop 1 b 2 input Pink External Emergency Stop 2 b 1 input f Internal 24V External Emergency Stop 2 b 2 input Pink Emergency Stop 7 1 output Black Emergency Stop 1 2 output White Mini relay Mini relay Emergency Stop 2 1 output Bown Emergency Stop 2 2 output White Mini relay Mini relay Deadman SW 1 1 output Deadman SW 1 2 output White Enable SW 1 1 Mini relay Enable SW 1 2 Mini relay Deadman SW 2 1 output Deadman SW 2 2 output eza 38 aoe Yetow a 0 Green 45 CPU Normal output a Bue 46 Robot Running output 2 Violet 47 Robot Error output ae 48 see so 7 eom se om 4 10 5 ig 6 EA O5 13 58 14 59 p15 6 at input i input Step Stop All tasks a Tre EE r n e n o n a ome ES Par Robot Initialized output Auto Mode output Black Operation Preparation Completed output Battery Warning output B Command Processing Completed rown output User output Continue Start Permission output Command area bit 2 input eres User output 7 usro aow Red ee Orange 62 o o Stop 1 b 2 output Pendant Emergency Stop 2 b 2 output Dry output oe e Dry output j le Power for conveyor tracking board Power for conveyor tracking board when JP12 on mini I O board is sh
23. 11 5 Preparation for Establishing Communications Link with Controller eee 11 14 115 1 For Re 232 Comin iia tony enee aani eei 11 14 152 For Ethernet oni muniGa tion serere tes taeeiaachacvharsbantooms 11 19 11 6 Transmitting Data with WINCAPSIID ccc ccccccsecseeeceeeesseeesseeesseeesseeeseeeens 11 26 11 6 1 Preparation in the Controller Precautions for Transferring Data ceeeeeeeeeeee 11 26 11 6 2 Transferring Program Data to the Robot Controller cccccceeeccceseceeseceeeeeeees 11 27 Part 4 Program Verification Chapter 12 Starting a Prora Menee a a A 12 1 12 1 Simulating a Program Operation with WINCAPS IIT eeeseeessessrrrerrererrserrrssrrrerreese 12 1 2r Openine yi Peay VVC Waseda enlaces saddened ina aa ae Ga vase ae 12 1 12 1 2 Monitoring the Robot Controller from WINCAPSIII eeeeeeeeeseeeseesrersererererrseee 12 1 12 1 3 Placing the Robot Controller in Machine Lock ccccceseccesecceeceeecsescseeceeeess 122 LA Starine the Prora Ninona eT E aa ded T E 12 2 122 Starine a Propram in leach Cheek Moderniseren eTEN ea eee Raa ea 12 3 ZE OAC A CCK os Sakoiolstokodedoheloned E EA A I E E E 12 3 12 2 2 Selecting a Program to be Hxecuted 00 cccccecccceeccesecceesccessceececseuseeeusseecsusecsusecsugess 12 4 UD MICO ACCC Kaien ios tags os age ap wows go yawn passage en anenenen es eerewaieddcedddedddaddstcnddeaddddddeaddudmeabarseees 12 4 PA 076 21g Gi aes ene RRA a Ra EEA Se nS eS nS me vee ne Vn n
24. As shown below the two confirmation messages for data updating and I O assignment mode appear Press Yes in both dialog boxes to transfer data to the controller The data transferred takes effect when the controller is restarted J Transfer data Sending data Transferred items Process result 1 0 hardware 0 WINGAPS Il IO assignment mode is different Are you sure to send the data ee E 3 9 3 7 Setting Up Mini I O Power Source The power source 24 VDC for the Mini I O can be switched between internal and external power supplies by changing the jumper switch setting as listed below The factory default is an external power supply Power supply Jumper switches JP1 and JP3 on the Descrolon for I O controller printed circuit board p Short circuit Do not change the pins 2 and 3 factory default setting factory default Short circuit Remove the controller pins 1 and 2 Pn top cover and change and pins 3 Short socket the JP1 and JP3 and 4 settings with short 123 4 sockets that come with the robot Mini I O board SOS SLL O Front panel ToN amp IPM board Note Switching the power supply setting for I O from external to internal changes the assignment to terminals 32 to 34 and 66 to 68 on CN5 from external DC power input to internal DC power output 3 10 3 8 Setting up Parallel I O Board Power Source The power source 24 VDC for the parallel I O board can be switched between i
25. G 410002 2490 GENERAL INFORMATION ABOUT ROBOT For VM G 410002 2450 GENERAL INFORMATION ABOUT ROBOT For XYC 4G 410002 2770 GENERAL INFORMATION ABOUT ROBOT For XR G 410002 3210 C 2 RC7M CONTROLLER MANUAL For RC7M controller 410002 2430 C 3 ERROR CODE TABLES 410002 3370 D a Extension set of instruction manuals for HS G_ Incl Nos D a 1 and D 2 to D 7 410009 0140 D b Extension set of instruction manuals for HM G Incl Nos D b 1 and D 2 to D 7 410009 0120 _D d Extension set of instruction manuals for VS G_ Incl Nos D d 1 and D 2 to D 7 410009 0080 D e Extension set of instruction manuals for VM G Incl Nos D e 1 and D 2 to D 7 410009 0060 D f Extension set of instruction manuals for Incl Nos D f 1 and D 2 to D 7 410009 0390 XYC 4G Extension set of instruction manuals for Incl Nos D g 1 and D 2 to D 7 410009 0830 XR G 1 4 Q ee oO ele Optional Components 3 INSTALLATION amp MAINTENANCE GUIDE For HS G 410002 2630 INSTALLATION amp MAINTENANCE GUIDE For HM G 410002 2590 INSTALLATION amp MAINTENANCE GUIDE For VP G 410002 2550 INSTALLATION amp MAINTENANCE GUIDE For VS G 410002 2510 INSTALLATION amp MAINTENANCE GUIDE For VM G 410002 2470 Printed INSTALLATION amp MAINTENANCE GUIDE For XYC 4G 410002 2790 manuals 3 INSTALLATION amp MAINTENANCE GUIDE For XR G 410002 3230 option STARTUP MANUAL 410002 2750 SETTING UP MANUAL 410002 3310 PROGRAMMER S MANUAL 4
26. If I5 0 is true go to the next command 2 1 Move the arm to the position 50 mm above P10 in the direction of the hand 3 1 Move the arm to P10 2 If I5 0 is false go to the next command 2 2 Move the arm to the position 50 mm above P11 in the direction of the hand 3 2 Move the arm to Pll 2 End of IF statement Call the HAND OPEN program TITLE Practice program 2 PROGRAM PRO2 TAKE ARM SPEED 100 MOVE P P1 IF I 5 O THEN APPROACH L P10 50 MOVE L P10 ELSE APPROACH L P11 50 MOVE L P11 ENDIF CALL HAND OPEN DEPART L 50 Move the arm to the position 50 mm above P10 and P11 in the direction of the hand Declare the end of the program App 1 1 E Practice Exercise 3 In Section 19 3 for input output control statements SET IO 64 1 Turn Close hand signal I0 64 ON WAIT 10 48 3000 7 20 1 Wait for input to I10 48 for 3 seconds i Use storage variable 120 IF I 20 1 THEN 3 If I20 1 successful l pass control to the next statement SET ITO 129 4 Turn I0O 129 ON ELSE 3y If not 120 1 pass control t the l next statement SET IO 128 5 Turn I0O 128 ON ENDIF 3 End of IF statement App 1 2 Appendix 2 Commands Listed According to Functions In the command list on the following pages are reference pages that are the ones in the PROGRAMMER S MANUAL I See the PROGRAMMER S MANUAL I App 2 1 Commands Listed According to Fun
27. JGenrl IN Bie JGenrl J Bu JGenr1l IN Wii Iceni miis Iceni micis Icenr INES Genl IN O Press F4 Dummy IN F5 0K Turns the selection on or off a a Back Next Jump To n ON OFF fux Nie V g w 2 E M 42 Soin noto a2 I 0 Monitor Cminil0 Assgin System Message Bro ict IN Sto 2 Do you want to make a dummy entry 1 4 into the I 0 111 ict IN E wW h Press OK with the deadman Bis Cand y TN switch held down Wii Iceni miis Iceni micis Ienri IN IGenrl IN a es C I J T V W Qa HM 408526 Joint noto a2 When dummy input is enabled for any signal the exclamation mark Remarks I 0 Monitor Cminil0 Assgin r Enable futo r Deadman SH r Robot stop appears here Wio wWedct mici Dedct miit IDeact nics IDedct IN Stop all steps Strobe signal Data Data 1 Hts wedct INES IDeact mire mDedct micz IDedct IN a Data 2 Command Command This exclamation mark indicates Wie Iceri milio Iceni micio Bii ceni mis Iceni mic F5 0K Turns the selection on or off o al w Command 2 JGenrl Cr enr JGenrl IN Bus JGenr1l IN Em Next Jump To Dummy 1 ON OFF flux dummy input is enabled for this signal This completes the setting for enabling dummy inputs To disable dummy inputs repeat the steps to or press F10 ClrDummy 14 2 Turning ON OFF Dummy Inputs How to turn ON the dummy inputs is shown below W Gl e M 48526 E
28. Maintaining worker position and stance Position and stance that enables the worker to confirm normal robot operation and to take immediate refuge if a malfunction occurs 4 Implementation of measures for noise prevention 5 Signaling methods for workers of related equipment 6 Types of malfunctions and how to distinguish them Please ensure working regulations are appropriate to the robot type the place of installation and to the content of the work Be sure to consult the opinions of related workers engineers at the equipment manufacturer and that of a labor safety consultant when creating these working regulations 4 2 Display of operation To prevent anyone other than the worker from accessing the start panel switch or the changeover switch by accident during operation display something to indicate it is in operation on the operation panel or teach pendant Take any other steps as appropriate such as locking the cover 4 3 Ensuring safety of When performing jobs within the robot s restricted space take workers performing any of the following steps to ensure that robot operation can be jobs within the robot s stopped immediately upon a malfunction restricted space 1 Ensure an overseer is placed in a position outside the robot s restricted space and one in which he she can see all robot movements and that he she is devoted solely to that task An emergency stop device should be activated immediately upon a malfunct
29. Monitor global variables allocated in the robot controller and edit their values using the procedure given below Step 1 Open the target project and choose Connect Monitor Communication Online Monitor see Section 14 2 1 Step 1 Then choose View Local Variables to display local variables in the program _ selected in the Project window or Program List window Local variable Varable name Type HH Ii2 3 4 HHiO If2 3 z2 HHO 0 2 75 HHO 0 3 76 HHD 1 If HH 23 1f2 HHEL 1f2 3 SAMP1 IC BIT 8 amp HFF Ad BE cc DE I I I I Step 2 Edit a variable value s assigned in the robot controller by entering the desired value s in the Value column Note Ifa user input port or hand input port is declared by DEFIO the I O should be set as a dummy one 15 8 15 2 3 Modifying the Number of Variables to be Used WINCAPSIII can modify the number of variables to be used Step 1 Open the target project and choose Project Properties to display the Propert window then choose the Variable tab fi Property EEE EEr ae ty tan Robot info Communication setting Compile vata PO Lised size Ei Type T ao Type P 400 T YES F LH Type 3 100 Type Di 50 Type T 50 Type Type S OK Cancel Modify the number of variables of the desired variable type then press OK Step 2 Transfer the data to the robot controlle
30. OFF black F5 0K Turns the selection on or off ee a Back Next Jump To Dummy 1 ON OFF Aux Remarks To turn the dummy input OFF repeat the steps to 14 3 14 2 Operation Using WINCAPSIIT WINCAPSIII can monitor the I O status of the robot controller or verify programs using dummy I O function 14 2 1 Monitoring I O Status Monitor the I O status in WINCAPSIII with the following procedure Step 41 Open the target project and choose Connect Monitor Communication Online Monitor H SAMPLE 002 WINCAPS M File Edit wiew Project Connect Debug Arm i ee 2 Fs 2 za En J OR icy 2 ru Tih Step 2 Choose View Scroll the screen to the I O to monitor then check the I O status Type Usage Macro y System outpi Robot initialized SOUT4 a System outp Auto mode SOUTS L System outpi Operation preparation SOUTG System outp Battery warning SOUT System outpi Command processing i SOUTS i User output UOUTL EE User output UOUT2 User output UOUTS3 User output UOUT4 User output UOUTS In the State column green circles denote ON Step 3 Use the smart view function to display the desired I Os only with the following procedure z Type Macro Dummy User input i UINA Bo User input UIN2 Wi Pics _ System outp Auto mode SOUTS L User output UYOUT1 In the Smart column select I Os to display and then press the Smart View button 14 4 14 2 2 Using Du
31. Robot Controller in Machine Lock You will now place the robot controller in machine lock This enables you to simulate the programmed robot motion on the PC screen without actually running the robot Step 1 Turn the motor power OFF Step 2 Placing the robot in machine lock Press MOTOR The motor power is turned OFF and the MOTOR lamp goes off sZ Ge i H u o 0 H bin vata w Press LOCK The robot controller is locked and the LOCK lamp lights B oa Frerm n fixi mi ipfe ee A MOO Caution Before placing the robot controller in machine lock ensure that the motor power is OFF that is check that the MOTOR lamp is off Tip Version 1 4 or later If the machine is locked you may restrict I O output For details refer to the SETTING UP MANUAL Section 5 5 Displaying I O Signals and Simulating Robot Motion The dummy input icon on the status bar changes according to the I O output restriction condition i m No I O output restricted amp O output restricted 12 1 4 Starting the Program Start a program in either of Teach Check mode or Auto mode Start the program with the controller being placed in machine lock referring to either Section 12 2 Starting a Program in Teach Check Mode or Section 12 3 Starting a Program in Internal Auto Mode The robot arm displayed in the WINCAPSIII Arm View window moves according to the p
32. VECTOR Positive directional vector of X axis on the mechanical interface coordinates ol OPERATING MODE The mode in which the robot is operated manually Three are three modes each axis mode X Y mode and TOOL mode OPERATION LOG The record of operations triggered by the teach pendant and other operating devices OPERATING PANEL The fixed operating panel connected to the controller It has no teaching function OPTIMAL LOAD CAPACITY SETTING FUNCTION The function which sets the optimal speed and acceleration in response to the load condition or the posture of the robot ORIENT VECTOR Positive directional vector of Y axis on the mechanical interface coordinates OVERHEAD VERSION The robot specified to install as it hangs from the ceiling setting the base above and the arm below As the installation space is not needed on the working platform working space could be wider Operator One of the user levels of WINCAPSIII Important parameters cannot be changed Password input is not necessary App 5 5 P P TYLE METHOD The binarization level setting method to make the area of the object and the area of the black or white portion to be the same Vision terms P VARIABLE Position variable The variable denoted by the position the posture and the figure PAC PAC New robot language used in Denso robot It is upward compatible from SLIM Industrial robot language of JIS PALLETIZING To
33. WINCAPS M i ctctcsicadosdacsaasteaadaccwassvacadat ota N A 16 6 16 4 How to Set Optimal Load Capacity Initializing Version 1 4 or later 0 eee 16 7 164 1 Setting with leach Pendant ness cisaiere casos sictuttedt weds ptavieetiteertincenntecedinwtaeeeeies 16 7 1642 Potne wat WN CA Pete haspeceeeatale a a os clteasaae E a egal ee 16 8 Chapter 17 Robot Control Statements cnnan sicd cantare dtonsseestauaneaanesenasenawecusscantecent uassencdmoaseceseoane 17 1 Eei 0 00 cals Koei 6 eeeemege rea NM erseeteecn eee rue rey eee Sen penn re rant Net ay na rte NOt Ve CUE EN TAT een Char Ty ren 17 1 17 1 1 Absolute Motion and Relative Motion ccccccccceccccsesccceeecceeeecceeeecceeeeeeseaeeceeeeeeeeaees 17 1 ile Interpolation Control crasina a a aa a iea 17 1 17 2 RODO Control Command sicnr oxen aati ei ee is 17 3 Eer MT MU siete ss ag sssseitee locate ata N RES 17 3 Dee EN ise eared oer ies tae oe vse E 17 4 MT OAV ached teeta olin Gstaad N E Seat ce inc ga aeona reuse AAEN N 17 5 TO Practice IK OV CISC Suoria E asaseadaewues ane eseeleaniciaia on duanae aud nai etessenebiee dina Err Chapter 18 Flow Control Statements eiiean a E E cuales nan ac aaeeahedeas 18 1 15 1 Types Flow Control Statement Sosio a a eee ees ian eh hes 18 1 EO Malle Comman d fia cores aids avin saree cate he raautoet netic T race tet 18 2 2L CALD esere te E E ET E ion aaeatiteeas 18 2 Oe GO U a E E E E E eter orer er cer reee 18 3 18 3 Uncondiional Branch Command
34. YES Vv DO WHILE Il gt I2 Repeat the statement block FI F2 F3 between DO and LOOP while I1 gt I12 v Fl F2 F3 9 F6 F4 F5 F6 Tak Judge the condition I2 2 ABS F4 I2 I2 ABS F4 here and repeat the LOOP following statements e DO LOOP WHILE posttest l l here and repeat the a mn i v DO Nt the condition is F1 F2 F3 F1 F2 F3 l aE F4 F5 F6 F4 F5 F6 I2 12 ABS F4 v LOOP WHILE Il gt I2 Repeat the statement block I2 12 ABS F4 between DO and LOOP while I1 gt 12 Repeat a block of statements while a condition is True or until a condition becomes True DO WHILE or UNTIL lt conditional expression gt A WHILE statement executes the statement block between DO and Loop repeatedly while a condition is true not 0 an UNTIL statement until a condition becomes true LOOP Or DO A WHILE statement executes the statement block between DO and Loop repeatedly while a condition is true not 0 an UNTIL statement until a condition becomes true LOOP WHILE or UNTIL lt conditional expression gt DO WHILE and DO UNTIL are pretest loops LOOP WHILE and LOOP UNTIL are posttest loops A WHILE statement executes repeatedly while a condition is true not 0 an UNTIL statement until a condition becomes true e DO LOOP Omitting WHILE or UNTIL is possible but causes an infinite loop e DO WHILE LOOP While the condition is true execution is repeated pretest e DO LOOP WHILE W
35. and driving them with internal power supply connect the I O power switching harness of the 2nd board to CN2 on the 1st board I O power switching harnesses 1st board K cnpio1 Controller s 24 V connector 3 9 I O Port Map and Allocation When an I O extension board is not used I O port numbers the number specified when I O is processed with PAC program or I O command go up to 511 However when an I O extension board is used I O port numbers beyond 511 are added I O Port Mapping and Allocation Allocation ae I O port number Oto 15 Mini I O input 32 to 47 Not used 2 56 to 63 Not used a 72 to 127 Not used 128 to 511 Internal I O 512 to 767 DeviceNet slave board input CC Link input PROFIBUS DP slave input Ethernet IP adapter input 768 to 1023 DeviceNet slave board output CC Link output PROFIBUS DP slave output Ethernet IP adapter output CC Link remote register RWr output O D x P D 5 o O 5 o O D Q Y D D 3 12 Chapter 4 Connecting Cables 4 1 Connecting the Power Cable and Motor amp Encoder Cable Use the power cable 5 m that comes with the robot system as standard for supplying power to the controller Connect the robot unit to the controller using an optional motor amp encoder cable selectable from 2 m 4m 6 m 12 m or 20 m Power supply circuit U N breaker ZA O wa prepared by customer A od YA J SS Re i J ee a Te NA DUL f N Bn we M
36. appears Local Area Connection Properties General Authentication Advanced Connect using i ES Broadcom 440s 10 700 Integrated Ce Configure This connection uses the following items 2 05 Packet Scheduler 3 AEGIS Protocol IEEE 802 1 v3 1 0 1 Cd Internet Protocol TCP IP Install i Eirirrstal i f Description Transmission Control ProtocolsInternet Protocol The default Wide area network protocol that provides communication across diverse interconnected networks Show icon in notification area when connected Notify me when this connection has limited or no connectivity 11 23 Step 4 Step 5 In the Local Area Connection Properties window select the General tab In the This connection uses the following item area press the Properties button with the Internet Protocol TCP IP selected The Internet Protocol TCP IP Properties window appears Select the General tab and click the Use the following IP address Then enter the IP address and the Subnet mask For the actual values of the IP address and subnet address inquire to the network administrator in charge of the pertinent network If the network is local for example an environment for connecting the personal computer and the robot controller only the IP address can be set as desired Therefore the IP address will be tentatively set here to 192 168 0 1 and the subnet address to 255 255 255 0 Click on OK and the IP a
37. calibration which actuates all robot axes to move the robot arm in small motions in order to confirm the current arm position after the controller power is turned ON The CAL procedure is described below Remarks For the E F G series except XYC series and VM 6083D 60B1D robots skip Step 7 since no CAL is required Performing CAL even for those robots generates no problem Only the D series and XYC series require CAL to run the robot using accurate values N caution Performing CAL will move the robot arm Before proceeding be sure that all workers have left the robot s restricted space and that there are no obstacles in the robot s restricted space C S e HM 40702 D Joint veteli w Current Robot Position s te amp E Ji 167 77 p J T J2 J3 416 00 m J2 _ J4 Ss J4 R Cancel Close this window HOT a Rotot petite var sped Fe Press F6 Aux with the Current Robot Position window displayed V Step 8 Selecting Manual mode and running the robot manuall Press M MOD The Operation Mode window is displayed 7 13 V In this lesson you will practice running the robot in X Y mode a4 Select Operation Mode Operation Mode Sii L WORK Base TOOL Fl ange X OR TOOL TUORK2 WORK3 LY RS e tol E2 V a4 Current Robot Position o te spet me 7 14
38. deadman switch is also called Enable switch 7 1 7 1 2 Names of Keys Buttons and Switches on the Teach Pendant MOTOR key Powers the motor on or off When the motor is powered The figure below shows the names of keys buttons switches and other sections of the teach pendant On the LCD screen are function buttons shortcut button and icons which are shown on the next page Before running the robot learn the location of those keys buttons and switches which will help you run the robot smoothly and safely Note On the teach pendant designed for the RC7M controller the mode selector switch is a keylock type and the robot stop button is name changed to the emergency stop button R SEL Robot selection key M MOD Motion mode key LOCK key Selects the motion modes and coordinates the LED is lit Locks or unlocks the robot When the machine SPEED key Mode selector switch is locked the LED is lit Sets the external speed 3 position keylock switch Hand strap Cursor keys Move the cursor on the display screen and entry screen Emergency stop button Jog dial Moves the cursor on O TEACHCHECK S emacs ae eae ce and D eau ficron ube Kse Walon Grebo STOP key Immediately stops the running programs Cancel key Cancels the entry OK key Establishes the entry Hand strap O POWER Arm traverse keys SHIFT key Function keys Drive the arm manually in
39. denso wave co jp INSTALLATION The installer automatically starts when the CD is inserted in the drive Hereafter follow the instruction of the installer If the installer did not start automatically please start the installer Setup exe manually Please input your license code when the license key is required during installation The license key is printed on thi license card USER REGISTRATION We ask our customers to register user informaiton so as to accommodate efficient and sufficient customer services Your cooperation is highly appreciated lt http www denso wave com en robot support ZEYREK DIC REL TCE L rciaER nEl Iez BRRACHAV EE Ee BEA OBG SR CT IEVA FLT 7 AERAN RIC DBLZARVET OC TOFA ARELELK DIRE LUCK EA FU YApt se RASHTYY 9I F MY ATLB RMB ORINA FAX 0566 25 4757 T 448 8661 ZARASTA T A 1 eth E mail orin support denso wave co jp http www denso wave co jp YVR K LF IB CDER FATT CATALA FAA AN ELET MRAR oT AV HHEHLAORAIICDOPO Setup exe 771 Ve FR CHL ES TARO IO IR PCPA EV AT DADN amp BRAENEGANL COPA GY ARECIORM AN CWS IA EY AEB AALTEAV I F SROBRL ALCL BERICMLAEART ZAHEER 2 PERERA UCKHIET B FRACUICSWETA CHADIZEEKMVURLEPET HP RGR IE PRO AR ANOT RITET lt http www denso wave com ja robot support Copyright 2008 DENSO WAVE INCORPORATED All right reserved 410002 6620 11 1 4 Checking the WINCAPSIII Version on PC Screen The version of the current
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41. facilitates program management For creating a robot program first create a new project Step 1 Choose File New Project to run the WINCAPSIII Project wizard WINCAPS I Project wizard Welcome to New project wizard This wizard creates a new project by specifying robot type and controller specification les Press Next Step 2 Enter the name of a new project and specify the location to save the project folder Then press Next WINC APS II Project wizard Set project name Project Welea me Please set the name of the new project Sji name Rebbe Project Name SAMPLE 002 Folder CORO n 4 a Create a new project in the following folder valables e To create project in the different location click button and specify another folder Save in C Documents and Settings cwu909778 My Documents WINCAPS Cancel Step 3 Select your robot controller and robot type then press Next WINCAPS M Project wizard Select a robot type daiar Select a Robot type to use Projectname L f Robot Type Information i HS 4535 G Basic HS 4535 G J Bellows HS 4535 G P Cleanroom HS 4535 G UL Basic UL listed HS 4535 G W Dust amp Mistproof c 2 7 HS 4545 G Basic eo N HS 4545 G J Bellows v Bles HS 4545 G P Cleanroom ae HS 4545 G UL Basic UL listed HS 4545 G W Dust amp Mistproof HS 4555 G Basic HS 4555 G Bellows HS 4555 G P Cleanroom HS 4555 G UL Basic UL listed HS 455
42. fixed while pressing and rotating the gear to be mounted under compliance control During the mesh and insert operation the robot monitors the current position of the vertical axis to stop the rotation when the axis reaches the insertion completion position The insertion completion position can be specified at an arbitrary point This function is applicable not only to gears but also other parts to be mated during assembly operations Target gear fixed Program Samples Library Gear to be mounted movable Initial input parameters Variables to be used Insertion OK position Z axis coordinate value Input required ITITLE Mesh Gears to Insert HS E G series PROGRAM Sample TAKEARM APPROACH P P1 0 50 S 10 ST SetZBalance ST SetEralw 3 30 olf setCurime 3 20 MOVE L 0 P1 S 10 judge 0 IF POSZ CURPOS gt F1 THEN judge 1 SPEED 5 ROTATEH 30 NEXT Move to a position above the target point Gravity compensation for Z and T axes Set the allowable deviation for Z axis Start current limit for Z axis Move the tool end to the gears meshing position Initialize the gear meshing flag Check whether the axis reaches the insertion completion position Gears not meshed judge 1 Rotation speed 5 Rotate by 30 degrees NEXT option Parallel processing with ROTATEH motion flg 0 DO IF POSZ CURPOS lt F1 THEN CALL MotionSkip judge s 0 EXIT DO ENDIF CALL Moti
43. images inputted from the camera WI WINDOW The space to process images Vision terms App 5 8 WORK COORDINATES The three dimensional orthogonal coordinate system which sets the origin on the work to be processed by the robot WRIST FIGURE The figure determined by the value of the 4th and the 5th axis of the 6 axis robot There are two kinds of wrist figures FLIP and NONFLIP X Y MODE The manual operation mode on the base coordinates YAW ANGLE The rotational angle around X axis SYMBOLS Vision Visual device manufactured by Denso App 5 9 Vertical Articulated V Series Horizontal Articulated H Series Cartesian Coordinate XYC Series Integrated compact type XR Series STARTUP HANDBOOK First Edition July 2007 Fourth Edition April 2009 Fifth Edition March 2010 DENSO WAVE INCORPORATED 3M C 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
44. mode Operation mode displayed Select Operation Mode Operation Mode Sm Step 5 While holding down the deadman switch press one of the arm traverse keys to drive the robot arm For details regarding the relationship between the arm traverse keys and driven axes refer to Section 7 4 1 Running the Robot in Joint X Y or Tool Mode Deadman switch provided on the rear Arm traverse keys 7 8 7 5 Running the Robot Manually Turn the robot controller and motor ON and run the robot manually with the teach pendant Step 1 Checking that it is safe to proceed e Check that the robot is installed correctly e Check that there is no one within the robot s restricted space Step 2 Turning the robot controller ON CN6 RAD Yh BET FGF 35 Sin giz are D ay 2 3 _ f s 2 3 2 8 BATTERY 2 ORUNO The power lamp furthest left one of the 3 pilot lamps will light and the remaining 2 lamps will flash momentarily 20 C R m 4wa Joint vato z The top screen will appear on the teach pendant soon after em a Program Arm Vision 1 0 OpePanel Set 7 9 Step 3 Placing the robot in Manual mode Step 4 Setting the speed and acceleration Cursor keys Speed setting tool bar eames OK Set the Mode Selector switch to MANUAL In the leftmost area of the
45. move down and up straight This section describes the motions dedicated to the Z axis direction 9 7 1 Approach in the Hand Direction APPROACH command This command moves the tool end to the approach point that is specified in the Z axis direction and lt approach length gt away from the target point Syntax APPROACH lt interpolation method gt lt base position gt lt pass start displacement gt lt approach length gt lt motion option gt Description 1 lt interpolation methods is either P PTP control or L CP control 2 lt base position gt can have the position joint or homogeneous transform matrix type of data 3 The approach direction differs depending upon the robot type 4 axis The tool end moves to a position lt approach length gt away from the lt base position gt in the Z direction of the base coordinate system 6 axis The tool end moves to a position lt approach length gt away from the lt base position gt in the Z direction of the tool coordinate system 4 lt pass start displacement gt and lt motion option gt are the same as in the MOVE command Example APPROACH P P1 P 50 Move the tool end 50 mm above the position specified by the position variable Pl in path motion under PTP control A NSN Motion 4 axis robot Approach length 6 axis robot Approach length ZT 9 8 9 7 2 Dodging Movement in the Hand Direction DEPART command This command moves the tool end to
46. other Global variable F10 10 Accessible Accessible Accessible Local variable Local variable LOVE 8 JIGU 5 Not accessible Local variable LOVE 10 Local variables do not affect the ones in other programs so unexpected operation can be avoided Global Variables and Local Variables e Properties of global variables 1 Accessible from any programs shared by all programs 2 Available without declaration 3 Can be assigned a macro name e Properties of local variables 1 No interference with variables in other programs 2 Their values will be initialized when compiled 3 Their names can be decided freely Max 32 characters 4 Up to three dimensional array can be declared maximum 32767 elements 9 10 9 8 1 Global Variable The name of a global variable is expressed with an alphabet letter s l F D S V P J T IO that expresses the type and an integer expression Only an I O variable has two letters IO For example F0001 F1 and F 1 all express the same floating point variable of type real Since names of global variables are reserved by the system they can be used without declaration The following types can be used as global variables e Typel Integer variable range 2147483648 to 2147483647 Example 10001 11 I 1 e Type F Floating point variable of type real 3 402823E 38 to 3 402823E 38 Example F0001 F1 F 1 e Type D Double precision variable of type re
47. put in or take out parts etc to from the pallet with partition PANEL OPERATION To make ON OFF operation of the internal I O from the teach pendant screen PASS MOTION The motion to pass near the motion target position set by teaching PENDANTLESS OPERATION To run the robot from the external equipment when the teach pendant is not connected to the controller PITCH ANGLE The rotational angle around Y axis PIXEL The point which forms the screen visual terms PLATE MECHANICAL INTERFACE The portion to install tools located on the top end of the robot arm PLIM The positive directional end value of the software limit NLIM POSITION DATA The data of the base coordinates which describes the position of the robot flange center the tool top end when the tool definition is effective and the robot posture at the time POSTURE The inclination of the tool determined by the roll pitch and yaw angles in case of 6 axis robot The tool direction determined by the angle around Z axis in case of 4 axes robot POWERING OFF THE MOTOR To turn off the motor power of the robot POWERING OFF THE ROBOT CONTROLLER To turn off the power of the robot controller POWERING ON THE MOTOR To turn on the motor power of the robot POWERING ON THE ROBOT CONTROLLER To turn on the power of the robot controller PRINCIPAL AXIS The axis which gives the minimum moment of inertia in case of rotating the object on a plan
48. status bar an icon indicating Manual mode will be displayed Press SPEED The Set Speed window is displayed The SPEED box should be selected however if either the ACCEL or DECEL box has been selected use the UP and DOWN cursor keys to select the SPEED box Press F2 10 The SPEED value can also be changed with the Jog dial SPEED will be set at 10 and ACCEL and DECEL at 1 Press OK Remarks At the beginning leave these settings as they are as you will be running the robot slowly to ensure safety The settings can be changed later on after you have become accustomed to running the robot with the teach pendant V 7 10 The SPEED display will become 10 Step 5 Turning the motor ON Press MOTOR The power to the motor and the MOTOR lamp come on Step 6 Moving each arm of the robot manuall caution When this operation is performed the robot arm will move Any workers should leave the robot s restricted space O Press F2 Arm 7 11 While observing the robot press the deadman switch and the arm traverse keys The arm corresponding with the operation of the J1 to J4 4 axis robot or J1 to J6 6 axis robot arm traverse keys will move In the Current Robot Position window the angle of each axis will be displayed 7 12 Step 7 Performing CAL calibration for D series and XYC series only _ CAL stands for
49. step of the program SINGLE STEP START The start method to make a program execute one step The program stops after one step execution SINGLE4 One of the 4th axis figures of 6 axis robot DOUBLE4 SINGULAR POINT The position on the boundary of the two figures SNAPSHOT The function to record the current status of the robot SOFTWARE LIMIT The limit of the robot motion range determined by the software lt mechanical end STATUS AREA A group of output signals to inform the result of I O command processing The status corresponding to the I O command is set STEP CHECK One step execution of a program in teach check mode App 5 7 STEP STOP The stop method to stop a program after one step execution STOP KEY One of the pendant buttons Pressing the button makes all programs halt immediately STROBE SIGNAL The input signal to instruct the start of O command processing SUBROUTINE The program which describes a specific motion and is called from a portion of a main program SYSTEM I O SIGNALS The input output signals fixed to the system in order to inform the run control or run condition to the outside SYSTEM PROJECT Programs and related data groups SYSTEM VARIABLE The variable to check the system condition in a program T VARIABLE Homogeneous transform matrix variable The variable denoted by the position vector the orient vector the approach vector and the fig
50. that an emergency stop device is activated to cut the power to the robot motor upon entry into the robot s restricted space When it is necessary to enter the robot s restricted space to perform teaching or maintenance work while the robot is running ensure that the steps described in Section 4 3 Ensuring safety of workers performing jobs within the robot s restricted space are taken 4 1 Creation of working When entering the robot s restricted space to perform teaching regulations and or maintenance inspections set working regulations for the assuring worker following items and ensure workers adhere to them adherence 1 Operating procedures required to run the robot 2 Robot speed when performing teaching 3 Signaling methods to be used when more than one worker is to perform work 4 Steps that must be taken by the worker in the event of a malfunction according to the contents of the malfunction 5 The necessary steps for checking release and safety of the malfunction status in order to restart the robot after robot movement has been stopped due to activation of the emergency stop device 6 Apart from the above any steps below necessary to prevent danger from unexpected robot movement or malfunction of the robot 1 Display of the control panel See Section 4 2 on the next page 2 Assuring the safety of workers performing jobs within the robot s restricted space See Section 4 3 on the next page 3
51. the ISO 10218 1 2006 Motion space Refers to the portion of the restricted space to which a robot is restricted by software motion limits The maximum distance that the robot end effector and workpiece can travel after the software motion limits are set defines the boundaries of the motion space of the robot The motion space is DENSO WAVE proprietary terminology Operating space Refers to the portion of the restricted space that is actually used while performing all motions commanded by the task program Quoted from the ISO 10218 1 2006 Task program Refers to a set of instructions for motion and auxiliary functions that define the specific intended task of the robot system Quoted from the ISO 10218 1 2006 1 Introduction 2 Warning Labels Label 1 DENSO Label 4 Label 3 Sr Label 2 Example Location of labels Warning label A Ai BRORNG THURRAAICASS Risk of injury Do not enter restricted space Unfallgefahr Nicht die Sperrzone betreten SEA FH GS TS AB SS Yo EA EA Bae ole HEN Maer Label 1 lt Except HM gt N WARNING P LATE Moving robot can cause serious injury Durch Roboterbewegungen k nnen Verletzungen verursacht werden 2 ARM t F9 TEMAS Bo lt HM gt A WARNING SM gt P L xe tA wy Label 2 Part No 410985 406 Moving robot can cause serious injury Durc
52. the external auto mode one Mode selector switch MANUAL An External Auto mode icon is displayed Status bar O ai lm 4070266 O POWER DENSO The model name of the global type has the suffix A 13 1 13 3 Running in Mini I O Dedicated Mode In the mini I O dedicated mode I O commands including program start are issued as the bit combination of the command area 3 bits and data area 3 bits Those I O commands are executed by a strobe signal 13 3 1 Types and Functions of System Input Signals in Mini I O Dedicated Mode The mini I O dedicated mode supports the following system input signals System input signal ane Command Data area Used to 3 bits Motor Power ON 0 Turn the motor power ON Set the external speed to 100 01 10 00 111 Start up Perform the above start up Strobe SPS signal Program number ae 0 0 to 7 Execute the specified program Continue Start 011 tee Execute Continue Start 1 i Program number Immediately stop the specified SPRENE RAN ROSEL 0 to 7 program and reset it initialization All Programs Reset 101 mmedate y Sop a e ang reset them initialization Clear Robot Error o fe Clear errors Sto Step Stop Step stop all running programs p all tasks when the signal is turned OFF Note The Strobe signal indicates that the command area 3 bits and data area 3 bits should be used in combination CAL Execution External Speed
53. the permission settings for the communications port to be used for RS232C or EtherNet is Read write Note If Read only is selected transmitting data will cause the ERROR200B Configuration transmission failure 3 Depending on the combination of ON OFF status of the robot controller motor and the operation mode selected transmitting data may not be possible as shown in the table below Controller operation mode sais Remarks Note 1 WINCAPSIII can receive data regardless of the ON OFF status of the controller motor and the controller operation mode Y1 Programs are not saved E D A Y2 Only tool work and area y data can be transmitted Y EAREN ie N Transmission impossible Note 2 Receiving data during program execution will slow down the program execution 4 Check that neither the Program list window nor Select Variable type window is displayed on the teach pendant screen 11 26 11 6 2 Transferring Program Data to the Robot Controller At present the execution program complied in this Chapter so far is still in the PC To run the program it is necessary to transmit upload it to the robot controller STEP 1 n_WINCAPSIII choose Connect Transfer data to display the followin window Transfer data _ WINCAPS III Controller CI Local data SAMPLE 002 Se lt Controller 10 8 102 128 a CICA Program JCS Program CI Source file OD Executable file Map file si
54. the same file as the calling program The program of an independent separate file can be called from various programs and commonly used If a series of work is organized as a unit of a subroutine or another program the same contents do not have to be described repeatedly This is effective for correcting descriptions reducing the creation time and otherwise improving the ease of reading programs Program declaration statement Programi name Program PRO1 Program MOTION PROGRAM MOTION PROGRAM PRO1 COUE CALL TIMING SR CALL MOTION END GOSUB SUBROUTINE END END statement SUBROUT INE RETURN RETURN statement Difference Between Calling a Program and Calling a Subroutine Subroutine 9 2 9 6 Main Commands Used in Programs This section describes the minimum commands required in programming using a simple motion program 9 6 1 Program Example In the example shown below the robot arm moves from the current position to P2 via P1 under PTP control 7 __w PTP control Stored in position variable Current position SPEED 100 Set the arm motion speed internal speed to 100 9 6 2 Notational Conventions Used in Command Syntax The following notational conventions are used in syntax of program commands An underscore indicates a space Items enclosed in angle brackets lt gt must be described Items enclosed in square brackets are optional which can be omitted
55. the teach pendant In teaching the robot is taught its motion In programming you can specify positions as constants However in order to make the robot accurately learn the relative positional relationship between itself and objective point you need to move the robot actually on site Consequently you write positions as variables in programming and assign actual values to those variables by on site teaching 8 2 Global Variables Available in Teaching A variable refers to a program identifier for a storage location which can contain any number or characters and which can vary in a program The following three types of variables are available in teaching Pos Position variable X Y Z RX RY RZ and FIG for 6 axis robots Z Y Z T and FIG for 4 axis robots Joint Joint variable J1 J2 J3 J4 J5 and J6 for 6 axis robots J1 J2 J3 and J4 for 4 axis robots Tran Homogeneous transform matrix variable X Y Z 0x Oy Oz Ax Ay Az and FIG for 6 and 4 axis robots Up to 32766 variables can be used per variable type but the actual number available may be smaller depending on the controller memory size available 8 1 8 3 Teaching to Position Variables This section describes how to teach to position variables P1 and P2 Step 1 Teaching the robot position P1 While holding down the deadman switch press the appropriate arm traverse keys to move the robot arm to the desired position that you want to assign
56. there is no problem with the ll robot and related equipment If any problems are found take any necessary measures to correct them 2 When carrying out periodical inspections or any repairs maintain records and keep them for at least 3 years 6 Management of 1 Carefully handle and store the Initial settings floppy disks packaged with the robot which store special data Floppy Disks exclusively prepared for your robot 2 After finishing teaching or making any changes always save the programs and data onto floppy disks Making back ups will help you recover if data stored in the robot controller is lost due to the expired life of the back up battery 3 Write the names of each of the floppy disks used for storing task programs to prevent incorrect disks from loading into the robot controller Store the floppy disks where they will not be exposed to dust humidity and magnetic field which could corrupt the disks or data stored on them T Safety Codes The safety standards relating to robot systems are listed below As well as observing the safety precautions given in this manual ensure compliance with all local and national safety and electrical codes for the installation and operation of the robot system Standards Title ANSI RIA R15 06 1999 Industrial Robots and Robot Systems Safety Requirements ANSI UL1740 1998 Safety for Robots and Robotic Equipment CAN CSA 2434 03 Industrial Robots and Robot Sys
57. to P1 Arm traverse keys Motion in X direction Motion in Y direction Motion in Z direction T axis rotation Lefty 1 FIG No 1 Motion along the Z axis Pa Motion along the Y Wave X Motion along the Y axis 8 2 Step 2 Assigning the taught value to Variable P1 Current Robot Position 83 m ae Press F4 Var Select Variable Type P 2 p Select the variable type in the 2f Select Variable Type window At this point press F4 Pos to assign a value to a position Z 7 S K variable It is also possible to touch Pos in the window eel a ee ot E4 8 3 W KE HM 40702 D x veteli w Position Variables 100 PO sre aoaaa 0 BABAAAA 0 000000 a aaoo Right FIG e Pt 0 ae00000 8 ae00800 0 0000000 Select the P1 box using the 6 0000000 ELL mea cursor keys or jog dial 0 000008 Righty FIG F5 Change the selection F6 Gets the current pos cot The Position Variables window appears a Back Next Jump To Move Change Get Pos For 4 axis robots the Position Variables window shows five types of data for each variable name If you select and highlight any one of them for example any in the Var name P1 box then it means that the Var name P1 is selected V HM 40702 D x UOT o E wz o
58. type with safety box D Global type in UL Listed robot system with safety board E Global type in UL Listed robot system with safety box I O type or N NPN I O PNP I O Note For the differences between the global and standard types see the next page 2 1 2 2 Differences between Global and Standard Types of Robot Controllers The global type of the robot controller has either a safety board or safety box which the standard type has not Described below are the functional differences between the global and standard types ORUNO pp rover err i i ooo PENDANT CN3 SAFETY BOX SAFETY BOARD Only for global type with safety box Only for global type with safety board 2 2 1 Deadman Switch Function Enable Switch Function The global type controls the deadman switch provided on the teach pendant or mini pendant in a partially different way than the standard type does When reading the instruction manuals that are prepared for the standard type be careful with the following differences 1 Location of deadman switches enable switches on the teach pendant and mini pendant Deadman switch Enable switch Deadman switch Enable switch Teach pendant Mini pendant 2 Difference in deadman switch operation The table below lists the functional differences of the tea
59. use conditions frequently used program commands and other information for advanced usage Appendices Appendix 1 Sample Answers to Practice Exercises Appendix 2 Commands Listed According to Functions Appendix 3 Menu Tree of Commands on Teach Pendant Appendix 4 Program Samples Appendix 5 Glossary SAFETY PRECAUTIONS SAFETY PRECAUTIONS Be sure to observe all of the following safety precautions Strict observance of these warning and caution indications are a MUST for preventing accidents which could result in bodily injury and substantial property damage Make sure you fully understand all definitions of these terms and related symbols given below before you proceed to the text itself A N WARNING Alerts you to those conditions which could result in serious bodily injury or death if the instructions are not followed correctly A N CAUTION Alerts you to those conditions which could result in minor bodily injury or substantial property damage if the instructions are not followed correctly Terminology and Definitions Maximum space Refers to the space which can be swept by the moving parts of the robot as defined by the manufacturer plus the space which can be swept by the end effector and the workpiece Quoted from the ISO 10218 1 2006 Restricted space Refers to the portion of the maximum space restricted by limiting devices i e mechanical stops that establish limits which will not be exceeded Quoted from
60. 1 4 12 61 deceleration value CUREXTSPD Obtains the current external V1 4 V1 4 12 62 speed value EXTSPEED Sets the external speed V1 98 V1 98 12 62 Time Control DELAY Suspends program processing 12 63 for a designated period time WAIT Stops program processing 12 64 based on a condition Coordinate CHANGETOOL Changes the tool coordinate 12 65 Transformation system CHANGEWORK Changes the user coordinate 12 66 system CURTOOL Obtains the currently V1 4 V1 4 12 67 designated TOOL number CURWORK Obtains the currently V1 4 V1 4 12 68 designated WORK number Interference Check SETAREA Selects the area where an 12 69 interference check is performed RESETAREA Initializes an interference 12 70 check Internal Servo Data GetSrvData Gets the internal servo data of V1 5 V1 5 12 71 robot joints GetJntData Gets the internal servo dataofa V1 5 V1 5 12 72 specified joint Motor Power MOTOR ON OFF Turns the motor power onoroff V1 5 V1 5 12 73 Calibration Statement EXECAL Executes CAL operation V1 5 V1 5 12 74 Particular Control ST_aspACLD Changes the internal load V1 9 V1 9 12 75 condition values There are the mass of payload noted in grams g and the payload center of gravity noted in millimeters mm for the load condition values Designate both of them See Note1 App 2 7 4 axis 6 axis Vision device Available with all series of robots and vision device O O Available with
61. 10002 3330 PROGRAMMER S MANUAL II 410002 3350 Panel Designer USER S MANUAL 410002 6480 OPTIONS MANUAL For RC7M controller 410002 2650 Flange kit For HS For HS G series 410329 0060 For robot unit For 10 kg payload 410329 0070 orropor 94 5 Flange kit For HM a ce For 20 kg payload 410329 0080 Piping and wiring set for 22 g Cable kit for robot hand control For XR G 4 10879 0470 en optional stana 24 4 Eulkrange sanaiEorXR __ _ av17s9 0010 Half range stand For XR G po 41759 0020 Chapter 2 General Information about RC7M Controller The RC 7M controller is available in several models which differ in detailed specifications to match robot models 2 1 Controller Model Name on Nameplate The model name of the controller is printed on the nameplate attached to the rear side of the controller as shown below The model name is coded as listed below DENSO 410200 08G 004 MADE IN JAPAN Nameplate a Postton sampe Denotes sample a VSG Robot model name VMG VM G series VSG VS G series VPG VP G series HMG HM G series HSG HS G series XYCG XYC 4G series XRG XR G series oole No of controllable axes 4 4 axes 5 6 5 or 6 axes 6 6 axes c Engineering symbol 1 A Encoder A B Encoder B C Encoder C ret Engineering symbol 2 A 24V brake O tis symbol 3 Blank 200 VAC power A 100 VAC power E type Note Blank Standard type B Global type with safety board C Global
62. 11 10 Step 3 Saving the program code Choose File Save smppgm01 pac to save the program code SAMPLE 002 WINCAPS M File Edit View Project Connec c New Project gt Open Project Close Project Ge Save Project nave As Project Import Export z Save smppemUl pac Ctrl s nave smppemul pac s Print Recent Project be Exit 11 3 5 Compiling the Program To execute a program written in PAC language it is necessary to convert compile it into the run time format that is executable by the robot controller The compiled program is referred to as an executable Step 1 Compiling the program Choose Project Make Executable to convert all programs included in the Program list window WINGAPS M Froject Connect Debug Arm To a dd Program a J Add Existing File mnt Enable Disable Folder H Create Macro Definition File b BEH Import Macro Definition File b Command builder Ctrl B ty Program Bank Check Grammar 42 Make Executable Parameter Property 11 11 Step 2 Checking that no error has occurred Output 1 x Pac Ve 00 A STRAN Y2 00 C Documents and Settings ydwug0g778 My Documenta W INC SLINE Y2 00 C Documents and Settings ydwug0g778 My Documents INC i o C Program list Output Search result WIHGAFS Ii Build Complete Check that Error 0 is displayed If an error is showing any p
63. 12 2 4 Cycle Check Next check the program you have just checked with Step check this time with Cycle check The Cycle check executes the selected program from the current program line to the end as a single cycle Q Q a amp M 42 veteli ia Program PRO1 Status On halt 0001 TITLE PRO1 0002 PROGRAM PRO1 0803 Takefirm 0004 SPEED 100 85 MOUE L P1 0006 MOUE L P2 0007 GIUEARM Displays the program i a Hate Stepstop stan stent stysta O Press F4 CycStart Q Q amp Mon veteli w Program PRO1 Status On halt System Message Do you want to run the program PRO1 forward by a single cycle Cancel This system message appears 0886 MOUE L P2 0007 GIUEARM Back Next Jump To o a ey fT 12 6 Caution During teach check always keep one hand free and ready to press the STOP key Systen Message p D While holding down the AN tener ase se deadman switch press OK To cancel step operation press Cancel In Teach check mode keep both the deadman switch and OK key depressed until the execution is completed If either of them is released the robot comes to a halt instantly As the program starts to execute cycle check so that the robot runs the highlighted section on the coding list window will proceed in order When the program has been executed through to the end it will stop 12 7 12 3 Starting a Program in Internal Aut
64. 5 G W Dust amp Mistproof HSS 4545 G Basic Overhead y gt Step 4 Select whether your robot controller is Standard or ANSI Global and whether extended joints are used or not and then press Next WINCAPS If Project wizard Select controller specifications Welepme H S 45 35 1 G Project name Stroke Cee xi r VarteB les Controller specification Standard ANSI Global Extra joints Not use Ouse Output code Ver Ver2 70 Cancel 11 6 Step 5 Select the interface Ethernet or RS 232C between the controller and PC WINCAPSIII and specify the details then press Next The interface can be changed even after creation of a project WINCAPS If Project wizard Select a connection to the controller Select controller connection method IP address ORS 232 Cancel Step 6 Enter the number of variables to use for each variable type and then press Next The number of variables can be changed even after creation of a project WINCAPS If Project wizard Set variable size Set the number of each variables in controller Variable max number Type l Type E Type D Type vi Variables Back Next I Cancel Step 7 Select the device connected to the controller and the assignment mode Configure the detailed device parameters according to your needs Then press Next WINCAPS If Project wizard I O settings Set the I O device and parameters
65. 59 Labeling BLOB Executes labeling 21 62 BLOBMEASURE Executes feature measurement 21 65 of the object label number BLOBLABEL Obtains the label number for 21 67 designated coordinates BLOBCOPY Copies an object label number 21 69 Search Function SHDEFMODEL Registers the search model 21 71 SHREFMODEL Refers to registered model 21 73 data SHCOPYMODEL Copies a registered model 21 74 SHCLRMODEL Deletes a registered model 21 75 SHDISPMODEL Displays a registered model on 21 76 the screen SHMODEL Searches for a model 21 77 SHDEFCORNER Sets the conditions for a corner 21 81 search SHCORNER Searches for a corner 21 82 SHDEFCIRCLE Sets the condition forsearching 21 84 a circle SHCIRCLE Searches for a circle 21 85 App 2 16 Classified by functions Obtaining Results 4 axis 6 axis O Commands VISGETNUM VISGETSTR VISPOSX VISPOSY VISSTATUS VISREFCAL Vision device Available with all series of robots and vision device O Available with all series of robots The command specifications differ between the 4 axis 6 axis robot and vision device V1 2 Available with the 4 axis robots and the 6 axis robots of Version 1 2 or later Functions 4 axis 6 axis Obtains an image process result from the storage memory Obtains code recognition result Obtains an im
66. A Close hand signal ON 2 Hand end YES sensor ON NO NO 2 3 seconds elapsed y YES 3 Hand closed successfully use storage variable oe 5 1O 128 ON 4 1O 129 ON zl E Motion specifications For Close hand signal use 10 64 For hand end sensor signal use 10 48 For the decision of successful hand closing use storage variable I 20 in WAIT statement TITLE Practice program 3 Program title PROGRAM PRO3 Declare program name 1 Turn Close hand signal I0 64 ON 1 Wait for input to I0 48 for 3 seconds ee i Use storage variable 120 IF I 20 1 THEN tay TE LO ek su ccassrul pass control to the next statement 4 Turn I0 129 ON io If not 120 1 pass control to the next statement 5 Turn I0O 128 ON 3 End of IF statement End program 19 3 Chapter 20 Library 20 1 Using Library Programs 20 1 1 What are Library Programs The program library is used to collect all purpose programs like parts and use them accordingly In the PAC language since other programs can be called from a program programs can be developed more efficiently using the programs in the library or by registering a created program to the library Newly developed sections Image of Program Development Using the Library 20 1 2 Program Bank WINCAPSIII provides a program bank for using the library The program bank is a tool used
67. App 3 1 F3 Vision F1 Camera F2 Display F3 CLS F6 Monitor F7 Window Ver 1 5 or later F8 Model F9 Analysis Ver 1 5 or later F11 Options F12 Init F4 1 0 F1 Back F2 Next F3 Jump To F4 Dummy IN F5 ON OFF F6 Aux F10 ClrDummy fe Set H W F3 Sw Disp F7 1 O Lock F5 OpePanel j be Back F2 Next F6 Set F1 Load F2 Log F1 ErrLog F2 OpeLog F3 FD F1 Read F2 Write F5 Format F12 Aux F4 Memolnfo F5 Set Com F1 Permit ermit F10 Int Ext F2 SeriallF F11 Unplug F3 Modem F4 Address F5 Gateway F7 Hispeed F10 Client F11 Server F6 Maint F1 Total h F2 Version F3 Date F4 Battery F5 Odometer F7 Options F3 Protect F6 Language F8 Extnsion F11 ROBTYPE F12 Update F8 Save F9 SaveFile App 3 2 Appendix 4 Program Samples E 1 Pick up Workpieces According to Part Number Information Receive part number information from external equipment Description The robot receives signals issued as part number information from external equipment and converts it into decimal Shown below is a sample program to get the part number information of workpieces sorted on conveyers and select the appropriate process from pick up through assembly for each part number Part Program Samples Initial input parameters Variables to be used Not used PT ITITLE Pick up W
68. Arm to the Target Position Specified with Approach Length Merson a oh Deroy cl 21 lt 1 tne ea i i er re i de seers ate nd teas E Re eve ie ea ee 8 8 Part 3 Simple Programming Chapter 9 Basic Knowledge of Programming ccccccccssccescccecceeceesceseceucceuceeceseceuecenceesceeseeecenes 9 1 Ol Features of PAG Lanca Ceea aaa a Sool Sel Senin A 9 1 92 PAVE TMC AIG En Eea aaaea e 9 1 o No a 0 Serco ee een ee en ne creme Meee De re ere ee een en een eee ene eee A eT eee eer ote ne mene re eee 9 1 9 4 Maximum Number of Loadable Programs 2 0 0 0 cccccccccceccccsecccecsceceeecsccuseceueseeuseeeuseeeeseeenss 9 2 9 5 Overview of Program Configuration ccccccccccccccsecccsecccecscecscuscceusseeceseeesseeeesseuseeeeseuseseusess 9 2 9 6 Manm Commands Used 1m Poe 3 11S 5 sisicisscisassssesiassisssdaiasaisesesiasainssigiaselaovddigatied aa aE 9 3 9 6 1 FProsranm Eram p leagues a eke eat eae Ae Ae Aaa aes 9 3 9 6 2 Notational Conventions Used in Command Syntax ccccccccccccccsecccseceeseceeesseseceeseseeeess 9 3 96 3 Declaring Program Names PROGRAM command ccceesseecccccsestceccesstececeesttceceestteeceeseas 9 4 9 6 4 Obtaining an Arm Semaphore TAKEARM command eeeecceseesecccceesecccceestececessneeecen 9 4 9 6 5 Stopping a Program END COMMANA eeeecceesssecccceeescccccesstecccesstcceccesttcececesttececeestneecens 9 4 9 6 6 Specifying the Arm Speed SPEED COMMANA eessecccesssscccessstcceceesttceccce
69. Control Set 1 An overload error or excess deviation error may occur in motion For the load factor check the overload estimation value on the pendant Refer to the SETTING UP MANUAL Section 5 3 Displaying anticipated overloads to the capacity of motors and brake resistance of the robot controller F2 F6 F10 Or check the load factor using the log function of WINCAPSIII If an overload error occurs adjust the motor load by setting appropriate values of the timer internal soeed and acceleration If an excess deviation occurs adjust the speed and acceleration Depending on the motion speed the pass locus may change by approximately 20 mm Therefore because the pass motion near an obstacle may possibly interfere with the obstacle execute the motion in control set 0 16 3 16 2 3 Control Set 2 Set the maximum speed and acceleration in CP motion according to the load condition value of the robot and the robot figure in motion This is the same as that of control set 0 in PTP motion Using Control Set 2 Use control set 2 in the following two cases 1 If you need to reduce the motion time in CP motion 2 If you need to avoid the command speed limit over error If an error of command speed limit over 6081 to 6086 occurs in CP motion the robot may stop If the path passes near a singular point refer to the SETTING UP MANUAL section 4 1 3 2 Boundaries of Robot Figures or the vicinity of the motion ran
70. DENSO ROBOT Vertical articulated Vx SERIES Horizontal articulated H SERIES Cartesian coordinate XYC SERIES Integrated compact type XR SERIES STARTUP HANDBOOK Copyright DENSO WAVE INCORPORATED 2007 2010 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 Specifications are subject to change without prior notice All products and company names mentioned are trademarks or registered trademarks of their respective holders Preface Thank you for purchasing this high speed high accuracy assembly robot Before operating your robot read this manual carefully to safely get the maximum benefit from your robot in your assembling operations Important To ensure operator safety be sure to read the precautions and instructions in SAFETY PRECAUTIONS How the documentation set is organized The documentation set consists of the following books If you are unfamiliar with this robot and option s please read all books and understand them fully before operating your robot and option s GENERAL INFORMATION ABOUT ROBOT Provides the packing list of the robot and outlines of the robot system robot unit and robot controller INSTALLATION amp MAINTENANCE GUIDE Provides instructions for installing the robot components and customizing your robot and maintenance amp inspection procedures STARTUP HANDBOOK this book
71. Depart clearance Departure clearance where the robot departs from mm Single a pallet precision FPT mm Single Height of a pallet Height of a pallet precision FPT Where H1 and H2 satisfy the conditions below H1 gt H3 x K 1 5 H2 gt H3 x K 1 5 Positions of the 4 corners of the pallet as shown in Figure 1 It is not possible to exchange the relative positioning of any of the corners The robot maintains its orientation from where the position P1 was taught previously for all points in the program N Number of partitions in row Expresses the number of partitions in each row of the pallet If this is 3 it reflects 3 rows as in the example in Figure 1 M Number of partitions in column This expresses the number of partitions in each column of the pallet If this is 5 it reflects 5 rows as in the example in Figure 1 K Number of stacked pallets This expresses the number of pallets in the pallet stack If this is 3 it reflects 3 stacked pallets as in the example on Figure 3 H1 Approach clearance Expresses the length of the approach path as the robot approaches the pallets A program applies the single approach path length at every call of the same palletizing program H2 Departure path clearance Expresses the length of the departure path as the robot departs from the pallets A program applies the single departure path length at every call of the same palletizing program H3 Pallet unit heights Expre
72. E wotell a I 0 Monitor miniI0 Assgin Select the desired I O number for r Enable Auto r Deadman SH r Robot stop which dummy input is turned ON Bio wedet mici Wedct niic Wedct nics Wedct IN Stop all one ere sie nee ie 1 or OFF by USING the Cursor keys Hts wWedcet miis IDedcet niite IDedct INIMc7 IDedct IN or jog dial or by toughing the Data 2 Command Command a His Genr1 mico JGenr1l mico JGenrl J M JGenrl IN Wii Iceni miii Iceni micis Ienri mi Ienri IN screen o Press F5 ON OFF F5 0K Turns the selection on or off ST a Back Next Jump To Dummy IN cam flux NA V W G e M 48526 m wote a2 I 0 Monitor Cminil0 Assgin System Message 2 fire you sure you want to turn the I 0 C 111 on Press OK with the deadman al switch held down Wii Iceni miii Iceni micis Ienri mis Ienri IN Cs eJ Td Caution If an I O number without the exclamation mark is turned ON or OFF ERROR 73E4 Out of I O range occurs V W 2 a m s soint wotel n I 0 Monitor Cminil0 Assgin r Enable futo r Deadman SH r Robot stop Wio wedet mici Dedcet mic Dedcet mics IDedct IN Stop all steps Strobe signal Data Data 1 Hts edct miis IDedcet niite IDedct micz IDedct IN The I O number for which dummy Data 2 Command Command Command 2 input turned ON lights green Wits iceri mico Iceni micio Iceni op m N ON green Bii Iceni micis Ienri nicia Iceni miis IGenri IN
73. ERT Enable Auto input 2 E Note For the overall configuration sample of a safety circuitry refer to the CONTROLLER MANUAL Section 4 2 5 2 Safety Circuit 5 1 5 2 Wire Connection Required for Motor ON 5 2 1 Function Short circuiting both the Emergency Stop input circuits dual line only enables the motor to turn ON 5 2 2 Standard Type of Controller Input signal name Terminal number External Emergency Stop 1 2 and 36 on connector CN5 External Emergency Stop 2 3 and 37 on connector CN5 Note The different status between two emergency stop circuits if kept for at least approx one second will be interpreted as an occurrence of trouble triggering an error 279E Inconsistent robot stop input 5 2 3 Global Type of Controller External Emergency Stop 1 1 and 19 on connector CN10 External Emergency Stop 2 2 and 20 on connector CN10 Note Two External Emergency Stop input signals must be controlled with separate contacts Two circuits connected in parallel using a single contact or an always shorted circuit will be interpreted as an external circuit failure so that the emergency stop state cannot be reset 5 3 Wire Connection Required for Automatic Operation 5 3 1 Function 1 Turning this signal ON shorting enables switching to Auto mode 2 Turning this signal OFF opening enables switching to Manual or Teach check mode 5 3 2 Standard Type of Controller Enable Auto 1 and 35 o
74. Error Warning Robot Error That a servo error program error or any other serious error has occurred That the voltage of the encoder or memory backup PANOORIN battery has dropped below the specified level Continue Start Permission Continue Note It is necessary to specify That Continue Start is permitted this output signal by I O hardware setting beforehand el ina sp That the robot is emergency stopped Emergency Stop Circuit Pendant Emergency Stop The status of the emergency stop button on the e type of dual line teach pendant or mini pendant controller Deadman SW Enable SW The status of the deadman switch enable switch dual line on the teach pendant or mini a Pendant Emergency Stop The status of the emergency stop button on the dual line teach pendant or mini pendant n Deadman SW Enable SW The status of the deadman switch enable switch Safety Circuit dual line on the teach pendant or mini pore Global type of controller The status of the auxiliary contact of the motor contactor in the robot controller Contactor Contact Monitor ee This signal comes on when the motor is turned on it comes off when the motor is turned off 13 5 13 4 Running in Standard Mode In the standard mode I O commands including program start are issued as the bit combination of the command area 4 bits data area 1 8 bits and data area 2 16 bits Those I O commands are executed by a strobe signal 13 4 1 Ty
75. F10 F11 F12 Function buttons Used to perform the functions assigned Top screen Names of Keys Buttons and Switches on the Teach Pendant Screen 7 3 7 2 Operation Modes Tedek The robot offers three operation modes Manual mode Teach check mode and Auto mode Manual Mode Manual mode allows you to run the robot manually from the teach pendant or mini pendant 7 2 2 Teach Check Mode Teach check mode provides restricted automatic operation in which you can make a final check of programs with the teach pendant after teaching 7 2 3 Auto Mode Auto mode allows the robot to run automatically The teach pendant or mini pendant supports all of the above three modes Operation modes Manual mode Joint mode X Y mode Tool mode Teach check oe Cycle check Step check Auto mode Internal automatic operation Single cycle run Continuous run Single step run Cycle stop Step stop Halt Emergency stop External automatic operation Cycle stop Step stop Halt Emergency stop In each of the above three operation modes you can lock the robot so called machine lock so that it is possible to perform simulations with the robot controller without running the robot practically When the robot is in machine lock you can restrict the I O output For details refer to the SETTING UP MANUAL Section 5 5 Displaying I O Signals and Simulating Robot Motion 7 4 7 3 Switching Between Operation Modes To p
76. I project button to import the current displayed program to the project Program bank AXR h Gb A Q es N Bank Function amp IDWOO Conventional language Synchronization with the external device such as sequencer connected to DIO m DWO1 Palletizing amp IDWO2 Tool operation Dwo3 Input Output dioSetAndWait Format dioSetAndwait lt Output signal gt lt Synchronization signal gt Explanation This statement ic the standard nraorerdiire tn evnchronize mith the evternal device ferich Bi diosetandwait pac EDX a ee O02 iTitle SET gt WAIT 03 l Author DENSO WaAvE INCORPORATED OF Date 05 l Link D8 1 Include OF lCalledPra 0S 0a iapG 1 Output simal 1 104 10 IaRe 2 eSynchronization siqnal 1 34 Wry P e i a e E A E EE 12 13 PROGRAM dioSetandWaittackIndex waitIndex 14 SET IOl ackIndex Synchronization simal ON 15 WAT i nder l I i he sima i 16 RE SH gee eis is Ne Programname Fienme mte 1 pickplacedi pick place01 pac Titile gt 7 pickplaced2 pick placeO2 pac lt Titila gt 2 dioSetandwait diosetanctwait pac SET gt WAIT Progran list tput Search result Sul gt 20 3 20 2 Using Palletizing Library 20 2 1 What Is Palletizing Palletizing refers to placing parts in removing parts from a partitioned pallet shown below in programmed order You can easily use library programs for palletizing
77. If you want to display the program during a single step run press F11 Display beforehand GNN moror Lock R SEL QO WY 8 ge mwa vetoi w Check that the program to be Gen started up is selected Z O 4 Back Next Search Display Config CH Cancel Close this window EHT CH a Halt StepStop CycStop Start Stpstat je HOmMHMAG Press F6 StpStart This is also possible with the right cursor T by at 8 a HD This system message appears GHD Press OK To cancel a single step run press Cancel Caution During program running always keep one hand free and ready to press the STOP k A a The PRO1 program will start a single step run in Auto mode Perform the procedure above repeatedly through to the end of the program checking that each motion is safe 12 9 12 3 4 Single Cycle Start Caution Caution After running a single step run start a single cycle run EAS HECK fiero Caer we ens Sr I ox Check that the program to be started is selected Press F4 Start During program running always keep one hand free and ready to press the STOP k a p O Q pm M 42 veteli ia Program List No of programs 1 Run Program PRO1 AN Do you want to run the program PRO1 Single cycle Contin
78. Introduces you to the DENSO robot system and guides you through connecting the robot unit and controller with each other running the robot with the teach pendant and making and verifying a program This manual is a comprehensive guide to starting up your robot system SETTING UP MANUAL Describes how to set up or teach your robot with the teach pendant or mini pendant For the panel designer functions refer to the Panel Designer User s Manual SUPPLEMENT WINCAPSIIT GUIDE Provides instructions on how to use the programming support tool WINCAPSIII which runs on the PC connected to the robot controller for developing and managing programs PROGRAMMER S MANUAL I Program Design and Commands Describes the PAC programming language program development and command specifications in PAC This manual consists of two parts Part 1 provides the basic programming knowledge and Part 2 details of individual commands PROGRAMMER S MANUAL II PAC Library Describes the program libraries that come with WINCAPSIII as standard RC7M CONTROLLER MANUAL Provides the specifications installation and maintenance of the RC7M controller It also describes interfacing with external devices system and user input output signals and I O circuits ERROR CODE TABLES List error codes that will appear on the teach pendant or mini pendant if an error occurs in the robot system These tables also provide detailed description and recovery ways OPTIONS MANUA
79. KEYS The buttons provided under the pendant screen Function names are displayed on the lower part of the screen and executes the function upon pressing the button G GLOBAL VARIABLE The variable available for any task H HALT The stop method to stop the program immediately The motor power is not turned off HAND end effector The portion to hold the work The same as tool App 5 3 HISTOGRAM The occurrence ratio of the brightness value in a window Vision terms an VARIABLE Integer variable The variable which has an integer value I O The input and or output signal I O COMMAND The process command given by the external equipment through the I O port The robot controller processes according to this command INITIALIZATION FLOPPY DISK The disk in which the initial setting of the robot at the factory shipment is recorded It is used to recover to the initial condition when an error occurs in the controller memory INSTALLATION FRAME The platform to install the robot INTERFERENCE AREA The area provided by the user to watch if the tool interferes with the installation If the origin of the tool coordinates enters into this area output signal is issued from the specified I O port INTERNAL ACCELERATION The acceleration set in a program INTERNAL AUTOMATIC RUN To execute a program from the operating panel or the teach pendant INTERNAL DECELERATION The deceleration set in a progr
80. L Describes the specifications installation and use of optional devices For the extension board conveyer tracking board refer to the OPTIONS MANUAL SUPPLEMENT How this book is organized This book is just one part of the documentation set This book consists of SAFETY PRECAUTIONS and chapters one through five SAFETY PRECAUTIONS Defines safety terms safety related symbols and provides precautions that should be observed Be sure to read this section before operating your robot Comprehensive Guidance Flow for STARTUP MANUAL Part 1 Preparation for Installation Chapters 1 through 5 This part provides information on preparation for installation robot system RC7M controller interfacing cabling and wiring of dedicated signals Part 2 Robot Running Chapters 6 through 8 This part describes the coordinate systems handling of the teach pendant and teaching Part 3 Simple Programming Chapters 9 through 11 This part describes programming basics and provides instructions for creating programs with the teach pendant or WINCAPSIII using practice exercises Part 4 Program Verification Chapters 12 through 15 This part describes program verification procedures simulation with WINCAPSIII and operational check with the teach pendant and from external equipment It also provides instructions for monitoring I O signals and variables Part 5 Advanced Usage Chapters 16 through 20 This part provides optimization of
81. LAY lt delay time gt Description The DELAY statement suspends program execution until the time specified by lt delay time gt elapses lt delay time gt is expressed in ms Enter 1000 for 1 second for example Example DELAY 300 Suspend until 300 ms 0 3 s elapses DELAY 115 Suspend until the time specified by 115 elapses 19 1 2 WAIT Suspend program execution according to a given conditional expression Syntax WAIT lt conditional expressions lt timeout gt lt storage variables Description The WAIT statement suspends program execution until lt conditional expression gt is satisfied If WAIT is not executed within the period specified by lt timeout gt a timeout occurs and control passes to the next command Using the timeout avoids an infinite stop lt timeout gt Is expressed in ms Specifying lt storage variable gt assigns TRUE 1 or FALSE 0 to the variable specified by lt storage variable gt when control passes out of the WAIT by the satisfied lt conditional expression gt or by timeout respectively Example DEFINT lil WAIT lil 1 Wait until expression lil 1 is satisfied WAIT IO 10 ON Wait until IO10 is turned ON WAIT IO 5 O 2000 Wait until IO5 is turned OFF If IO5 is not turned ON within 2 seconds pass control to the next statement WAIT I3 5 1000 I4 Wait until expression I3 5 is satisfied If the expression is satisfied set I4 to 1 If the expression is not satisfie
82. LOOP statement PRINTMSG Check the ON OFF of the measurement failure sensor 2 Error STOP ENDIF Assign the calculation result of distance between 2 points DEPART L 0 100 S 50 END Terminate program Assign P10 to P11 distance App 4 5 E 6 Monitor Workpiece Drop in Arm Motion Description Gripper with stick sensor Wok take out position Monitor a workpiece drop from the hand in arm motion with the ON OFF state of the stick sensor The program sample given below allows the robot to monitor the ON OFF state of the stick sensor during arm motion If the stick sensor is turned OFF during arm motion the robot interprets it as a workpiece drop or displacement stops the arm motion halfway and outputs an error signal to external equipment This monitor function prevents workpieces not gripped correctly from proceeding to the next production process Workpiece Workpiece throw in section Program Samples Initial input parameters Variables to be used PO Motion start position entry required Target position entry required ITITLE Monitor workpiece drop in arm motion PROGRAM Sample TAKEARM Flg 0 Initialize stick sensor status flag comp 0 Initialize motion command completion flag MOVE P PO Move to motion start position P0 SPEED 50 Set speed to 50 MOVE P P1 NEXT Move to target position P1 with NEXT option Parallel processing with movement to P1
83. Library Classiications wierd eee eee BEG AD 20 1 20 64 Amportine abi brary Prora iben ra 20 2 20 7 Usmo Paletizino LD PAL oean acirdunriaseniaabeutnmaiaonate E 20 4 2ODA Wires Pallene assccce ce ts cael toutes a a 20 4 202 2 Simplitied Palleti zine nb tary ssssiense cise Ge setsa lea E T e E OE 20 4 20 2 3 Simplified Palletizing Program PROI ow cece cccsecceusccesscesseeccesecuseeseeseceuseeeees 20 7 Appendices Appendix 1 Sample Answers to Practice Exercises Appendix 2 Commands Listed According to Functions Appendix 3 Menu Tree of Commands on Teach Pendant Appendix 4 Program Samples Appendix 5 Glossary Part 1 Preparation for Installation Chapter 1 Configuration of the Robot System Chapter 2 General Information about RC7M Controller Chapter 3 General Information about the Interface Chapter 4 Connecting Cables Chapter 5 Wire Connection for System Input Signals Chapter 1 Configuration of the Robot System 1 1 Configurators The figure below shows configurators of the typical robot system I O conversion box option PLC prepared by customer 3 Power cable 2 Robot controller I O cable option 15 Air regulator 4 Motor amp encoder cable option Personal computer eo 9 Pendantless Optional board prepared by customer connector Note 2 Teach pendant Printer option Mini pendant Controller prepared by option protection box customer E opt
84. Move displays the system message Will move to the position specified by the variable xx Holding down the OK with the deadman switch held down moves the robot arm to the specified position For this motion you can also specify PTP where the motion path to the target position is robot dependent or CP movement where the robot arm moves straight ahead to the target position Note Releasing the deadman switch or OK button while the robot arm is in motion will stop the robot arm Restart of movement Version 2 61 or later Releasing OK interrupts halfway the robot arm s movement retaining the target position setting Pressing OK with either one of the deadman switches held down again restarts the movement to the target position Pressing CANCEL returns the screen to the Position Variables screen 8 7 8 5 Moving the Robot Arm to the Target Position Specified with Approach Length Version 2 61 or later A target position can be specified with a position variable stored plus an offset called an approach length from that stored position In 6 axis robots an offset is made in the Z direction on the tool coordinates in 4 axis robots it is in the Z direction on the base coordinates Moving the arm end to a target position specified with an approach length easily realizes the movement closer to the programmed one in Manual mode For details about the approach length refer to APPROACH command in the PROGRAMMER S MANUAL I 6
85. N amp MAINTENANCE GUIDE Using the Initialization Floppy Disk Note 3 After installation attach the direction indicator label in a position on the robot unit that can be easily seen Note 4 Attach the warning label on the robot safety fence or other location where workers will easily notice it If necessary prepare a plate for attaching the label Note 5 The dust amp splash proof type has no Z axis balance cylinder so no air regulator comes with the robot When placing an order for UL Listed robot systems be sure to order the optional teach pendant or mini pendant also which is essential to UL Listed ones 1 2 1 3 Optional Components The table below lists the optional components Optional Components 1 Standard I O cable set 1 1 I O cable for Mini I O 68 pins I O cables 1 2 I O cable for HAND 1 0 I O cable for Parallel I O board 96 pins I O cable for SAFETY I O 36 pins Only for global type Teach pendant Mini pendant kit incl cable and WINCAPSIII Light 5 Pendant extension cable WINCAPSIII Shipped as installed on the controller Shipped as individual boards supply part Operation devices Programming support tool Parallel I O board DeviceNet board Optional boards for RC7M controller CC Link board Conveyor tracking board Shipped as installed on the controller Shipped as individual boards supply part Incl Nos 1 1 and 1 2 ie Incl No
86. NUAL Section 4 1 1 2 4 Creating tool coordinates 6 5 6 11 Advantages of Tool Coordinates in 6 Axis Robots When running the robot in tool coordinates you can directly handle the hand mounted on the flange making teaching easier The figure below shows the comparison of robot moving paths between in mechanical interface coordinates and in tool coordinates In mechanical interface coordinates TOOLO In tool coordinates TOOLn where n is any of 1 to 63 If X key is pressed If ZJ key is pressed Qe Xm WA Zm 7 ES Xt Enables you to move the end effector to your object point in teaching If key is pressed If is pressed Enables you to rotate the end effector around the Zt axis Example of Manual Robot Running in Tool Coordinates 6 6 6 12 Position Data Handled by 6 Axis Robots Position data refers to a set of data which includes seven components of base coordinates Of these seven components three are robot flange center coordinates the end effector tip coordinates if an end effector is defined and four are current robot attitude components as shown below Position data allows you to represent the current position of the robot flange center and object points Position data X Y Coordinate values in mm Defines the position of the robot flange center or the Z end effector center Yaw angle Rotation angle around X axis in degrees Pitch angle Rotation angle around Y axis in
87. Note 3 When two parallel I O boards are mounted the controller recognizes the board inserted in the left hand extension slot as Extension 1 The allocation I O port numbers on Extension 1 and 2 boards differ with each other 3 3 1 I O Allocation in Individual Allocation Modes The table below lists the I O allocation for extension boards in individual allocation modes For details refer to Section 13 6 I O Allocation Tables Note For the I O allocation for the DeviceNet master slave board see the allocation tables for the DeviceNet master and slave boards I O Allocation of Extension Boards in Individual Allocation Modes Allocation for CN5 and extension boards Allocation modes a ee Allocation tables to apply E l Tables for mini I O board in mini I O dedicated mode Mini I O dedicated mode Extensions 1 2 3 Tables for extension boards in all user I O mode CN5 Tables for mini I O board in compatible standard and all user I O modes Compatible mode Extension 1 Tables for extension boards in compatible mode Extensions 2 3 Tables for extension boards in all user I O mode CN5 Tables for mini I O boards in compatible standard and all user I O modes vlengare mede Extension 1 Tables for extension boards in standard mode Extensions 2 3 Tables for extension boards in all user I O mode Tables for mini I O board in compatible standard and all user All user I O mode I O modes Extensions 1 2 3 Tables for extension boards in al
88. OBOT STOP The stop method to stop programs immediately and power off the motor ROBOT WARNING The output signal which informs that a slight error occurred during I O command or servo processing ROLL ANGLE The rotational angle around Z axis RX COMPONENT The amount of rotational angle around the X coordinate axis RY COMPONENT The amount of rotational angle around the Y coordinate axis RZ COMPONENT The amount of rotational angle around the Z coordinate axis S SAVE To save programs arm data etc onto the floppy disk from the robot controller SEARCH To search the space which coincides with a standardized image data search model Vision terms SECOND ARM The farther arm of the robot arms measured from the base SEMAPHORE The task execution privilege which is used to synchronize among tasks or to do exclusive control among the tasks that must not be executed simultaneously SERVO ON The signal to inform to the outside that the motor power is on SET COMMUNICATION To set the usage conditions communication speed etc of each communication port of the robot controller SET COMMUNICATION PERMISSION To set the usage permission of each communication port of the robot controller SINGLE One of the 6th axis figures of 6 axis robot DOUBLE SINGLE CYCLE START The start method to make a program execute one cycle The program stops after one cycle execution to the last
89. P 0 100 S 50 Move to the 100 mm above the workpiece disposal box MOVE P 0 P22 S 50 move to the position away from the interference area GOHOME Move to the fixed position If the hand is open no workpiece gripped return to home position ELSEIF IO 64 OFF THEN If the hand is open IF I0 222 ON THEN If the arm end is in area 2 MOVE P 0 P22 S 50 move to the position away from the interference area ENDIF GOHOME Return to home position ENDIF END App 4 4 E 5 Measure the Workpiece Size with a Pair of Sensors Description Measure the size of a workpiece with a pair of sensors The program sample given below requires a pair of sensors to be set up for measurement lf a workpiece passes through the space between those sensors so that the sensor state changes ON and OFF this program gets in the current robot coordinate positions Based on the difference between those two coordinate positions detected from ON to OFF and from OFF to ON the workpiece size can be calculated For getting stabilized measurement the start position should be specified taking into account the entrance length which is required for the robot to reach the constant speed at the sensing point Note Since the measuring accuracy of this program depends on the sensor precision and robot speed this measurement is not suitable for high precision need Sensor trigger Start position P5 a position Entrance length A pair of sensors p
90. Position Variables 100 PO 8 aeeeaae 8 BAOBABO 9 aaa a aae0a Right FIG Pt 8 aoeeaee a 000000 8 a00000 8 9000000 BETTA Feo 8 aeaaaee iii F5 Change the selection F6 Gets the current pos ir MAN dae Check that the Var name P1 is selected Press F6 Get Pos a Back Next Jump To Move Change V 2 e M 42 x veteli w System Message fire you sure you want to read the current position into the PL1 Check the system message and if all is correct press OK 0 0888808 Righty FIG 8 P2 8 8800000 8 0880808 8 0880808 8 0888888 Righty FIG SHORT CUT ey D F J T V S a amp Hy 407020 x veteli w Position Variables 100 PA 9 eaeaaae 90000000 Riah 700 0000 eeo ooo oo YUBUEEU T000 8 0880808 Righty FIG 8 F5 Change the selection F6 Gets the current pos cot a Back Next Jump To Move Change Get Pos Step 3 Teaching robot position P2 and assignin 6 0000000 6 0000000 6 0000000 6 0000000 Righty FIG 6 38 101 3781 379 8372 127 6744 Lefty FIG 1 6 0800000 6 0800000 6 0800000 6 0000000 Righty FIG O POWER DENSO te fs z Ee es ee fea FIG No C 1 Cancel Close this window co e a Robot operode Var Speed fux 8 5 The current position will be read into variable P1 it t
91. Press F6 Set on the teaching pendant basic screen F6 D p mew soit nor x The Settings Main window will appear on the screen amp 42 a m cess soint nere iz 2 aa e l 2 ipod Sn a ipa IEE ea eee ria Step 2 Press F5 Set Com 5 The Communications Setting Menu appears on the screen wae w 60830 Joint HoTe tz 11 14 Step 3 Press F2 Serial IF The Set RS 232C window appears on the screen Step 4 Select COM2 and press F5 Change F5 2 mm soit uor iz 19200 bps None bit 1bit CR COES Nove bit Abit oR 19200 bps None s bit 1 bit CR The Select Transmission Rate window appears on the screen Step 5 Select the transmission rate and press OK OQ od wen an nord a The screen returns to the Set RS 232C window Step 6 Check the display contents and press OK The set transfer rate becomes valid de cre set ert 19200 bps None bit 1bit CR ELS None abit 1 bit cr The screen returns to the Communications Setting Menu window 11 15 Step 7 Press F1 Permit in the Communications Setting Menu window 1 w g o m co t noro n Commundicatio etting i 2l al 2 Permit SeriallF pres F2 Communication Permission Settings Read write Disable Disable Step 8 Select COM2 and press F5 Change 5 The Change Permission Settings window appears on the scr
92. Reguirements for Mnterlaice Setho cenennnenenun nin ea aa a a 3 6 3 5 1 Configuring the I O Allocation Mode ParameteY esessseseeesseresesesessressesrseseeseressrersress 3 6 3 5 2 Setting up the I O Power Source 24 VDOC eeccceessscccccesssccccesstececeesncececesstneeeessnneecens 3 6 3 6 Configuring the I O Allocation Mode Parameter ccccccccccceeccceecsceesseensceusseeeseeeuseeeseseuees oT 3 6 1 WW ite POAC i We Ci a i inser as oe aa sade ale de lade dada ds Sedadadadedadadadatubadetaget 3 7 S02 IMethod torsettiine irom WINCAPSH tisieisieiciinii eter einteusteaeinan einteueunwmenG auc Ort 3 7 Setting Up Mini I O Power Sour ce cccccccccccsssecccssecccesecccesecccenceeeseccceuecseeeceeeuecseeeceaeness 3 10 3 8 Setting up Parallel I O Board Power Source c ccc ccccceeccesescuseseesescusescusesceseseusensusens 3 11 29 SOUP ort Map ands OC aN Olan eTe eE EEEE EE TE tesa E E aeaeeauaebeaeaa 3 12 Chapter 4C Connectina Caples oeie tanec coadelii eo uncon ono sewinnar aoe oetientes 4 1 4 1 Connecting the Power Cable and Motor amp Encoder Cable c cc cccccecccceeseeeesseeeseees 4 1 4 2 Connecting the Teach Pendant eseeeeeeseseseseseeeseesseessersrerssessressrssresssssresseesecessesseesseeseeresess 4 1 4 3 Power Supply Circuit Breaker Recommendation cccccccessscccceeseccccesstceccessstaceceestncecens AD AA Wirine of Primary Power oor Oneroa 4 3 Chapter 5 Wire Connection for System In
93. SP 100 External Mode Switch to the external mode Switching Motor Power ON CAL Execution External Speed SP 100 External Mode Switching Start up Program Execution 0 13 2 13 3 2 Processing I O Commands in Mini I O Dedicated Mode I O commands are executed according to the following process 1 Command Area input Data Area input Strobe Signal input 1 ms min Command Processing Completed output Robot Error output Outline of I O Command Processing Mini I O Dedicated Mode 1 Set a command area and a data area if necessary for the command execution I O signal from the external equipment to the robot controller Note The data to be set must be defined at least 1 ms before the Strobe Signal is turned ON 2 After completion of setting turn the Strobe Signal ON Note The command input with a Strobe Signal should be preceded by the output of the Robot Initialized If a Robot Error signal has been issued however execute a Clear Robot Error 001 since no Robot Initialized will be issued 13 3 3 4 5 6 7 8 The controller reads the command area and the data area according to the input of Strobe Signal The controller starts processing based on the command read After completion of command processing the controller turns ON the Command Processing Completed signal If an error has occurred during processing a Robot Error signal will be outputted together wi
94. T APTS 12 6 12 3 Starting a Program in Internal Auto Mode wu cece cecccceecccecceusccesseeesseecseeecsceeeeeeeuss 12 8 12 3 1 Placing the Robot in Auto Mode c ccc ccccccesccccssccessccessccecsseecsseeuseeeuseeesesseeeseeceuaess 12 8 12 3 2 Selecting the Program to be Executed o c cc cccccecccsccccsesccnssccncsscnssccnesecescuseseuseseuseseusess 12 8 DPSS nee Sopo a Ee ere E ee eS ee 12 9 i Ao er MM Dee OS Cl oiateo 2 ele eee ae Ee Pe Ron ee eee eo 12 10 1 IANS Ho COTOS FSU Gl ape RRM enter iar nore itn en ane nn re en en ean oe Ser ETON O TPE nnn ONE ee OT a nT 12 11 Ee RODO 0 0 ema nom mR ns oer re Cen OS ena SN SRO EER ERE RE a REE E 12 12 Par COE 6 cig Les eee ee tere ete ean en E Un Te 12 12 1242 Se Stop Racers cea tee cease se EEE ideiei 12 12 Ao heal oS BL BL L eee rene Sere ere ere ee eee eet ee ee rer rere ee eee eee ee 12 12 12 4 4 Emergency Stop Robot Stop sesssessssssesesseessseresseresssressrressrresseressrresseresserressrressrees gt 12 13 Chapter 13 Running the Robot from External Equipment sessssesesssssssserrrrrrreseesssssssrrsseeeeeeereeee 13 1 Io Checking the O Allocation Mode reenen a in dian oa tadta ta 13 1 13 2 Notes on Using the Global Type of Controller ccc ceecccsesceescesesceseseeseseuseseusesensess 13 1 13 3 Running in Mini I O Dedicated Mode cece ccecccceeececesececeeceeenececeueceeeeceeeeceeaneseas 13 2 13 3 1 Types and Functions of System Input Signals in Mini I O Dedicate
95. _SetCompFControl Enables the compliance control V1 9 12 90 function ST_ResetCompControl Disables the compliance V1 9 12 91 control function ST_SetFrcCoord Selects a force limiting V1 9 12 92 coordinate system ST_SetFrcLimit Sets the force limiting rates V1 9 12 93 ST _ResetFrcLimit Initializes the force limiting V1 9 12 94 rates ST SetCompRate Sets the compliance rates V1 9 12 95 under the compliance control ST ResetCompRate Initializes the compliance rates V1 9 12 96 ST_SetFrcAssist Sets the force assistance under V1 9 12 97 the compliance control ST_ResetFrcAssist Initializes the force assistance V1 9 12 98 special compliance control function statement ST SetCompJLimit Sets the current limit under the V1 9 12 99 compliance control ST ResetCompJLimit Initializes the current limit under V1 9 12 100 the compliance control App 2 8 Classified by functions Input Output Control Statements I O Port Command for RS 232C and Ethernet Port Serial Binary Transmission Commands 4 axis 6 axis O O Commands ST _SetCompVMode ST_ResetCompVMode ST_SetCompEralw ST ResetCompEralw ST_SetDampRate ST _ResetDampRate ST_SetZBalance ST _ResetZBalance IN OUT lIOBLOCK ON OFF SET RESET INPUT LINEINPUT PRINT WRITE FLUSH PRINTB INPUTB LPRINTB Vision device Available with all series of robots and vision device O Available with all series of robots The command spe
96. a Switches the function Perform functions designated direction Hold down the menu assigned deadman switch together with these switches LCD screen Display and touch panel Names of Keys Buttons and Switches on the Teach Pendant 1 2 2 Z a a C W I E zZ Cy m age X tad tn Normal task programs on halt Normal task programs on halt Receiving programs from external equipment Normal task programs on halt Transmitting programs to external equipment Normal task program s running Normal task program s running Receiving programs from external equipment Normal task program s running Transmitting programs to external equipment Supervisory task program running Dummy input not set Dummy input set to a user input port s Ver 1 4 or later amp I O output restricted Internal Auto mode External Auto mode Manual mode Teach check mode No mode selected El Backup batteries working gt Backup batteries low Robot select button Used to select robot types The selected type appears Motion mode Work coordinates Tool coordinates Speed indicator bar graph mm g I p Status bar i Shows the robot status Shortcut button which calls up the shortcut menu Use this when you want to access other functions halfway through some processing Menu bar Shit F1 F2 F3 F4 F5 F6 button F7 F8 F9
97. able with the 4 axis robots and the 6 axis robots of Version 1 2 or later Classif A Refer assified by functions Commands Functions _ Vision l 4 axis 6 axis devi to evice POSCLR Forcibly restores the current V1 5 V1 6 12 34 position of a joint to 0 mm or 0 degree SETSPLINEPOINT Registers viapoints in the free V2 3 V2 3 12 35 curve motion CLRSPLINEPOINT Clears all viapoints for free V2 3 V2 3 12 36 curve motion GETSPLINEPOINT Gets the viapoints for a V2 3 V2 3 12 37 registered free curve motion Figure Control CURFIG Obtains the current value of the 12 38 robot figure FIGAPRL Calculates figures at an O O 12 40 approach position and a standard position available to move in CP motion FIGAPRP Calculates an approach O O 12 42 position where the PTP motion is available and a reference position figure Stop Control HOLD Holds program processing for a 12 43 time HALT Stops executing a program 12 44 INTERRUPT Interrupts a robot motion 12 45 ON OFF Speed Control SPEED Specifies the internal 12 47 composite speed of joints included in a currently held arm group JSPEED Specifies the internal speed of 12 49 individual joints included in a currently held arm group ACCEL Designates internal 12 50 acceleration and internal deceleration JACCEL Specifies the internal 12 51 acceleration and deceleration of individual joints included in a currently held arm group DECEL Specifies the in
98. age process result Coordinate X from the storage memory Obtains an image process result Coordinate Y from the storage memory Monitors the process result of each instruction Obtains calibration data Vision robot coordinate transformation App 2 17 Vision device Refer to 21 88 21 89 21 90 21 91 21 92 21 93 Appendix 3 Menu Tree of Commands on Teach Pendant F1 Program in Manual Mode F1 NewProg F2 Delete F3 Copy F4 Var F5 Edit F6 Aux F1 Set PRJ F3 Options F5 BPSettng F7 Continue F8 SS Mode F9 StpBack F10 LoadMode F12 Compile F7 New PRJ F10 SyntxErr F12 Config F1 Program in Teach Check F1 Halt Mode F2 StepStop F4 CycStart F5 StepBack F6 StpStart F7 ProgRst F9 Priorty F11 Display F12 PrintDbg F1 Program in Auto Mode F1 Halt F2 StepStop F3 CycStop F4 Strart F6 StpStart F7 ProgRst F9 Priorty F10 Continue F11 Display F12 PrintDbg F2 Arm F1 Robot F3 OpeMode F4 Var F5 Speed F6 Aux F3 Direct F4 Tool F5 Work F6 Area F7 Config F10 Overload F11 CtriLog F12 Exec CAL F7 Show P F8 Show J F9 Show T F12 Maint F1 M Space F2 RANG F3 Brake F4 Adj Z Bal For 4 axis robot F6 CALSET F10 ENC inf F11 ENC rst F12 ENC set Next page
99. al 1 79769313486231D 308 to 1 79769313486231D 308 Example D0001 D1 D 1 e Type S String variable maximum of 247 characters Example S0001 S1 S 1 e Type V Vector variable X Y Z Example V0001 V1 V 1 e Type P Position variable X Y Z RX RY RZ FIG 6 axes Example P0001 P1 P 1 e Type J Joint variable J1 J2 J3 J4 J5 J6 6 axes Example JO001 J1 J 1 e Type T Homogeneous transform variable Px Py Pz Ox Oy Oz Ax Ay Az FIG Example T0001 T1 T 1 e Type lO I O variable Example 100001 101 IO 1 9 11 9 8 2 Local Variable The following variable types can be used as local variables in the same manner as global variables e Typel Integer variable range 2147483648 to 2147483647 e Type F Floating point variable of type real 3 402823E 38 to 3 402823E 38 e Type D Double precision variable of type real 1 79769313486231D 308 to 1 79769313486231D 308 e Type S String variable maximum of 247 characters e Type V Vector variable X Y Z e Type P Position variable X Y Z RX RY RZ FIG 6 axes e Type J Joint variable J1 J2 J3 J4 J5 J6 6 axes e Type IT Homogeneous transform variable Px Py Pz Ox Oy Oz Ax Ay Az FIG e Type lO I O variable Local variables can be used after type declaration is executed using type declaration commands Type declaration can also be executed using the type declaration characters for numeric v
100. all series of robots The command specifications differ between the 4 axis 6 axis robot and vision device V1 2 Available with the 4 axis robots and the 6 axis robots of Version 1 2 or later Classified by functions Commands Functions l _ Vision pele 4 axis 6 axis devi to evice ST_aspChange Selects the internal mode for V1 9 V1 9 12 76 proper control setting of motion optimization ST_SetGravity Compensates for the staticload V1 9 V1 9 12 77 gravity torque applied to each joint and attains balance with gravity torque ST_ResetGravity Disables the balance setting V1 9 V1 9 12 78 between the limited motor torque and gravity torque which is made with ST_SetGravity ST_SetGrvOffset Compensates the torque of V1 9 V1 9 12 79 each joint programmed with ST _SetGravity for gravity torque ST _ResetGrvOffset Disables the gravity offset V1 9 V1 9 12 80 function ST _SetCurLmt Sets the limit of motor currentto V1 9 V1 9 12 81 be applied to the specified axis ST ResetCurLmt Resets the motor current limitof V1 9 V1 9 12 83 the specified axis ST_SetEralw Modifies the allowable V1 9 V1 9 12 84 deviation of the specified axis ST_ResetEralw Resets the allowable deviation V1 9 V1 9 12 85 value of the specified axis to the Initial value ST _OnSrvLock Servo locks a specified axis V1 9 12 86 ST_OffSrvLock Releases servo lock for the V1 9 12 87 specified axis ST _SetCompControl Enables the compliance V1 9 12 88 function ST
101. alue type and character string type local variables Declaring local variables There are three ways to declare local variables as shown below Type Declaration example 1 Declaration example 2 Declaration example 3 TypeV _ DERvEC denso Dmm denso as VECTOR TypeP _ DEFPOS denso DIM denso AS POSITION Type J DeFoNT denso Dmm denso as JOINT TypeT__ DEFTRN denso DIM denso AS TRANS Type lO orro denso y Example DEFINT Denso Robo Declare integer variables Denso and Robo DEFDBL AA Declare double precision variable AA DEFIO Port BYTE 104 amp B00101011 Declare the IO variable Port and use 8 bits BYTE starting from input port 104 CC Denso 2 Declare the integer variable CC and assign the calculation result of Denso 2 to it DDS Denso Robot Declare the string variable DD and assign the string Denso Robot to it AA F 5 5 Assign the result of the right side to the double precision variable AA IN Robo Port Convert I O data of Port into decimal and assign it to the integer variable Robo 9 12 9 9 Initiating from External Equipment In external automatic mode a program can be initiated with input signals from external O Programs executable from external equipment are limited to the ones with a program name of the PRO lt number gt Depending upon the I O allocation mode selected the number of programs executable from external equipment differs as listed belo
102. am INTERNAL MODE The mode in which robot run and teaching are possible using the teach pendant INTERNAL SPEED The speed set in a program INTERRUPT SKIP The input signal which halts the operation of the current step when it is ON during the execution of a robot command and starts the execution of the next step J VARIABLE Joint variable The variable denoted by the value of each axis JOG DIAL The dial on the pendant which is used to move cursor or to select a path on the input screen JOINT MODE The mode in which the robot is manually operated on each axis LABELING To number the binarized white and black area Vision terms LEFTY One of the arm figures of 6 axis robot lt RIGHTY LIBRARY The collection of programs for reuse They are registered and utilized using the program bank of WINCAPSIII LOAD To read programs arm data etc from the floppy disk into the robot controller LOAD CAPACITY The mass of the sum of the tool and the work which the robot can hold LOCAL VARIABLE The variable which is utilized within a task LOG The record about operations motions etc of the robot There are four kinds of logs error log operation log control log and communication log M MACHINE LOCK The state of simulating motion by the robot controller without actual robot motion App 5 4 MACRO The definition of names with 12 characters in regard to variable numbers and port n
103. and Modifying Local Variables cseeseesseeeseeseseesseseesresessereeseeseesresereereee 15 8 15 2 3 Modifying the Number of Variables to be Used cece cecccccceecceeseeseeeseeseeeseenseeesees 15 9 Part 5 Advanced Usage Chapter 16 Optimizing Use Conditions c ccccscceecceccescecceccesccuccecceceeseseceeceeseeeceecesseeecesceeeees 16 1 16 1 Setting Robot Installation Condition Floor Mount or Overhead Mount for 6 Axis Robot A EA EATE vince EEA TEATE ELT FE EEP tant dace heated teen Suck toate E N A EA EASE A TEE 16 1 16 1 1 Purpose of Setting Robot Installation Condition sssecsesseeseessessesreseserseesseseesrreereersee 16 1 161 2 Setting with the leach Pendant eurrise ienaa e aE A a Ge dod bie dedi 16 1 I6 Lo Setting avithy WIN CAP eesse T E 16 2 16 2 Control Sets of Motion Optimization ccccccccccecccscceccsccesceeccuceuscescesceeseseescesceseesceecesenss 16 3 i 6 e270 Conroe One ene rte tre ren er One Nort Os Pere OTN een MRT oer TNE eee 16 3 iG MF CORTO ie Opec te a ee Prone en rr Melee MEAN Mee ee MN ee rete Eve eT CRN Ten eRe a 16 3 TG Zee Cono SOU ecir a E tagateteebud wis saaueaiens IR 16 4 MGA SOTO E atcssttac sa acanme sacs dines taeeien ae amie E ee oases 16 4 16 3 How to Set Optimal Load Capacity Initializing 0 cc ceccceccceecceecceseceeeseesseeeseeeseues 16 5 16 3 1 Settine with leach PenGant cs ciaici ics tvieles aioiatiuiondiseees taste aaa add abs 16 5 1673 2 petting with
104. as a spare part Shipped after integrated in the Optional function for S LINK V board controller 410006 0280 13 Board manufacturer SUNX CO LTD l Model SL VPCI Added when the board is 410006 0290 Optional purchased as a spare part functions Opti ptional function for PROFIBUS DP slave Shipped after integrated in the For ae 14 board controller aero PIGENS Board manufacturer Hilscher GmbH i ee Added when the board is 410006 0310 Model CIF50 DPS DENSO purchased as a spare part EtherNet IP function Shipped after integrated in the controller B fact Hilscher GmbH oard manufacturer Hilscher Gm Maca when ne board ic Model CIFX 50 RE DENSO 410006 0810 purchased as a spare part Extension only upon controller Optional function for memory extension SAPEN 410006 0320 Only program area expandable from 3 25 MB to 5 5 MB boards etc 410006 0800 Ql 2 00 O 7 Controller protection box Po oe ee 410181 0090 onal ie Optional box aone on For interchangeability with RC5 410181 0100 controller CD Manuals 19 Manual Pack CD Contained in the robot package 410002 2661 20 20 0 Q c 0 d 0 oO 2 NO NO D N 0 f 0 a c C g ree C a 1 GENERAL INFORMATION ABOUT ROBOT ForHS G 410002 2610 ie e GENERAL INFORMATION ABOUT ROBOT ForHM G 410002 2570 option SAL GENERAL INFORMATION ABOUT ROBOT For VP G od 10002 2530 GENERAL INFORMATION ABOUT ROBOT For VS
105. at the tool end has arrived at the target position when the encoder value reaches the specified pulse range default value is 20 Although this motion offers higher accuracy of stopping it takes longer time than the end motion to eliminate the servo deviation Pass motion P PROGRAM PRO TAKEARM Commanded MOVE P P P2 ia MOVE P 0 P3 Constant Constant i speed speed Accel Decel eration eration In the pass motion the tool end passes near the taught position P2 called as the passing point 9 6 Specifying the motion type woe at End motion Omitted Treated as the default value O 0 When the motion command value reaches the target position specified coordinates the robot moves on to the next motion This is the commonly used end motion Encoder value E The robot checks the arrival at the target position with the encoder value check motion and then proceeds to the next motion The robot comes to a complete stop once Pass motion P The tool end passes near the target position The controller automatically determines the radius This is the commonly used pass motion 1 to 255 When the motion command value reaches the point away from the target position by the specified radius 1 to 255 mm the tool end moves on to the next motion Note The radius is only a guide value not the guaranteed value 9 6 8 4 Motion option lt motion option gt Is any of SPEED ACCEL or DECEL S
106. ately 1 The emergency stop switches should be red 2 Emergency stop switches should be designed so that they will not be released after pressed automatically or mistakenly by any other person 3 Emergency stop switches should be separate from the power switch Operating status indicators should be positioned in such a way where workers can easily see whether the robot is on a temporary halt or on an emergency or abnormal stop Note The UL Listed robot units have motor ON lamps on their robot arms SAFETY PRECAUTIONS 3 9 Setting up a safety A safety fence should be set up so that no one can easily enter fence the robot s restricted space 1 The fence should be constructed so that it cannot be easily moved or removed 2 The fence should be constructed so that it cannot be easily damaged or deformed through external force 3 Establish the exit entrance to the fence Construct the fence so that no one can easily get past it by climbing over the fence 4 The fence should be constructed to ensure that it is not possible for hands or any other parts of the body to get through it 5 Take any one of the following protections for the entrance exit of the fence 1 Place a door rope or chain across the entrance exit of 09 d the fence and fit it with an interlock that ensures the XS y emergency stop device operates automatically if it is opened or removed 2 Post a warning notice at the entrance ex
107. axis robot cenatetettttt 4 axis robot EEP Move Target position Move Target position A Approach length Approach length l Z direction of the tool Z direction of the base coordinate system coordinate system e Position stored in e 1 Position stored in Z position variable position variable On the Move by Variable window shown below press F6 Approach The numerical keypad appears where you enter the desired approach length and press OK m mees a Jint wotolf iz Move by Yariable AN Will move to the position specified by PL PTP Movement CP Movement Linear Cancel 038 SHORT Hold down OK to run the robot release it to stop ll cur en z mol sSlo fost D T T e mi Q r The following window appears showing that the target position is specified with the position variable plus approach length offset w S vees a Seint HoT ol Move by Yariable N Hill move to PL with approach length 300 PTP Movement CP Movement Linear aon Nh Cancel Hold down OK to run the robot release it to stop Cir PPS e 8 8 Part 3 Simple Programming Chapter9 Basic Knowledge of Programming Chapter 10 Programming with Teach Pendant Chapter 11 Programming with WINCAPSII Chapter 9 Basic Knowledge of Programming 9 1 Features of PAC Language A programming language used to describe robot motion an
108. ay will display a variable whose index is 0 Move the cursor to that index NOTE 2 To modify the current value of a DEFIO variable you need to hold down the deadman switch same way as modifying I Os NOTE 3 This quick reference facility cannot take position data into local variables To modify the value press F5 Change on this screen and the numerical keypad will appear Enter a value to assign to the variable using the numerical keypad and press the OK button The newly entered value will be assigned to the variable NOTE Variable values cannot be modified in External Auto mode 15 4 15 1 3 Modifying the Number of Variables Used Access F1 Program F4 Var F12 VarsUsed Modifies the number of global variables used for each type of variables 1 Press F12 VarsUsed to display the following window Q w esm Joint wotel a Check the number of variables used No of type I variables No of type F variables 1 2 No of type D variables 3 No of type variables 4 No of type P variables Cancel Te F5 Change the selection OK Exit with saving Cre 2 Select the item whose number of variables you want to change then press F5 Change The numeric keypad will appear 3 Enter the desired value and press the OK button The newly entered value will appear in the selected item box in the Check the number of variables used window M Q a m sees Joint wotelf x
109. bed below Aname must begin with a character one byte alphabet no discrimination between uppercase and lowercase letters or ruled symbol Characters numerals and underscores can be used for names The first character of aname must be an alphabet letter Aperiod slash back slash blank colon semicolon single quote double quotation and asterisk cannot be used Characters such as that are used as operators cannot be used To distinguish the name from other words place a blank character between the name and the other words The maximum number of characters that can be used for a name is 64 9 1 9 4 Maximum Number of Loadable Programs The controller has room for a limited number of programs The table below lists the maximum number for each file type Note that the maximum number of actually loadable programs may be smaller depending on the memory capacity available File type File format Maximum number of programs Header file 256 total of header files and TP Folder Lae e is 9 5 Overview of Program Configuration A section of a program that repeats a specific motion can be put out of the program and called if required The method of putting this section in the same program is called a subroutine If this section is independently put in a separate file as another program and that program is called this is referred to as calling a program A subroutine must be included in
110. ch pendant and mini pendant between the global and standard types in Manual mode and Teach check mode Standard type Global type described in the instruction manuals 1 Unless the deadman switch is held down you 1 Unless the deadman switch is held down you can neither operate the robot nor turn the motor cannot operate the robot but you can turn the power ON motor power ON 2 When the robot is in operation releasing the 2 When the robot is in operation releasing the deadman switch will stop not only the robot but deadman switch will stop the robot but not turn also turn the motor power OFF the motor power OFF servo lock 2 2 2 22 G W Y vsessee A Joint motro a 1 Monitor mini IN mini IN Accri I 0 Hardware Settings No of parameters 651 31 Single point of control Int Ext 1 O OOO O u Single Point of Control Function The global type of the robot controller supports the single point of control function while other types do not This function limits the robot start that other equipments except specified one device for example Teach pendant cannot enable to start the robot The single point of control function which is one of the robot safety functions limits the robot control sources command sources to only one This function is specified by the parameter Single point of control that limits the control to either Internal Auto or External Auto limited mode m Inter
111. ches from external to V1 98 V1 98 19 8 internal auto mode CUROPTMODE Gets the current operation V1 98 V1 98 19 8 mode SYSSTATE Gets the system status of the V1 98 V1 98 19 9 robot controller Preprocessor Symbol Constants define Replaces a designated 20 1 Macro Definitions constant or macro name in the program with a designated character string undef Makes a symbol constant 20 2 defined with define or macro definition invalid App 2 14 4 axis 6 axis Vision device Available with all series of robots and vision device O O O Available with all series of robots The command specifications differ between the 4 axis 6 axis robot and vision device V1 2 Available with the 4 axis robots and the 6 axis robots of Version 1 2 or later p l Functions Refer Classified by functions Commands l _ Vision l 4 axis 6 axis device to error Forcibly generates a compiling 20 2 error if the error command is executed File Fetch include Fetches the preprocessor 20 3 program Optimization pragma optimize Designates optimization to be 20 5 executed for each program Vision Control Option Image Input and Output CAMIN Stores an image from the 21 3 camera in the image memory process screen CAMMODE Sets the function used to store 21 4 a camera image CAMLEVEL Sets the camera image input 21 6 level VISCAMOUT Displays an image from the 21 7 came
112. ching status area Motor Power ON CAL Execution External Speed 0111 10000011 SP 100 External Mode Switching Turn the motor power ON Clear Robot Error ooo a Set the external speed to 100 Switch to the external mode 00000000 to Internal IO Assign the state of data area 1 to the Write I O 1001 11111111 number internal IO area starting with the number Internal IO Output the state of the internal IO area Read I O 1010 number starting with the number specified in data 128 to 504 area 2 to the lower 8 bits of the status area Start up Perform the above start up 128 to 504 specified in data area 2 13 6 Cc Q _ gt O eb x lt LI z pa O O pas A Stop the specified program Setting External Speed and Acceleration Start up steps System input signal Purpose Command Data area 1 Data area 2 area 4 EN 8 a 16 a SS St Stop all running programs instantaneously on hen the signal is turned OFF All tasks g Step Stop Step stop all running programs when the All tasks signal is turned OFF Note The Odd parity that when the total number of bits of the command area and data areas 1 and 2 is even an odd parity signal should be entered to make the total an odd Note The Strobe signal indicates that the command area data areas 1 and 2 and odd parity should be used in combination Robot Stop ee the robot when the signal is turned
113. cifications differ between the 4 axis 6 axis robot and vision device of Version 1 2 or later Functions 4 axis Sets the velocity control mode under the compliance control Disables the velocity control mode under the compliance control Sets the allowable deviation values of the position and the posture of the tool tip under the compliance control Initializes the allowable deviation values of the position and the posture of the tool end under the compliance control Sets the damping rates under the compliance control Initializes the damping rates under the compliance control sets the gravity compensation value of the Z and T axes Disables the gravity compensation function V1 9 V1 9 Reads data from the I O port designated by an I O variable Outputs data to the I O port designated by an I O variable Concurrently executes a non motion instruction such as an I O or calculation instruction during execution of a motion instruction Sets an I O port to ON Sets an I O port to OFF Obtains data from the RS 232C or Ethernet port Reads data to a delimiter through the RS 232C or Ethernet port and assigns it toa character string type variable Outputs data from the RS 232C or Ethernet port Outputs data from the RS 232C or Ethernet port Clears the input buffer Outputs a single byte of data to the RS 232C or Ethernet port Inputs one byte of data through an RS 232C or Ethernet port Out
114. creen If any other screen is displayed press Cancel as many times as necessary until the top screen appears Press F6 Set on the top screen The Settings Main window appears Press F1 Load Settings Main AA 2 oj 2 ae 10 9 Caution The message Please wait Loading the project now is displayed Settings Main Upon completion of loading the screen returns to the Setting 2 is a x k Main window E E If you load a project using local variables different from those used in the previous project the error message Local variable initialized is displayed Press OK to continue Now the program is ready to execute Press Cancel to return to the top screen This completes the creation of the program to run the robot 10 10 Chapter 11 Programming with WINCAPSIII This chapter describes how to create a program using WINCAPSIII 11 1 Preparation This section provides the preparation items required for programming 11 1 1 WINCAPSIIT Available in Three Versions WINCAPSIII is available in three versions as shown below Depending upon the version the functions are restricted 1 Trial version that comes with the robot Printing arm player Plus 3D data import monitoring interval and a part of program bank are not available Only one program named PROO1 pac is editable 2 Light version that comes with an optional mini pendant P
115. ctions LLCS Visi 4 axis 6 axis Neves O O O Available with all series of robots and vision device Available with all series of robots The command specifications differ between the 4 axis 6 axis robot and vision device V1 2 Available with the 4 axis robots and the 6 axis robots of Version 1 2 or later nh _ Refer Classified by functions Commands Functions _ Vision 4 axis 6 axis device Declaration Statements Program Name PROGRAM Declare a program name 9 1 Interference Area AREA Declare an interference check O O 9 2 Coordinates area User Function DEF FN Declare a user defined 9 4 function Home Coordinates HOME Declare arbitrary coordinates O O 9 5 as a home position Tool Coordinates TOOL Declare a tool coordinate O O 9 6 system Work Coordinates WORK Declare a work coordinate O O 9 7 system Local Variable DEFINT Declare an integer variable 9 8 Integer Floating point DEFSNG Declare a floating point 9 8 variable Double precision DEFDBL Declare a double precision 9 9 variable String DEFSTR Declare a string variable 9 9 Vector DEFVEC Declare a vector variable 9 10 Position DEFPOS Declare a position variable O O 9 10 Joint DEFJNT Declare a joint variable O O 9 11 Homogeneous DEFTRN Declare a variable in 9 11 transform matrix homogeneous transform matrix I O DEFIO Declare an I O variable 9 12 corresponding to the input output
116. cutable file Map file Variable w J Variable Tool Work f Area H J Tool Work Area Parameter C ha Log S PEEN AE w 5 Parameter I O parameters C Program Parameters 16 2 16 2 Control Sets of Motion Optimization This function is to set proper speed and acceleration according to the mass of payload and the posture of the robot You can select a control set of motion optimization among 4 sets listed in Table 16 1 Table 16 1 Control Sets of Motion Optimization Control set Setting condition Maximum speed Same as control set 0 acceleration Mass of payload and 2 robot posture Same as control set 0 Maximum speed acceleration Same as control set 1 Same as control set 2 16 2 1 Control Set 0 This control set is the default when you boot the controller Set the maximum acceleration of PTP motion and CP motion according to the robot load condition value For robot positioning time refer to the GENERAL INFORMATION ABOUT ROBOT Chapter 3 Section 3 3 Robot Positioning Time 16 2 2 Control Set 1 Set the maximum speed and acceleration for the 1st 2nd and 3rd axes in PTP motion according to the load condition value of the robot and the robot figure in motion For the 4th 5th and 6th axes in PTP motion and for CO motion this is the same as that of control set 0 Using Control Set 1 If you need to reduce the motion time in PTP motion select control set 1 Precautions for Using
117. d Mode 132 13 8 2 Processing I O Commands in Mini I O Dedicated Mode essesesseseeesrrrerrresrrrerrseeees 13 38 13 3 3 Types and Functions of System Output Signals in Mini I O Dedicated Mode 13 5 TA RIS ota dard MOC vices rossvevesvmesveuew eouelacstateledudessbeiaduas ER 13 6 13 4 1 Types and Functions of System Input Signals in Standard Mode o s 13 6 13 4 2 Processing I O Commands in Standard Mode w cece cceccceeccceeceeeceeeceesecsuseseeseseusess 13 7 13 4 3 Types and Functions of System Output Signals in Standard Mode eee 13 9 135 Running in Compatible Mode ico icsceadeceiieletiem banned cad ial adeseenenei E 13 10 13 5 1 Types and Functions of System Input Signals in Compatible Mode 0 0 13 10 13 5 2 Processing I O Commands in Compatible Mode ccccceeccecceeceeeseeeseeesesseenees 13 11 13 5 3 Types and Functions of System Output Signals in Compatible Mode 13 13 TO VOAN Caon abe aa a TNO 13 14 13 6 1 Hand I O CN9 Common to All Modes cccccceccsscccesssscceseseescesessessesesssseesestsseessess 13 14 13 6 2 Mini I O Board CN5 on standard type of controller in Mini I O Dedicated Mode 13 15 13 6 3 Mini I O Board CN5 on global type of controller in Mini I O Dedicated Mode 13 16 13 6 4 Mini I O Board CN5 on standard type of controller in Compatible Standard and All DUS al BMS ele 2 arene Renee rarer ened Ne A een REL NTC EPR Mae Petr
118. d by the end effector is dropped or thrown by the end effector consider the size weight temperature and chemical nature of the object and take appropriate safeguards to ensure safety Place the warning label packaged with the robot on the exit entrance of the safety fence or in a position WARN N G where it is easy to see TROENSI o Risk iT Do not enter safety fence area Unfallgefahr Nicht den Sicherheitsbereich des Roboters betreten 5a Pei7t Us oe HS AIH ol SA7 B A ANHEE RBENRERPUEN Post a notice showing axes names and moving directions in a visible location on the robot unit The posted moving directions should match the actual directions No posting or wrong direction posting may result in bodily injuries or property damages due to incorrect operation SAFETY PRECAUTIONS 4 Precautions AN Touching the robot while it is in while Robot is Warning operation can lead to serious WARNING Running injury Please ensure the fol lowing conditions are maintained and that the cautions listed from Section 4 1 and onwards are followed when any work is_ being TROEN WWARBANCASE performed Risk of injury Do not enter restricted space Untallgefahr Nicht die Sperrzone betreten B59 Pot GE 7H Ast AA Yo EAH LA AMEER AREA A AR el Mah Do not enter the robot s restricted space when the robot is in operation or when the motor power is on As a precaution against malfunction ensure
119. d center of gravity Y mm 12 Payload center of gravity Z mm or 12 Inertia of payload kgcm for 4 axes robot in Version 1 9 or later e The entry range of Control set of motion optimization is from 0 to 3 If you enter any value out of this range the following error may appear ERROR 6003 Excess in effective value range e The entry range of Mass of load is specified in each robot model If you enter any value out of this range the following error will occur ERROR 60d2 Mass of payload out of setting range e For Payload center of gravity enter a value that conforms to the following range If the value is out of the following range ERROR 60d2 Mass of payload out of setting range 16 5 16 3 2 Setting with WINCAPSITT This section describes how to configure the external load condition values Mass of payload and Payload center of gravity and the external mode with WINCPSIII Select Tools Options from Arm Manager and the Options window appears Choose Project Parameters to display the Parameter window and then choose the Config tab Parameter Filter Strings No Property 7 8 Control set of motion optimization 9 Floor mount or Overhead mount 10 Mass of payload g 11 Payload center of gravity X mm 12 Payload center of gravity Y mm C Mask disabled item OK Cancel Double click each of the setting items listed below in the above window and you can chan
120. d within one second set I4 to 0 and pass control to the next statement 19 1 19 2 I O Port Control This section describes output commands taking a robot chuck motion as an example The example below uses a SET command to turn the output port ON and a RESET command to turn it OFF 19 2 1 SET Set an I O port to ON Syntax SET lt I O variable gt lt output time gt Description This statement turns the port specified by lt I O variable gt ON lt I O variable gt has a port number or I O variable If lt output time gt is specified pulses are output for the specified time during which control will not be transferred to the next statement The unit of lt output time gt is MS lt output time gt is the minimum output time so the actual output time varies depending on the task priority and other conditions Example SET IO 64 or SET 1064 Turn port 64 ON SET I0 128 50 or SET I0128 50 Turn port 128 ON After 50 ms turn it OFF and pass control to the next statement 19 2 2 RESET Set an I O port to OFF Syntax RESET lt I O variable gt Description This statement turns the port specified by lt I O variable gt OFF lt I O variable gt has a port number or I O variable Example RESET I0 64 or RESET 1064 Turn port 64 OFF 19 2 19 3 Practice Exercises Exercise 3 Use I O port control statements to create a motion program controlling the robot hand as shown in the flowchart below
121. d work is called a robot language The robot language used for DENSO robots is called PAC Programming language for Assembly Cell PAC was newly developed to increase efficiency in the development and maintenance of robot control programs over conventional languages The major features are described below It is upwardly compatible with the industrial robot language SLIM that conforms to JIS Easy to read because it is a structured programming language and this also makes development and maintenance easy Not only robot programs can be described but also vision device control is universal with PAC Program processing is effective as a result of a multitasking function As a result of an interruption process function exceptional processing such as when an error occurs can be described efficiently 9 2 Statement and Line APAC language program is configured with multiple lines One statement can be described on an arbitrary line The length of a line may be up to 255 bytes A statement is the minimum unit to describe a process in the PAC language and it is comprised of one command Acommand is comprised of a command name and the information parameter given to the command 9 3 Name The PAC language has regulations for identifying various elements in a program This chapter provides an explanation of these regulations Names that express commands variables functions labels and programs follow the conventions descri
122. data area 3 bits and Strobe Signal Command Processing Completed Controlled by user program Inputs to read the external I O status with an IN command or IO variable Used for analysis condition identification condition satisfaction wait data input from the external equipment etc 8 Outputs to issue a signal to the external equipment during program Note execution with SET and RESET commands etc Inputs to read the external I O status with an IN command or IO variable Used for checking the hand status Outputs to issue signals to the external equipment with SET and RESET commands etc Used for controlling the hand to open or close Note Terminal 53 on CN5 port 24 is assigned a user output by factory default It can be assigned the Continue Start Permission output signal with the I O hardware setting 3 1 3 1 2 Types of Mini I O Signals on the Global Type of Controller The global type of the controller concentrates emergency stop related system I Os on the safety I O CN10 so it does not use the Mini I O CN5 Refer to the RC7M CONTROLLER MANUAL Sections 4 1 3 4 1 4 5 1 3 and 5 1 4 It issues PROGRAM START commands as I O commands by using seven command execution inputs The table below lists the types of system I O signals Types of I O Signals Global type of controller Fixed by system No of System input 7 External Emergency Stop 1 External Emergency Stop 2 Enable Auto 1 y p Enable Aut
123. ddress setting is completed Note 1 When making connection to a wide area network for example an in house network always inquire to the network administrator before setting the IP address and subnet mask If an IP address used for the local area network is connected to the wide area network for example the in house network without first invalidating it confusion may be occur in the connected network Note 2 No redundant IP addresses are allowed within the same network When making a connection to a widely shared network care should be taken not to allow an IP address to be redundant with another terminal The following are examples of IP addresses that have the least probability of redundancy with another terminal 192 168 0 2 to 192 168 0 xxx xxx represent 003 to 999 Internet Protocol TCP IP Properties Fk General Lo You can get IF settings assigned automatically if your network supports this capability Otherise you need to ask pour network administrator for the appropriate IP settings Obtain an IP address automatically Ge Use the following IP address IP address subnet mask Default gateway Preferred ONS server Alternate DHS server This section must be the same as This value must not be the same as that specified in the controller that specified in the controller 11 24 11 5 2 3 Ethernet Configuring WINCAPSIT Configure the PC in WINCAPSIII so that WINCAPSIII can communicate wit
124. degrees Defines the robot attitude Roll angle Rotation angle around Z axis in degrees Figure Value 0 to 31 Components of Position Data A set of X Y and Z coordinate values represents the position of the robot flange center or tip of the end effector if defined expressed in base coordinates Xb Yb and Zb in units of mm The yaw pitch and roll angles which are expressed by RX RY and RZ refer to rotation angles around the respective axes of the base coordinate system defined by the mechanical interface coordinate system whose origin is at the center of the flange surface These angles are expressed in units of degree With respect to the positive direction on axes of the base coordinates clockwise rotation is treated as positive You should always preserve the rotation order of RZ RY and RX Changing it will cause the robot to take a different attitude in spite of the same rotation angle defined Figure represented by the FIG value refers to a figure of robot arm joints 6 7 6 12 1 Figures of the Shoulder Elbow and Wrist in 6 Axis Robots A 6 axis robot can take different figures for its shoulder elbow wrist 6th axis and 4th axis for a single point and attitude X Y Z RX RY and RZ at the end of the end effector Items 1 through 5 given on the following pages show how the robot can take different figures for its shoulder elbow wrist 6th axis and 4th axis respectively Combining thes
125. dinates Xb Yb and Zb in units of mm The rotation angle expressed by T refers to an angle formed by the X axis of the TOOLO coordinates and the Xb axis of the base coordinates The angle is expressed in units of degree Figure represented by the FIG value refers to a figure of robot arm joints 6 6 1 Shoulder Figures of 4 Axis Robots The 4 axis robot can take two figures when positioning as shown below Available Figures 2nd axis RIGHTY positive LEFTY negative 2nd axis side RIGHTY LEFTY If the 2nd axis is positioned at the positive side on the X axis of the base coordinates as shown above left the figure is called RIGHTY if at the negative side as shown above right it is called LEFTY 6 3 6 7 Coordinates in 6 Axis Robots The following three coordinates are available for running the 6 axis robot Base coordinates Work coordinates Tool coordinates 6 8 Base Coordinates in 6 Axis Robots The base coordinates are so called world coordinates which refer to 3 dimensional Cartesian coordinates whose origin is at the center of the robot basement It has components Xb Yb and Zb which are identical with X Y and Z in X Y mode 6 9 Work Coordinates in 6 Axis Robots Zw3 Work coordinates are 3 dimensional Cartesian coordinates defined for each operation space of workpiece The origin can be defined anywhere and as much as needed It lies at a corner of the rectangular parallelepiped envelope
126. dman SW 1 1 output Deadman SW 1 2 output Enable SW 7 1 Mini relay Enable SW 1 2 Mini relay Emergency Stop 2 2 output Deadman SW 2 1 Enable SW 2 1 Mini relay Deadman SW 2 2 Enable SW 2 2 Mini relay output output Red User input Si iC a User input _ Greer 16 User input Blue Ha User input 2 Violet 18 White User input 8 Gray User output 19 White i 4 User output 20 White i ceed ai i EA 2 d 2 Ca Ea ee 25 kA 2 n Ea 12 28 3 29 a 30 15 31 User output User output User output User output o e i User output eo o S V Trea V V V v Brown Dry output ay Pendant Emergency Stop 2 b 2 output G ray Dry output when JP13 on mini I O board is shorted Gray DC power output OV ey DC power input OV when external power Gray source is used DC power output OV when internal power Bue source is used Bue B User output Pj 16 17 18 19 20 21 22 23 24 25 26 2 28 29 30 31 11 12 1 13 2 14 3 15 4 16 5 17 18 T 19 20 21 10 22 11 23 12 24 13 25 14 26 15 N N N N Se ms Pendant Emergency Stop 1 b 1 output Pendant Emergency Stop 1 b 2 output Dry output Power for conveyor tracking board when JP12 on mini I O board is shorted Green DC power output 24V Pendant Emergency Stop 2 b 1 outpu
127. e Vision terms PRINCIPAL AXIS ANGLE The angle formed by the horizontal axis and the principal axis Vision terms PRIORITY The sequence of task execution in order of importance The program with higher priority is executed first PROGRAM RESET The input signal to force program execution from the top of the program PROGRAM START The input signal to start a program When it is a step stop execution begins from the next step and when it is a halt execution begins from the following of the same step PROGRAM TRANSFER To send receive robot programs between the robot controller and WINCAPSIII PC PTP CONTROL The control which moves the robot arm to the target position without compensation The path may not necessarily be a straight line CP control Programmer One of the user levels of WINCAPSIII All the common operations are possible Password input is necessary to enter into this mode App 5 6 R RANG The angle which determines the relation of the robot standard position and the mechanical end RELATIVE MOTION The motion to move from the current position for the motion amount set by teaching REMOTE OPERATION To operate the robot arm which is displayed on the WINCAPSIII RIGHTY RIGHTY One of the arm figures of 6 axis robot gt LEFTY ROBOT ERROR The output signal which informs that an error condition occurred in the robot such as servo error program error etc R
128. e ointvarable vt v2 ve ws ve Declare program name Obtain arm semaphore arm control priority Set the internal speed at 80 Move to Pl position under PTP control Move to P2 position under CP control Move to P3 position under CP control End of program 9 5 9 6 8 3 Pass start displacement lt pass start displacements Is the radius of a sphere whose center is located at the destination position and it is expressed in units of mm When the commanded motion value reaches the sphere control passes to the next one In other words this value determines how to stop at the specified point End motion encoder value check motion or pass motion can be selected as control transfer to the next statement End motion 0 or when omitted PROGRAM PRO TAKEARM Commanded MOVE P 0 P3 Servo deviation Constant 1 Constant speed l speed l Accel Decel Accel Decel eration eration eration eration In the end motion the robot judges that the tool end has arrived at the target position when it reaches the taught position P2 called as the end position and the command value to the servo system becomes the target one Encoder value check motion E PROGRAM PRO TAKEARM Commanded MOVE P E P2 speed MOVE P 0 P3 Constant 1 Constant speed i 1 speed Accel Decel Accel Decel eration eration eration eration In the encoder value check motion the robot judges th
129. e TX Viewed from A Mechanical Interface Coordinates Note To use tool coordinates it is necessary to define them beforehand For details refer to the SETTING UP MANUAL Section 4 2 1 2 2 Tool definition procedure 6 5 Advantages of Tool Coordinates in 4 Axis Robots Using tool coordinates in Manual mode allows the tool end to move centering on the point that has been offset in the tool definition Manual Rotation of 4th Axis Manual Rotation of 4th Axis in X Y mode w o Tool Definition in X Y mode w Tool Definition 6 2 6 6 Position Data Handled by 4 Axis Robots Position data refers to a set of data which includes five components of base coordinates Of these five components three are robot flange center coordinates the end effector tip coordinates if an end effector is defined and two are current robot attitude components as shown below Position data allows you to represent the current position of the robot flange center and object points Position data Coordinate values Defines the position of the robot flange center in mm or the end effector center Rotation angle in degree Defines the robot Figure Value 0 or 1 attitiida Components of Position Data A set of X Y and Z coordinate values represents the position of the robot flange center or tip of the end effector if defined expressed in base coor
130. e area It is set either with the teach pendant in WINCAPSIII or with the program command DEFINING TOOL COORDINATES To define tool coordinates Origin offset amount and rotational angle amount around each axis are defined in reference to the mechanical interface coordinates TOOL1 through TOOL63 can be defined DISCRIMINATION ANALYSIS METHOD The method to set the binarization level from the histogram using statistical method Vision terms DOUBLE One of the 6th axis figures of 6 axis robot SINGLE DOUBLE4 One of the 4th axis figures of 6 axis robot SINGLE4 E EDGE Transition point of brightness Vision terms App 5 2 ELBOW FIGURE The figure determined by the 2nd and the 3rd axis value of 6 axis robot There are two kinds of elbow figures ABOVE and BELOW ENABLE AUTO The signal to enable auto mode in ON condition Manual mode and teach check mode are possible in OFF condition ENCODER VALUE CHECK MOTION The motion which judges that the target position is reached when the encoder value becomes within the specified pulse range toward the motion target position set by teaching END MOTION The motion which judges that the target position is reached when the specified position of the servo coincides with the motion target position set by teaching ERROR CODE Four digits hexadecimal code which describes error causes conditions occurred in the robot Refer to the error code table fo
131. e arrival at the destination position with the encoder value lt motion option gt is any of SPEED ACCEL and DECEL Specifies the motion speed P or 1 to 255 Specifies the acceleration Specifies the deceleration If the NEXT option is specified control passes to the next non motion command without waiting for the current motion to finish Note that the following instructions are not executed until the current robot motion finishes pass start Robot motion commands CHANGETOOL CHANGEWORK SPEED JSPEED ACCEL JACCEL DECEL JDECEL Motion optimization libraries aspACLD aspChange Arm motion libraries mvSet PulseWidth etc If specified together with lt motion options the NEXT option becomes invalid When the NEXT option is specified and the program waits for the next motion command to execute executing a Step stop first executes that next motion command and then interrupts the running program Therefore the tool end moves a long distance until it stops Note The NEXT option is invalid in Teach check mode Tip The DRAW statement can be replaced with the MOVE statement Example DRAW L 50 10 50 Equivalent to MOVE L P0 50 10 50 17 5 Example DEFVEC 1v1 1v2 DRAW L 50 10 50 Move to a position X 50 Y 10 Z 50 away from the current position under CP control DRAW L lvl SPEED 90 Move to a position lvl mm away from the current position at 90 of the internal s
132. e condition of FOR statement IS true NEXT Description The FOR NEXT statement repeatedly executes a block of statements in a FOR NEXT loop according to the condition specified in the FOR line lt initial value gt and lt final value gt specify the initial and final values of the variable specified by lt variablename gt respectively lt increment gt specifies the increment from the initial to the final values If STEP Is omitted the increment is regarded as 1 Example Ex 1 Continue incrementing 11 by 1 starting 5 until 11 exceeds 10 When 11 becomes 11 end the repeating execution FOR IL 5 TO 10 Specify 5 for the initial value of I1 increment is 1 If Il is 10 or below continue the execution of below statements Fl F2 F3 F4 F5 F6 NEXT Increment I1 by 1 1 gt 10 gt NO F1 F2 F3 Vv F4 F5 F6 Vv NEXT 11 11 1 Ex 2 Continue subtracting 2 from 11 starting 10 until 11 becomes smaller than 5 When 11 becomes 4 end the repeating execution FOR I1 10 TO 5 STEP 2 Specify 10 for the initial value of I1 subtracter is 2 If I1 is 5 or above continue the execution of below statements Fl F2 F3 F4 F5 F6 NEXT Subtract 2 from ll 18 7 18 5 2 DO LOOP Syntax Description Example e DO WHILE LOOP pretest Example 1 Repeat the execution while 11 gt 12
133. e different figures allows the robot to take 32 different figures for its single position and attitude as listed below Available Figures LEFTY 10 RIGHTY 6 8 1 Shoulder figure The rotary axis of the 1st axis is defined as the boundary between LEFTY and RIGHTY When viewed from the normal line on the side of the arm link if point Pw exists in the left hand side of the rotary axis of the 1st axis the figure is LEFTY if point Pw exists in the right hand side it is RIGHTY In the figure shown below the boundary is drawn with alternate long and short dash lines Note If point Pw exists on the rotary axis of the 1st axis that is on the boundary between LEFTY and RIGHTY then it is called a singular point a RIGHTY x 1st axis of rotation Arm surface Boundary between LEFTY and RIGHTY 6 9 2 Elbow figure The centerline of the arm link connecting the shoulder with elbow is defined as the boundary between ABOVE and BELOW If point Pw exists in the side of the centerline the figure is ABOVE if point Pw exists in the side it is BELOW In the figures shown below the boundary is drawn with alternate long and short dash lines Arm centerline Arm centerline Boundary between ABOVE and BELOW for RIGHTY 6 10 3 Wrist figure The rotary axis of the 4th axis is defined as the boundary between FLIP and NONE LIP If the normal line on the flange surface tilts up th
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135. e home position Workpiece pick up position Workpiece disposal box i Program Samples ITITLE Initial input parameters Variables to be used Variable to assign the current position obtained Automatically assigned Coordinate value of Z axis Input required Return to Home Position 1 After moving up Z axis PROGRAM Sample TAKEARM HOME 200 300 350 45 1 Declare the coordinates as the home position P50 CURPOS Get the current position and assign it to P50 LETZ P50 F1 Assign F1 to the Z axis component of P50 MOVE P 0 P50 S 30 Move the Z axis from the current position to the coordinates whose Z axis component has been specified IF I0 64 ON THEN Check whether a workpiece is remaining in the hand CALL DiscardProduct If IO0 64 ON execute the ejecting motion program ENDIF GOHOME Return to the home position END App 4 3 E 4 Return to Home Position 2 Interference Area Check Move the arm to the home position avoiding interference with peripheral equipment depending on the current position of arm end Description This program moves the robot arm to the home position if the robot stops at an arbitrary position If there are obstacles within the arm motion space as shown below interference check areas should be defined beforehand The robot judges in which defined area the arm end has stopped and moves the arm to the home position while avoiding interference with peripheral equip
136. e rotary axis of the 4th axis the figure is FLIP if it tilts down the rotary axis it is NONEFLIP In the figures shown below the boundary is drawn with alternate long and short dash lines NONFLIP Orientation of flange surface 4th axis of rotation Orientation of flange surface Ath axis of rotation Boundary between FLIP and NONFLIP for RIGHTY 6 11 4 4th axis figure The 4th axis figure is defined by the value of the 4th axis component The robot can take two different 4th axis figures SINGLE 4and DOUBLE 4 If the 4th axis rotates by 180 lt 04 lt 180 in mechanical interface coordinates the figure is SINGLE 4 if it rotates by 180 lt 04 lt 185 or 185 lt 64 lt 180 the figure is DOUBLE 4 The robot takes quite different figures when 04 is 180 or 181 Take special care when changing any position data fort the 6th axis figure For example supposing that you want to change the 4th axis figure at 64 181 the robot will take the 4th axis figure at 04 179 if you make no figure modification J4 178 SINGLE 4 J4 182 DOUBLE 4 4th Axis Figure 5 6th axis figure If the rotation angle 66 of the 6th axis is within the range of 180 lt 6 lt 180 around the Z axis in mechanical interface coordinates the figure is SINGLE if it is within the range of 180 lt 06 lt 360 or 360 lt 66 lt 180 the figure is DOUBLE Boundaries exist at 180 and 180 360
137. ease enter your License Key printed on the license sheet License ke ad Remove License Key Close Enter the license key user ID here and press Add 11 2 Overview of Sample Program The sample program created in the following sections is for moving the robot arm from the current position to P1 and then P2 Program Flow Chart Get the arm control priority Set the motion speed at 100 Move the tool end to P1 under CP control Move the tool end to P2 under CP control 11 3 Creating a Program This section shows how to create a program in WINCAPSIII using a simple example 11 3 1 Starting up WINCAPSITT Start up the programming support tool WINCAPSIII using the following procedure Step 1 On the Start menu choose All Programs DENSO FACTORY WARE WINCAPSIII WINCAPSIII to display the dialog box for logging in Login WING APS Log in to the WINCAPS II i Select user level and input password User level mesa jie Password Cee Step 2 To log on as an Operator select 0 Operator in User level and press Log in Note To modify settings select 1 Programmer Logging on as a Programmer requires a password which should be configured at the first time of logging on as a Programmer 11 3 2 Creating a New Project WINCAPSIII manages more than one robot program in projects Creating more than one program in a project and using a set of programs combined
138. ect Parameters Arm parameters in the Controller pane and press Receive 16 1 16 1 3 Setting with WINCAPSITT This section describes how to specify the robot installation condition O for floor mount or 1 for overhead mount with WINCAPSIII Choose Project Parameters to display the Parameter window and then choose the Config tab Parameter Filter Strings i lt aL o 1 t Control set of motion optimization Floor mount or Overhead mount 10 Mass of payload g 11 Payload center of gravity X mm 12 Payload center of gravity Y mm C Mask disabled item OK Cancel OOF H HH HHP a 2 d d A Z d Double click the Value field of the Floor mount or Overhead mount line to toggle the parameter value between 0 and 1 Note After modifying the configuration with WINCAPSIII be sure to transfer the arm parameters using the data transfer function After completion of parameter setting transfer the data to the robot controller using the following procedure First turn the motor power off with the MOTOR key on the teach pendant In WINCAPSIII choose Connect Transfer data to display the following window Select Parameters Arm parameters and then press Send Transfer data WINCAPS III Controller VI Local data SAMPLE 001 OS Controller 10 8 102 128 JC Program LIC Program 3 Source file caye C IE Source file QOO Executable file Map file OO Exe
139. eed I O signal lines more than the ones provided on the Mini I O port CN5 and HAND I O port CN9 or if you want to control the robot in any of the various field networks add up to two I O extension boards to the extension slots there are three slots in the controller as shown below Extension slots HAND I O CNQ SAFETY BOARD SAFETY BOX Only for global type with safety board Only for global type with safety box Mini I O CNS 3 2 1 I O Extension Boards Available The robot controller is available with I O extension boards optionally provided by Denso Wave and recommended commercial ones as listed below Note For the repeat system in the RC5 controller an optional I O conversion box is convenient to use Refer to the OPTIONS MANUAL Section 4 7 I O Conversion Box 1 Denso Wave I O Extension Boards option OO pO m 2 Commercial I O Extension Boards recommended Part number of license certificate for permitting the configuration Board name Manufacturer Model software to run factory by the user Hilscher GmbH PROFIBUS DP slave board CIF50 DPS DENSO 410006 0300 410006 0310 Prepare on the S LINK V board SUNX SL VPCI 410006 0280 410006 0290 user s responsibility RS 232C extension board OM 2P PCIH 410006 0260 410006 0270 Ethernet IP adapter board erates Den so 410006 0800 410006 0810 3 3 3 3 Combination
140. een Step 9 Select the necessary permission settings OQ od wm cow mine nor a The meanings of the permission settings are as follows Disable Read only Read Write Communication port is not used Personal computer is enabled to read the robot controller data It is not allowed to send data to the robot controller Data exchange is allowed between the personal computer and robot controller 11 16 When creating a program select Read Write When supervising only variables or I O values by automatic operation of a ready program select Read only Upon making a selection press OK The screen returns to the Communication Permission Settings window Note You cannot select Read Write Enabled for both RS232C and Ethernet simultaneously Step 10 1 Check the display contents and press OK The permission setting is enabled Dg o d ws eso xy were m Read suri te o Readwrite Permit fz a a 2 Wa Fa Fa FSI F2 Step 11 Press Cancel twice The display returns to the basic screen 11 17 11 5 1 2 RS 232C Configuring WINCAPSIII Configure the PC in WINCAPSIII so that WINCAPSIII can communicate with the robot controller via the RS 232C interface The interface can be also specified with the WINCAPSIII Project wizard see Section 11 3 2 step 5 Even after the wizard is finished the interface can be changed with the procedure given below Step 1 Choose Project Properti
141. een directly em Je JEJE Press Display to display the PRO1 program codes V The program codes of PRO1 are displayed on the Program window 12 2 3 Step Check In the step check the program executes a single step at a time Q Q a M 49 vetoi iz Program PRO1 Status On halt 0001 TITLE PRO 002 PROGRAM PRO1 0003 Takefirm 0004 SPEED 100 05 MOUE L P1 806 MOUE L P2 0007 GIUEARM Displays the program pau a Hait stepston ystart N Press F6 StpStart This is also possible with the right cursor 12 4 Caution Q Q amp Mom veteli ia Program PRO1 Status On halt System Message Do you want to run the program PRO1 forward hy a single step Cancel 886 MOUE L P2 0007 GIUEARM Back Next Jump To ey TU During teach check always keep one hand free and ready to press the STOP key Right cursor While holding down the deadman switch press OK ar aD To cancel step operation press jou want to run the program PRO1 single step 0007 GIUEARM ae ER Cancel Chi In Teach check mode keep both the deadman switch and OK key depressed until the execution is completed If either of them is released the robot comes to a halt instantly V Perform the procedure above repeatedly to execute all codes in PRO1 checking that each motion is safe 12 5 This system message is displayed
142. er sources of electrical noise 4 it may likely be submerged in fluid 5 there are any grinding or machining chips or shavings 6 any machining oil not specified in this manual is in use or Note Yushiron Oil No 4C non soluble is specified 7 there is sulfuric cutting or grinding oil mist 3 2 Service space The robot and peripheral equipment should be installed so that sufficient service space is maintained for safe teaching maintenance and inspection 3 3 3 4 3 5 3 6 3 7 3 8 Control devices outside the robot s restricted space Positioning of gauges Protection of electrical wiring and hydraulic pneumatic piping Grounding resistance Positioning of emergency stop switches Positioning of operating status indicators The robot controller teach pendant and mini pendant should be installed outside the robot s restricted space and in a place where you can observe all of the robots movements and operate the robot easily Pressure gauges oil pressure gauges and other gauges should be installed in an easy to check location If there is any possibility of the electrical wiring or hydraulic pneumatic piping being damaged protect them with a cover or similar item The protective grounding resistance of the robot power supply should not be more than 1000 Emergency stop switches should be provided in a position where they can be reached easily should it be necessary to stop the robot immedi
143. erent name to the file enter the desired name Then press OK B Create new proeram Create new program Select kind of program and input Program name Type Template Program PAC TITLE lt Titles PROGRAM Program Mames O Header h laki Operation panel onl Folder Source Ales Program SMPPGMOL File name SMPPGMO1 pac Cancel Step 3 Wait for a program to be created and the program entry window to appear B smppem01 pac Seles ITITLE lt Titlle gt 2 PROGRAM SHPPGHO 1 4 END 11 3 4 Entering and Saving Program Code Enter the following sample code to the program entry window This sample code moves the end of arm tooling from the predetermined point P1 to P2 Sample coding for PRO1 PROGRAM PRO Declare the program name PRO71 TAKEARM Get the arm semaphore SPEED 100 Set the internal speed of the end of arm tooling to 100 MOVE L P1 Move to P1 MOVE L P2 Move to P2 END Step 1 Typing the program title and program name B smppemO01_pac Seles 1 ITITLE lesso 1 Type the program title In this sample type lesson 2 PROGRAN PRO 4 END 2 Type the program name In this sample type PRO1 Program names are not case sensitive Step 2 Entering the source code F smppem l pac DER PROGRAM PRO 3 TAREARM 7 gt SPEED 100 3 Enter the PRO1 source code j MOYE L Pe oh eh A Lal i m a ad
144. erform teaching it is necessary to switch to the Manual mode beforehand 7 3 1 Operating Procedure Turn the mode selector switch to the desired mode position Mode selector switch O POWER DENSO SHORT rogram er ane e smr r F2 The selected mode icon appears in the leftmost area of the status bar C Internal Auto mode External Auto Mode AUTO Manual mode Teach check mode HAN CHECKE 7 3 2 Relationship between Operation Modes and Enable Auto Input Signal As listed below the signal state of Enable Auto system input signal should match the operation mode selected Change the wiring of the Enable Auto signal circuit if necessary referring to Section 5 3 Wire Connection Required for Automatic Operation Operation mode Enable Auto input signal OFF opened Teach check mode OFF opened If the Enable Auto input signal status does not match the operation mode ERROR21F2 Enable Auto ON or ERROR 21F3 Enable Auto OFF occurs allowing no more operation 7 5 7 4 Manual Modes You can run the robot manually from the teach pendant or mini pendant in any of the three modes Joint mode X Y mode and Tool mode NOTE To run the robot manually Enable Auto system input signal is required to be OFF opened 7 4 1 Running the Robot in Joint X Y or Tool Mode sointmode gt lt mode gt Toot mode Drives each of the four joints Drives the robot flange linearl
145. erred to DEFIO variable is out of the specified I O range then the DEFIO variable will display in gray NOTE 3 An array variable assigned to an argument cannot be displayed Example PROGRAM SUB1 11 112 10 The 112 cannot be displayed since the argument is an array variable With the display switcher button you may switch from the Variables included in one line to Variables included in all lines The sample window below shows variables included in all program lines in the currently selected program W amp HS a59508 oint notro a Program PRO3 7 13 lines Display switcher button Yariable included in all lines 0001 TITLE PRO3 FEACH one line ie 9002 PROGRAM PRO3 Se 0003 defint buff 190 Variable name index field PFS BUFF Em h on Q 0004 DEFINT ix shows ie IX IL oat 0005 DEFJNT ij 2 IJ 3 006 DEFDBL dx 0 DX D 0 000000 A aaa Eo Variable types Back Next Jum Outside or Uncertain F5 Display the selection Cancel Close this window Gt al Back Next search Display Register NOTE 1 While the Variables included in one line window displays not only local variables but global variables the Variables included in all lines window cannot display global variables NOTE 2 In the Variables included in all lines window all array variables will display with in their indexes Press the Display and cho
146. es to display the Property window and then choose the Communications setting tab Robot info Communes sera comol vadable 1 0 i eo i Ethnet PRES ya IP riim 1a Ia Tihegai J Hati O Robot info Communicstion setting comae variable 1 0 wo D Elinnet qea Bert oom 1 Bari rater 35400 Paty BE E Eyen pait Gata bite 5 In the Port pull down menu select the communications port that the PC uses In the Baud rate Parity bit Data bits and Stop bits pull down menu select the settings that match the ones specified in the robot controller Step 3 Specify the timeout period and the number of retries and then press OK The communications setting for the PC has been completed 11 18 11 5 2 For Ethernet Communication 11 5 2 1 Ethernet Configuring the robot controller Configure the robot controller from the teach pendant so that WINCAPSIII can communicate with the robot controller via Ethernet Make settings for the communication permission and IP address Step 1 Press F6 Set on the basic screen of the teach pendant F6 ay wae Step 2 Press F5 Set Com Fs The Communications Setting Menu window appears on the screen 11 19 Step 3 Press F1 Permit PA The Communication Permission Settings window appears on the screen F1 Communication Permission Settings Read wurite Disable Step 4 Select Ethern
147. et and press F5 Change The Change Permission Settings window appears on the screen Step 5 Select Read Write us sa516 Joint nore i Communication Permission Settings Change Permisad The meanings of the permission settings are as follows When using Ethernet select Read Write Disable Communication port is not used Read only Personal computer is enabled to read the robot controller data It is not allowed to send data to the robot controller Read Write Data exchange is allowed between the personal computer and robot controller Upon making section press OK The screen returns to the Communication Permission Settings window Note It is not possible to select Read Write for both COM2 RS 232C and Ethernet concurrently To select Read Write for Ethernet therefore select Disable or Read only for COM2 RS 232C 11 20 Step 6 Check the display contents and press OK The permission setting becomes valid COM RS 2320 Disab coms CONA Disable 1 0 Ports Ethernet Read write i i g Communicati on Permission Settings COM1 Pendant Read write sable 11 21 Step 7 Press F4 Address The Set Controller IP Address window appears 255 255 255 8 eal io 5 Step 9 Press Cancel twice The display returns to the basic screen 11 22 11 5 2 2 Setting Network Environment To effect connection by EtherNet it is necessary to
148. ewonasanenseavaves seas O 11 1 Tl Prepar raro coerce caceracenare omuiatn E N 11 1 11 1 1 WINCAPSIII Available in Three Versions ccccccceccccccccssseecccecaeeeecceesaaenesceeseaeeeeees 11 1 ILL Appearance ot CD ROMs CD Labe ceniona i i a E E E 11 1 H3 License Certificate with User ID acresineiiaininen naa 11 2 11 1 4 Checking the WINCAPSIII Version on PC Screen cccccecccceseccseceeseceeecseeseeeess 11 2 ILES INOCCS SOP At einde qua dneacecacadtuastadebynibeoubeiebuncaerchescheavaeosbunsiessesss 11 3 WAG Entry or License Key ces essen ccaosrenocsotnavepacsunacuansatudesy tha sansasaetasgbansnesdugeuaaa santos tebaseneiieas 11 3 Ti Ove ewo a MOO OT Mis rcs fess icp stars iafeesoiste ate siesta cae ee Be Bes 11 4 Ho Oe avers es a Saas ie rO atc Dn 0 emetemenee ee e e aot eo es err ner he eer ves ae ea eee eee ae Oe 11 5 33k sotartine wp WINCAPROUD D ereraa E R ER AEEA eee Rees 11 5 LO Creatine A NOW Ero CCl ssnsncesaiaensaanseansaenaanstansa AAAA AAE ETES 11 5 oa AON awe GOST aa AA E ETO E TOS 11 8 11 3 4 Entering and Saving Program Cod e ccccccccccccscccsecccecccsececeecsceecseeusseesseeseensssenseeens 11 10 Ali Dies 5 names 0 504 ONE H Gh osan the ale oa sb 09 een enn ee eee ao 11 11 11 4 Connecting WINCAPSIII and Controller with Communications Cables 11 13 14L Borde 2020 Communicator we OO snd 11 13 ThA or EtherNet Communication oosctessidsacercntvaisectscissaseossetaiaa nn nmannaenanen 11 18
149. fore use the robot by reducing the speed if there is an obstacle near the motion If you stop the robot instantaneously during speed reduction near the vicinity of a singular point refer to the SETTING UP MANUAL Section 4 1 3 2 Boundaries of Robot Figures the instantaneous stop time may extend The instantaneous stop distance however remains unchanged 16 2 4 Control Set 3 In this control set the robot moves the same as in control set 1 in PTP motion and control set 2 in CP motion 16 4 16 3 How to Set Optimal Load Capacity Initializing 16 3 1 Setting with Teach Pendant Operation flow Main Screen F2 Arm F6 Aux F7 Config If you use the teach pendant and follow the above procedure the User Preferences window will appear where you can set master control parameters such as the control set of motion optimization and the mass of payload M g a wm em Joint noro 1m User Preferences No of parameters 1331 7 Control set of motion optimization 0FF 1 Six 9 Mass of payload g 19 Payload center of gravity X mm 11 Payload center of gravity Y mm Cancel OK F5 Change the selection OK Exit with saving om Select the following items in this User Preferences window then press F5 Change to call up the numeric keypad where you can enter new values Setting item 7 Control set of motion optimization 9 Mass of load g 10 Payload center of gravity X mm 11 Payloa
150. ge limit an error of command speed limit over may occur stopping the robot In control set 2 however the speed automatically falls within the command speed limit allowing you to operate the robot without the above error Precautions for Using Control Set 2 In this control set an overload error may occur during the robot motion When you adjust the speed check the load rate using the log function of the load estimation value on the pendant Refer to the SETTING UP MANUAL Section 5 3 Displaying anticipated overloads to the capacity of motors and brake resistance of the robot controller F2 F6 F10 Or check the load rate using the log function of WINCAPSIII If an overload error occurs adjust the motor load by setting appropriate values of the timer or internal speed and acceleration Depending on the motion speed the path may possibly change by approximately 20 mm Therefore because in the pass motion near obstacles the robot may interfere with them execute control set 0 Because the speed may change in the constant soeed movement section in CP motion perform work that requires constant speed movement in control set O or 1 Errors of command acceleration limit over 6761 to 6766 and excessive deviation 6111 to 6116 may occur in CP motion If such an error occurs adjust the acceleration with internal speed and internal acceleration A path shift of up to approximately 5mm may also occur in high speed motion There
151. ge the parameter value for each item Setting item Control set of motion optimization Mass of payload g Payload center of gravity X mm Payload center of gravity Y mm Payload center of gravity Z mm or Inertia of payload kgcm for 4 axes robot in Version 1 9 or later After each parameter value is set transmit the data to the robot controller First turn OFF the motor power with the MOTOR key on the teach pendant Click the Connect button to establish a connection between the Arm Manager and the robot controller and then click the Transfer button to display the Transfer Environment Table window shown below Choose Connect Transfer data to display the following window In the WINCAPSIII pane select Parameters Arm parameters and then press Send Transfer data WINCAPS III Controller VI Local data SAMPLE 001 Send gt CI Controller 10 8 102 128 a cA Program 3 C3 Program H I Source file alye 4 E Source file QO Executable file Map file OO Executable file Map file Variable Cancel J Variable H J Tool Work Area _ 4 Tool Work Area Parameter 4 Log PEEN AE 5 Parameter I O parameters C Program Parameters 16 6 16 4 How to Set Optimal Load Capacity Initializing Version 1 4 or later This section describes how to set the optimal load capacity initializing mode to the mode 0 or how to maintain the current setting after the controller i
152. h Roboterbewegungen k nnen Verletzungen verursacht werden 2 ARM 34 F79 HEME IE Z WARNING Risk of electrical shock Do not open controller cover when power is on Do not touch inside within 3 minutes of turning off power and disconnecting cable Label 3 Z WARNING Risk of injury Do not turn on power when someone is inside safety fence Lockout and tagout power before servicing Label 4 This section provides safety precautions to be observed for the robot system The installation shall be made by qualified personal and should confirm to all national and local codes The robot unit and controller have warning labels These labels alert the user to the danger of the areas on which they are pasted Be sure to observe the instructions printed on those labels Instructions printed on the label Risk of injury Never enter the restricted space For UL Listed robot units only Risk of injury This label alerts the user that pressing the brake release switch could drop the arm Risk of electrical shock Never open the controller cover when the power is on Never touch the inside of the controller for at least 3 minutes even after turning the power off and disconnecting the power cable Risk of injury Be sure to perform before starting servicing lockout tagout Turning the power ON when a person is inside the safety fence may move the arm Causing injurie
153. h the robot controller via Ethernet The interface can be also specified with the WINCAPSIII Project wizard see Section 11 3 2 step 5 Even after the wizard is finished the interface can be changed with the procedure given below STEP 1 Choose Project Properties to display the Property window and then choose the Communications setting tab Robot info Communication setting compile Variable yo Device ORS 232C jon IP address 192 168 O 1 Timeout T 3000 m s Retry C 3 times OK Cancel STEP 2 Make sure that Ethernet is selected and enter the IP address of the robot controller Robot info Communication setting compile Variable I O Device ORS 232C gt IP address Timeout T s 3000 ms Retry C 3 times OK Cancel STEP 3 Specify the timeout period and the number of retries and then press OK The communications setting for the PC has been completed 11 25 11 6 Transmitting Data with WINCAPSIII Before transmitting data sending receiving data between the robot controller and WINCAPSIII it is necessary to make the communication permission settings and to check the controller operation status Depending on the controller status data transmission may fail 11 6 1 Preparation in the Controller Precautions for Transferring Data 1 Check that no error message is displayed on the teach pendant screen 2 Check that
154. he RC7M CONTROLLER MANUAL Chapter 8 I O Allocation for I O Conversion Box 13 6 1 Hand I O CN9 Common to All Modes The RC7M controller has a hand I O CNY as standard which is common to all modes independent of the allocation mode selected HAND I O CNQ NPN type I O Hand output 65 Brown Yellow Hand input Pink White Ts reom 65 mee creon 19 ng a2 wie wie a Hansouput 67 Bom Red 14 Handinput so white White eee SE SRAC AO IE ao output Yellow Yellow 17 Internal power White Brown source output 24V Hand output Green Green Internal power White Brown source output OV Co ema ae ave rea o no wie brown 10 renano voe voe 20 no wie Bom HAND I O CN9 PNP e I O Hand Hand output Black Blue Hand Hand input eee ee ete e Hand output 66 ick Green 19 Handinput a renomp or Brown Rea 1 Handinput e recon 66 Rea voet 15 Handinput 7 Hand output 70 Yellow Yellow 17 Internal power White Brown source output OV Hand output Green Green Internal power White Brown source output 24V EA ANE TE DR RI NEN 13 14 13 6 2 Mini I O Board CNS5 on standard type of controller in Mini I O Dedicated Mode Terminal Sianainame Terminal Siona name Port No g g No Enable Auto Internal 24V input Back Enable Auto input Enable SW 2 1 Mini relay Enable SW 2 2 Mini relay ol el External Emergency Stop 1 b
155. he Single point of control window Ver 2 3 or later 2 3 Chapter 3 General Information about the Interface 3 1 Types and General Information about Mini I O Signals This section describes the I O signals on the robot controller The I O signals are grouped into two user I O signals and system I O ones If no optional I O extension board is mounted the controller handles I O signals in the mini I O dedicated mode via the mini I O connector CN5 and the HAND I O connector CNQ 3 1 1 Types of Mini I O Signals on the Standard Type of Controller Type System input System output Input for command execution Output for command execution Type User input User output HAND input HAND output Seven input points for command execution are used to direct program start and other instructions as I O commands The table below lists the types of system I O signals Types of I O Signals Standard type of controller Fixed by system No of points External Emergency Stop 1 External Emergency Stop 2 Enable Auto Step Stop All tasks Auto Mode Robot Initialized Robot Running CPU Normal Robot Error Operation Preparation Completed Battery Warning Emergency Stop 1 Emergency Stop 2 Deadman SW 1 Enable SW 1 Deadman SW 2 Enable SW 2 Pendant Emergency Stop 1 Pendant Emergency Stop 2 Continue Start Permission selectable by I O hardware setting See Note below 7 Command 3 bits
156. hile the condition is true execution is repeated posttest e DO UNTIL LOOP Execution is repeated until the condition becomes true pretest e DO LOOP UNTIL Execution is repeated until the condition becomes true posttest Note To exit from DO LOOP and move on to the next statement use the EXT DO command while the condition is true Judge the condition 18 8 e DO UNTIL LOOP pretest Example 3 Repeat the execution until 11 gt 12 DO UNTIL I1 gt I2 Repeat the statement block between DO and LOOP tuntil T1isI2 F1 F2 F3 F4 F5 F6 I2 I2 ABS F4 LOOP e DO LOOP UNTIL posttest Example 4 Repeat the execution until 11 gt 12 Judge the condition here and repeat the following statements until the condition becomes true Judge the condition here and repeat the above statements until the condition becomes true DO F1 F2 F3 F4 F5 F6 I2 I2 ABS F44 LOOP UNTIL I1 gt I2 Repeat the statement block between DO and LOOP huntcil Tisi2 NO F1 F2 F3 Vv F4 F5 F6 Vv 2 12 ABS F4 E y F1 F2 F3 Vv F4 F5 F6 Vv I2 12 ABS F4 Note Inthe case of posttest the statement block between DO a
157. hotoelectric tube Program Samples Initial input parameters Variables to be used Motion start position entry required P6 End position entry required P10 For storage of the current robot position value detected when the sensor is turned from ON to OFF automatic entry P11 For storage of the current robot position value detected when the sensor is turned from OFF to ON automatic entr Calculation result of P10 to P11 distance automatic entr ITITLE Measure workpiece size with a pair of sensors PROGRAM Sample 011 TAKEARM MOVE P E P5 S 100 SPEED MPS 20 ACCEL 100 100 Inspect 0 IF IO0 34 ON THEN Sensor turned ON at the start point 2 Error PRINTMSG STOP ENDIF MOVE L 0 P6 NEXT Move to the start position Set speed to 20 mm s Set acceleration and deceleration to 100 Initialize inspection flag If the sensor is turned ON Terminate program Move to the end position with NEXT option Sse Parallel processing with movement to PE lt s s sss oses ress teseecesesecss DO IF Inspect s 0 THEN IF I0 34 ON THEN P10 CURPOS Inspect 1 ENDIF ELSEIF I10 34 OFF THEN P11 CURPOS Inspect 2 EXIT DO ENDIF IF Inspect 0 OR Inspect 1 THEN If the sensor is turned ON Get the current position value to P 10 Start size measurement flag 1 Tf the sensor is turned OFF Get the current position value to P 11 Finish size measurement flag 2 Forcedly exit DO
158. in particular take extra caution in Internal automatic operation Before starting the robot check the following items as well as setting the signals to be used and perform signaling practice with all related workers 1 Check that there is no one inside the safeguarded space with a safety fence 2 Check that the teach pendant and tools are in their designated places 3 Check that no lamps indicating a malfunction on the robot or related equipment are lit Check that the display lamp indicating automatic operation is lit during automatic operation Steps to be taken when a malfunction occurs Stop the robot s operation by activating the emergency stop device when it is necessary to enter the safeguarded space with a safety fence to perform emergency maintenance in the case of malfunction of the robots or related equipment Take any necessary steps such as posting a notice on the start switch to indicate work is in progress to prevent anyone from accessing the robot Do not perform repairs outside of the designated range Under no circumstances should the interlock mechanism be removed When opening the robot controller s cover for battery replacement or any other reasons always turn the robot controller power off and disconnect the power cable Use only spare tools specified in this manual 5 Daily and Periodical 1 Be sure to perform daily and periodical inspections Before In tion starting jobs always check that
159. inate system using type P Obtains the current position in 12 26 the tool coordinate system using type T Gets the current angle of an V1 5 V1 6 12 27 extended joint into a floating point variable Obtains the current movement O O 12 28 instruction destination position using type J The current position instruction value is obtained when the robot stops Obtains the current movement O O 12 29 instruction destination position with type P When the robot stops the current value instruction value is obtained Obtains the current movement 12 30 instruction destination position with type T When the robot stops the current position instruction value is obtained Gets the target position of an V1 5 V1 6 12 31 extended joint invoked by the current motion command into a floating point variable If the robot is on halt this command will get the current position commanded value Defines the motion ratio relative V1 2 12 32 to the programmed full travel distance to the target point in order to make the current program stand by to execute the next step until the robot reaches the defined motion ratio App 2 5 12 22 O O 12 24 4 axis 6 axis Vision device Available with all series of robots and vision device O O O Available with all series of robots The command specifications differ between the 4 axis 6 axis robot and vision device V1 2 Avail
160. ing so will display the target variable name Displays the numeric keypad where you may enter a variable F5 Change value you want to assign with the numerical keys and then press OK Doing so will assign the newly entered value to the variable F7 Copy Var Copies the currently selected variable F12 Register Adds the currently selected variable to the watch list NOTE Variable values cannot be modified in External Auto mode 15 1 15 1 2 Monitoring and Modifying Local Variables You may immediately refer to local variables defined in a program To do so specify a desired program line and press the QUICK reference button that is newly provided in the coding list window as shown below W amp HS 45352 oint noto a Program PRO3 4 1 lines 0001 ITITLE PRO3 0002 PROGRAM PROS 0003 defint buff 100 I 0004 T1 0 0005 do while I1 lt gt 100 0006 if buff 0 8H52 then 0007 end if Back Next Jump To BP GetPos Displays the program wo al NeuLine Del Line Copuline Paste Fditl ine Save NOTE Only in manual mode you can highlight a desired program line or move the cursor to a desired line The Variables included in one line window see below appears where local variables involved in the currently highlighted line and global variables are displayed The sample window below displays variable 11 in the STEP STOP program line Integer floating point d
161. ion Do not permit anyone other than the worker engaged for that job to enter the robot s restricted space 2 Ensure a worker within the robot s restricted space carries the portable emergency stop switch so he she can press it the emergency button on the teach pendant immediately if it should be necessary to do so 4 4 Inspections before Before starting work such as teaching inspect the following commencing work items carry out any repairs immediately upon detection of a such as teaching malfunction and perform any other necessary measures 1 Check for any damage to the sheath or cover of the external wiring or to the external devices 2 Check that the robot is functioning normally or not any unusual noise or vibration during operation 3 Check the functioning of the emergency stop device 4 Check there is no leakage of air or oil from any pipes 5 Check there are no obstructive objects in or near the robot s restricted space SAFETY PRECAUTIONS 4 5 Release of residual air pressure 4 6 Precautions for test runs 4 7 Precautions for automatic operation 4 8 Precautions in repairs Before disassembling or replacing pneumatic parts first release any residual air pressure in the drive cylinder Whenever possible have the worker stay outside of the robot s restricted space when performing test runs 1 At start up 4 Stay out of the safeguarded space with a safety fence when starting the robot
162. ion a ay 8 Initialization WINCAPS I floppy disk option SSG o 7 Spare fuses for 13 Spare output IC for 16 Short sockets for 5 Manua robot controller robot controller robot controller GED l a C a 10 Connector set for E 11 Direction hand control signals 14 Dowel pins indicator label 12 Warning label CN20 21 6 NetwoRC CD Note 1 Items 1 to 16 are the standard components listed in Section 1 2 Note 2 The pendantless connector should be attached to the robot controller connector when no teach pendant or mini pendant is connected Note 3 The components illustrated above are typical models or parts Configurators of the Robot System 1 1 1 2 Standard Components The components listed below are contained in the product package Standard Components Applicableto Applicableto Q ty us Hm xyc ve vs vH XR series series series series series series series Tt Roon OOOO A EV PV N 2 Robot contro o v NN naa 6 Powercabe em v N VV KaL T O T O EEE EAE ARER 5 Manuals Manual Pack CD and Safety Precautions 6 NetwoRC CD containing WINCAPSIII beta version Spare fuses for robot controller 1 3A x 2 pcs 3 2A x 1 pc Initialization floppy disk 1 44 MB format Note 2 gy TT T T Pendantless connector Dummy connector not contained in UL Listed robot systems Connect
163. is specified by lt axis number gt to the angle DEG specified by lt axis coordinate gt If you specify the same axis more than one time the last specification takes effect lt pass start displacement gt is any of 0 P 1 to 255 and E Pass start displacement feo The robot moves in the end motion If omitted the default 0 applies The robot moves in the pass motion Note The specified numeric value is the radius of a sphere whose center is located at the destination position and it is expressed in units of mm when the motion command value enters the sphere range control passes to the next one This is merely used as a guide value for changing the pass start timing not a guaranteed value The robot checks the arrival at the destination position with the encoder value lt motion option gt Is any of SPEED ACCEL and DECEL SPEED or SPEED orS Specifies the motion speed s S the motion speed Specifies the acceleration Specifies the deceleration If the NEXT option is specified control passes to the next non motion command without waiting for the current motion to finish Note that the following instructions are not executed until the current robot motion finishes pass start Robot motion commands CHANGETOOL CHANGEWORK SPEED JSPEED ACCEL JACCEL DECEL JDECEL Motion optimization libraries aspACLD aspChange Arm motion libraries mvSetPulseWidth etc P or 1 to 255
164. it of the fence stating In operation Entry forbidden or Work in progress Do not operate and ensure that workers follow these instructions at all times When making a test run before setting up the fence place an overseer in a position outside the robot s restricted space and one in which he she can see all of the robot s movements The overseer should prevent workers from entering the robot s restricted space and be devoted solely to that task 3 10 Setting the robot s The area required for the robot to work is called the robot s motion space operating space If the robot s motion space is greater than the operating space it is recommended that you set a smaller motion space to prevent the robot from interfering or disrupting other equipment Refer to the INSTALLATION amp MAINTENANCE GUIDE Chapter 2 3 11 No robot modification allowed 3 12 Cleaning of tools 3 13 Lighting 3 14 Protection from objects thrown by the end effector 3 15 Affixing the warning label 3 16 Posting the moving directions of all axes Never modify the robot unit robot controller teach pendant or other devices If your robot uses welding guns paint spray nozzles or other end effectors requiring cleaning it is recommended that the cleaning process be carried out automatically Sufficient illumination should be assured for safe robot operation If there is any risk of workers being injured in the event that the object being hel
165. ition between the PC and the robot COMPATIBLE MODE The mode in which the I O allocation is set to be compatible with the conventional series of robots It is switched by software CONTINUOUS START The start method to execute a program in iteration The operation continues until it is forced to stop CONTROL LOG The record of the specified value the encoder value the current value and the load ratio They are recorded by each motion axis CONVENTIONAL LANGUAGE The robot language used in Denso robot conventionally CP CONTROL Compensation control to make the path from the current position to the motion target position a Straight line or a circle PTP control CURRENT POSITION The current position of the origin of the tool coordinates CYCLE STOP The stop method to stop a program after one cycle execution D D VARIABLE Double precision variable The variable which has a value of double precision real number 15 digits of effective precision DAILY INSPECTION The inspection before the daily work DATA AREA A group of I O ports to specify the necessary data for I O command DEADMAN SWITCH The switch which moves robot as long as any of the arm traverse keys is pressed simultaneously for safety The robot stops immediately when either the arm traverse key or the deadman switch is released The switch is also called enable switch DEFINING INTERFERENCE AREA To define the interferenc
166. l user I O mode Note Extensions 1 2 and 3 correspond to the ones listed in the Combination of I O Extension Boards table on the previous page 3 3 2 Functions in Individual Allocation Modes Functions of I O signals differ depending on the allocation modes as shown in the table below Functions in Individual Allocation Modes Allocation General description mode Combination of bits commands operations Some functions are deleted from the ones Mini I O provided in Standard allocation dedicated Mini I O system allocation is allocated to the Mini I O area When an I O option board is attached only the user signal is allocated to the I O option board area Functions such as program activation are specified by each bit Operations are directed by Compatible the bit being set Compatible system allocation is allocated to the I O extension board area Only the user signal excluding CPU Normal is allocated to all ports of the Mini I O area Directs program activation etc with a combination of bits I O command This allocation has the greatest number of functions Standard system allocation is allocated to the I O extension board area Only the user signal excluding CPU Normal is allocated to all ports of the Mini I O area All user I O Only the user signal is allocated to the I O extension board area Only the user signal excluding CPU Normal is allocated to all ports of the Mini I O area Standard 3 5
167. le Stop Step Stop Halt 12 4 1 Cycle Stop F3 Executing the cycle stop stops the robot after executing the last step of the task program This is used when the robot is continuously started This operation does not turn the motor power OFF 12 4 2 Step Stop F2 Executing the step stop interrupts the running task program midway after executing the step in which the step stop key is pressed This operation does not turn the motor power OFF 12 4 3 Halt F1 STOP Executing the halt immediately interrupts the running task program selected or all running task programs midway the moment F1 Halt or STOP key is pressed respectively This operation does not turn the motor power OFF 12 12 12 4 4 Emergency Stop Robot Stop Pressing the emergency stop button immediately stops all running task programs midway and turns the motor power off the moment the emergency stop button is pressed Step 1 Press the emergency stop button Emergency stop button QA oa wess woro SCTE Program List No of programs 2 Dir ee On halt o oo 128 E ae a A The program s is are aborted i ooo es o and On halt is displayed in the Status column TEST TEST2 Cancel Close this window i Halt StepStop CycStop Start see Restarting the robot after an emergency stop executes the selected program from the first line To restart the robot first turn the motor power ON then e
168. line example of MV Example MOVE P P1 If you designate a Type P or Type T variable as the PTP motion destination position and also designate robot figure the robot moves so that the robot becomes the designated robot figure If you do not designate any robot figure it will be the current robot figure CP Control CP control manages interpolation so that the path to reach the motion destination position will be a straight line If you designate L for designation of the interpolation method with the motion control command the robot executes the CP motion A O OB Motion path is a line Example MOVE C P1 P1 e The robot cannot simply move the position of a different figure from the current figure If you designate a different figure an error of 607F robot figure mismatch may occur However if the movement is available the error may not occur e A figure similar to the current one is selected as the robot figure Therefore even if you designate the robot figure with a Type P or Type T variable the figure may not become the one designated If the figure is different from the figure designated a warning 601C change figure may occur e f you execute the first motion command in a program with CP control the motion may not be available depending on the robot position PTP control is recommended for the first motion command in the program Arc Interpolation Control Arc interpolation controls interpolation s
169. ly installed WINCAPSIII can be checked on a PC screen as shown below Trial version area bit 2 SINS L go mand area bit 0 SING O O mand area bit 1 SIN i Trial Programmer NUM Light version Data area bit 2 SINS Command area bitO SING Command area bit 1 SINF L L Light Programmer CAP NUM Si Product version SIMS 33 bitO SING 2a biti SIN Programmer MUM 11 2 11 1 5 Notes on Updating WINCAPSIII is available in the trial light and product versions which are upgraded from trial to product versions Updating of those versions is possible with any version of the WINCAPSII CD ROM In the PC in which the product version has been installed for example using the trial version of the WINCAPSIII CD ROM can update the existing product version to the newer one In the PC in which the trial version has been installed using the ight version of the WINCAPSIII CD ROM can update and upgrade the existing trial version to the newer light version Tip Entering a license key user ID upgrades even the trial or light version to the product version 11 1 6 Entry of License Key To upgrade your WINCAPSIII to the product version enter the license key given on the license certificate into the License Information window To display the License Information window choose Help License License Intormation ee f f j fi i i J F i A P a i WINCAPSIII Pl
170. m vse Joint woro 1m Edit Program 3 6 lines Delete the apostrophe from the head of the line using the if2 e sis 7 oe as et cursor keys and Dell SS ee eee RIB IEA EDR VES RARER 5s EAMG 20d es ea a V M Q vse Joint noro m Program PROL L 3 6 lines Dir A 0001 ITITLE PR01 EAC Q 002 PROGRAM PRO1 isi ee The screen shows the program edit TIl 0004 window Program PRO1 again ee END where the 3rd line has been 9006 modified Back Next Jump To BP GetPos Displays the prog om A NewL Del Line Copy ine Past EditL Save 10 4 g vs e55ea Jit noto a2 Program PROL 3 6 lines Dir So 0001 ITITLE PROL TEACH 0002 PROGRAM PROL ii Q S 7 0003 Takefirm Al 0004 WATCH 9005 END 0006 Back Next Jump To BP GetPos Displays the program scr al Newline Ke V 2 vse Joint noro m Inecri cou Program Line 3 6 lines ell L bela SASS DENOONHONANE SAooooos sane TELLER OK Take in new entry Cancel Discard new entry Go User Flow Robot Category Recent Clr V g a vsesses Jit noto a2 Program PRO1 4 7 lines Dir 0001 ITITLE PROL 002 PROGRAM PROL 0003 Takefirm 0004 SPEED 100 8005 9006 END 0007 Back Next Jump To BP GetPos Displays the program Ci
171. ment Interference area 1 Interference area 3 Interference area 2 Program Samples Initial input parameters Variables to be used Variable to assign the current position obtained Automatically assigned lO 221 Area 1 output signal Auto output signal lO 222 Area 2 output signal Auto output signal lO 223 Area 3 output signal Auto output signal ITITLE Return to Home Position 2 Interference Area Check PROGRAM Sample TAKEARM HOME Pl Declare Pl as the home position P10 CURPOS Assign the current position to P10 IF IO 221 OFF AND I10 222 OFF AND 1I0 223 OFF THEN PRINTMSG Current position is out of the defined area 2 Error T the arm end is out of the defined area the error message is displayed STOP Stop the program ELSEIF IO 221 ON OR I10 223 ON THEN Tf the arm end is in area 1 or 3 LETZ P10 450 specify 450 mm for the Z axis coordinates ELSEIF I0 222 ON THEN Tf the arm end is in area 2 LETY P10 0 specify 0 mm for the Y axis coordinates ENDIF MOVE P 0 P10 S 50 Evacuate from the current position Saas If the band is closed workpiece gripped ject Motion H4 s4 4s IF I0 64 ON THEN It the hand is closed MOVE P 0 P22 S 50 move to the position away from the interference area APPROACH P P21 0 100 S 50 Move to the 100 mm above the workpiece disposal box MOVE P 0 P21 S 50 Approach the disposal box CALL PRPDUCT RELEASE Unchuck Program created by the user DEPART
172. mmy I Os Only for user inputs and hand inputs the dummy I O function is available Using the function enables you to turn I Os from ON to OFF or from OFF to ON in the WINCAPSIII I O window Step 141 Open the target project and choose Connect Monitor Communication Online Monitor see Section 14 2 1 Step 1 Then choose View IO View to display an I O window see Section 14 2 1 Step 2 In the Dummy column select I Os that the dummy I O function should apply Smart View g Type Usage Macro Dummy Log Smart System input Command area bit 1 SIN E System input Command area bit 2 SINS User input UIN1 User input UIN2 User input UINS User input UIN4 User input UINS User input UIN6 User input UIN Step 2 Press the dummy input button to allow the selected I Os to be controlled from WINCAPSIIL Smart View A Type R Usage Macro Dummy Log Smart System input Command area bit 1 SINF System input Command area bit 2 SINS User input UIN1 User input UIN2 User input UINS User input UIN4 User input UINS User input UIN6 User input UIN In the dummy I O mode the I O icon with an exclamation mark appears SAMPLE 002 H SAMPLE 002 File Edit View gt File Edit view alto i wat Q y ls Se E i z Step 3 Jo toggle the selected I O on and off press the corresponding field in the State column Type Usage Macro Dummy Log Smart User input UIN1 wi User input UIN2 v User input UINS
173. n about RC7M Controller cecccccseccesceceescescesseeseesceeseusss 2 2 1 Controller Model Name on Nameplate cererea aa ias iinis 271 2 2 Differences between Global and Standard Types of Robot Controllers eee 22 2 2 1 Deadman Switch Function Enable Switch Function cccccccccescccessecesssesesssceessseeesees 22 22 2 Single Point of Control Function eeseeseeessessssseseseresssesscrssrsseresesssesseeseerseerseerseeseereeese 2 3 Chapter 3 General Information about the Interface ccc ceccscceecceccesceeceeseessesceecesscesseesesees 3 1 3 1 Types and General Information about Mini I O Signals ccc cecccesecceeeseeneseeeeseees 3 1 3 1 1 Types of Mini I O Signals on the Standard Type of Controller ccc eecccceeeeeeeeeeees 371 3 1 2 Types of Mini I O Signals on the Global Type of Controller ec ecccceeeceeeeeeeeees 372 O22 Overview OF TO Extension Board Seesen eniinn i aE EEE EEEE 373 322 NFO Extension Boards AvailaplEssusirouanraurinanniviiisio iiai ai ANAN 3 3 3 38 Combination of I O Extension Boards and Allocation Mode cccccccccseccccceeseececeeeeeeeeees 3 74 3 3 1 W O Allocation in Individual Allocation Mode ccccccccceecccccsseccccessececeeseceeaueccesaueeees 3 5 3 9 2 Functions in Individual Allocation Modes ccccccccccsssseccccceeeeeceecaeeeeecceeaaeeeeceeseaaenseees 3 5 3 4 Mini I O Functions in Compatible Standard or All User I O Mode 3 6 3 5
174. n connector CN5 5 3 3 Global Type of Controller Enable Auto 1 7 and 25 on connector CN10 Enable Auto 2 8 and 26 on connector CN10 Protective Stop 1 5 and 23 on connector CN10 Protective Stop 2 6 and 24 on connector CN10 5 2 Note 1 2 3 Two Enable Auto and two Protective Stop input signals must be controlled with separate contacts Two circuits connected in parallel using a single contact or an always shorted circuit will be interpreted as an external circuit failure so that the circuit will not operate The Enable Auto and Protective Stop input signal circuits are connected in series in the controller They are used as an automatic operation permission signal when closed and enable two types of signal inputs If no Protective Stop input signals are needed their circuits can be always short circuited by terminal connection with jumpers between 5 and 23 and between terminals 6 and 24 on connector CN10 5 3 Part 2 Robot Running Chapter 6 Coordinates Chapter 7 Preparations for Teaching Chapter 8 Teaching Chapter 6 Coordinates 6 1 Coordinates in 4 Axis Robots The following three coordinates are available for running the 4 axis robot Base coordinates Work coordinates Tool coordinates 6 2 Base Coordinates in 4 Axis Robots The base coordinates are so called world coordinates which refer to 3 dimensional Cartesian coordinates whose origin is at the center of the robot basemen
175. n monitor the status of system inputs and outputs user inputs and outputs and internal I O in real time Also you can simulate robot motions by forcibly turning on the user Output signal hand output signal and internal I O signal or by turning on the dummy signals of user inputs and hand inputs 14 1 Operation Using the Teach Pendant 14 1 1 Monitoring the I Os Pressing F4 I O on the top screen will display the I O Monitor window as shown below In this window you can check the ON OFF status of I Os Q ys ssm Joint noro r I 0 Monitor LIn standard mode Enable Auto r Deadman SH r Robot stop Mie i dedct mii Dedct IN ce edct INA cs IDedct IN Stop all steps Not used Halt ALL Strobe signal Wii edcet INA cS IDedct niie IDedcet INMBc7 edct IN Skip interrupt Odd parity Data 1 Data 1 1 Bis Dedct mico edct nicio dedct inici edct IN Data 1 2 Data 1 3 Data 1 4 Data 1 5 Bii ddedct mici dedct nicis dedct niis IDedct IN 6 Data Data 1 7 Data 2 Data 2 1 F5 0K Turns the selection on or off a al Back Next Jump To Dummy 1s ON OFF fux F1 F2 F3 F4 F5 F6 F10 Function keys available F1 Back Displays the previous page of the I O signal list F2 Next Displays the next page of the I O signal list F3 Jump To F4 Dummy IN F5 ON OFF Displays the Jump to I O No window where you may type an I O port address you want to see with the numerical keys and press OK Doing so will di
176. n target position set by teaching lt relative motion ADDRESS SETTING IP address To set the controller IP address It is required in Ethernet communication APPROACH VECTOR Positive directional vector of Z axis on the mechanical interface coordinates AREA The number of white and black pixels in a window when an image data is binarized Vision terms ARM CONFIGURATION MACRO DEFINITION FILE The file which contains the macro definition information of the arm setting data ARM FIGURE The figure determined by the value of the st through the 3rd axes of 6 axis robot There are two kinds of figures RIGHTY and LEFTY ARM FILE The file in which the information peculiar to the robot is recorded ARM SEMAFORE The privilege of robot control The task which has the privilege can operate the robot AUTOMATIC ROBOT RUN To run the robot by executing a program BASE The portion to install the 1st axis of the robot BASE COORDINATES The three dimensional orthogonal coordinate system which has the origin on the robot base BASE MOUNTING SURFACE The junction surface of the base and the installation frame BELOW One of the elbow figures of 6 axis robot lt ABOVE BINARIZATION To change the brightness of each pixel to either white 0 or black 1 by the threshold value binarization level BINARIZATION LEVEL The threshold value of binarization Vision terms BRAKE OFF releasing b
177. n the 4 axis 6 axis robot and vision device of Version 1 2 or later Functions Obtains an arc cosine Obtains an arc sine Obtains an arc tangent Obtains the arc tangent of expression 1 divided by expression 2 Obtains a cosine Obtains a sine Obtains a tangent Converts the unit to a radian Converts a value set in radians to degrees Converts the unit to degrees Converts an expression of speed Converts a value expressed in seconds to milliseconds Extracts an approach vector Extracts an orient vector Extracts a position vector Obtains the vector size Transforms joint type data to position type data Transforms joint type data to homogeneous transformation type data Transforms position type data to joint type data Transforms position type data to homogeneous transformation type data Transforms homogeneous transformation type data to joint type data Transforms homogeneous transformation type data to position type data Calculates an inverse matrix of homogeneous transformation type data Normalizes homogeneous transformation data Returns the distance between two points Extracts a figure Extracts an angle from joint type coordinates Extracts the X component Extracts the Y component Extracts the Z component Extracts the X axis rotation component App 2 12 4 axis 6 axis
178. n the Mode menu and select the desired assignment S Property Robot info Communication setting Compile Variable I O Assign oot Ines Device parallel Mode Mini 10 Mini 10 Options i DeviceNet 10 Box Compatible 10 Box Standard Return to default 4 In the window above press OK and the following message appears In the dialog box below press Yes if there is no problem with initialization of macro and usage definition press No if there is a problem Pressing either one changes the allocation O Property Robot info Communication setting Compile variable 1 0 Assign Fa Device Parallel Mode 10 Box Standard Options DeviceNet WINC APS M 1 0 Allocation mode has been changed Are you sure to initialize macro and usage definition Return to default 3 8 5 Choose Connect Transfer data to display the bidirectional transfer dialog box Select I O parameters in WINCAPSIII and press Send to transfer I O assignment from WINCAPSIII to the robot controller f Ttranster data WINCAPS IIT Controller mg Local data R434311G 081127 18 Controller 10 8 102 129 iG Program k G3 Program CEA Source file z Receive Ea Source file C Executable file Map file Ja Variable ja Variable C Tool Work y Area J Tool Work Area a l Log a Parameter ef gt Parameter C Arm parameters EFO parameters O Program Parameters 6
179. nal Auto limited mode The Auto mode is limited to the Internal Auto limited mode in which a program start can be triggered from the teach pendant but cannot from external equipment m External Auto limited mode The Auto mode is limited to the External Auto limited mode in which a program start can be triggered from external equipment but cannot from the teach pendant Note In this mode the teach pendant operation panel editor Panel Designer cannot be used in External Auto Setting the Internal External Auto Limited Mode Parameters Using the teach pendant set the parameters with the following access Note 1 The Internal Auto Limited Mode is the factory default Note 2 The global type displays letter A following the robot type on the teach pendant screen Access Top screen F4 I O F6 Aux F1 Set HW F3 Jump To 31 In Ver 2 3 or later Access Top screen F4 I O F6 Aux F4 Int Ext A displayed A displayed G W Y e vse A Joint noro a ER Auxiliar Single point of control Zz 2 Single point of control Set H I Internal automatic mode A 33 DeviceNet Node address o o ted External automatic mode 34 DeviceNet Bit Rate 125KB 1 250KB 2 2 65280 F7 Cancel OK Cancel OK 1 0 Lo F5 Change the selection OK Exit with saving a OK Exit with saving go Setting on the I O Hardware Settings window Setting on t
180. named SampleProgram 18 2 18 2 2 GOSUB Call a subroutine Syntax GOSUB_ lt labelname gt Description To use the same program at different positions in one program describe the process as a subroutine The subroutine can be used by calling it from the different positions The subroutine must be described in the same file as the calling program If a subroutine is called using a GOSUB statement control moves to the subroutine If control executes a RETURN statement on the last line of the subroutine it returns to the next line of the program that called the subroutine A subroutine can be called from another subroutine which is called calling nesting Note Callings can be nested up to 31 times including GALL and GOSUB For rules about program label refer to Section 18 3 1 GOTO Program example 1 Program example 2 Calls same program Calls other subroutine from a many times subroutine SHEEN i Main routine slat Main routine Calling routine Calling routine GOSUB SUBROUTINE1 GOSUB SUBROUT INE1 GOSUB SUBROUTINE1 END END SUBROUT I NE1 Subroutine 1 i INE1 GOSUB SUBROUT INE2 Subroutine 1 SUBROUT I NE2 Subroutine 2 f RETURN Example IF I0 128 ON THEN GOSUB Linel If IO 128 is ON jump to the label Linel IF I2 5 THEN Lr I2 48 5 GOSUB Lavel2 jump to the label name lt Label2 gt END IF 18 3 18 3 Unconditional Branch Commands 18 3 1 GOTO Unconditionally branch a pr
181. nates and position data p 6 1 Handling the teach pendant p 7 1 Teaching p 7 1 Creating programs Basic knowledge and main commands p 9 1 Programming with teach pendant p 10 1 Programming with WINCAPSIII p 11 1 License certificate for WINCAPSIII p 11 2 Starting WINCAPSIII p 11 5 Creating a new project p 11 7 Connecting with PC and transferring data in WINCAPSIII p 11 12 Simulation in WINCAPSIII p 12 1 Running in Teach check mode p 12 3 Running in Internal auto mode p 12 8 Stopping p 12 12 Monitoring and manipulating I Os Monitoring and modifying variable p 14 1 values p 15 1 Advanced usage Optimizing use conditions p 16 1 E Various statements p 17 1 Starting programs Contents I ACS AAEE aes oso eaten aac as ata AN eater Tessie Sodas oe ae aca bce eae aaa 1 How the documentation set is OP GaN Zed ccccceeceeccsccseceucesccseceucesececeecteececeeceseceecesctseceecesceeeeeeeees ll How this DOO K 16 OF SAN IZE d eeren A weel eta eue ta eam 11 SAFETY PRECAUTIONS Part 1 Preparation for Installation Chapter 1 Configuration of the Robot System cccccccceccecceeccseccescesecescceuceeuceecesecesecenceesceeesenes Ti EE AO aE T A AA AAR 1 1 1 2 Standard Companen tSn rise e a A e RE EAEE e E ET T2 ES Optional Com po nen ts ocne ate iets ie asoia seco asteaue st cdaeaccanecaaeatccaedenies 1 3 Chapter 2 General Informatio
182. nd LOOP is executed at least once 18 9 18 6 Practice Exercise Exercise 2 Create a program with the flow control statement IF ENDIF so that the robot judges the positions where workpieces are mounted CP control PTP control Use APPROACH and DEPART Motion start position Use Type P variable position 2 Motion specification After moving the arm to P1 the robot checks the value of I 5 with IF statement If I 5 0 go to 2 1 if I 5 1 go to 2 2 And complete the workpiece mounting operation there At the position reached after 3 1 and 3 2 motions call the program to open the robot hand HAND OPEN APPROACH L P10 50 2 1 Move the arm to the position 50 mm above P10 in the direction of the hand MOVE L P10 3 1 Move the arm to P10 2 IF I5 0 is false go to the next command APPROACH L P11 50 2 2 Move the arm to the position 50 mm above P11 in the direction of the hand MOVE L P11 3 2 Move the arm to Pll 2 End of IF statement Call the HAND OPEN program DEPART L 50 4 1 and 4 2 Move the arm to the position 50 mm above P10 and P11 inthe direction of the hand Declare the end of the program 18 10 Chapter 19 Input Output Control Statements 19 1 Time Control This section describes robot suspend commands that make the robot wait during the specified time 19 1 1 DELAY Suspend program execution during a given time Syntax DE
183. ng For the jumper switch changing procedure see Section 3 7 Setting up Mini I O Power Source and Section 3 8 Setting up Parallel I O Board Power Source Note The factory default is an external power supply re D 3 6 Configuring the I O Allocation Mode Parameter 3 6 1 With Teaching Pendant Access F4 O F6 Aux F2 AlocMode Mount the floppy disk drive into the robot controller according to the following procedure After completing the above operations use the cursor keys or jog dial to select one of the allocations and then press OK Restart the robot controller to make the new settings take effect 2 m or Joint woro r Auxilia Choose allocation minil 0 Assgin Compatible Standard I0 Box Compatible I O Le CF7 Cancel OK DEVICE Parallel 1 Cr e fT 3 6 2 Method for setting from WINCAPSIII 1 Choose Project Property to display the Property window Choose the I O tab 2 In the Assign area pull down the Device menu and select the desired I O extension board Note Do not select an I O extension board not mounted Doing so and transferring assignment data to the controller results in an error when the controller is restarted after reception of the data Property Robot info Communication setting Compile Variable I O Assign jeg Device Mini 10 Options DeviceNet Return to default OK Cancel 3 3 Pull dow
184. nt palletizing counter by one 5 then If palletizing a layer of pallets 3 rows x 5 columns finishes then reset palletizing counter to initial value Increment stacked pallets counter by one If palletizing 5 layers of pallets finishes then reset stacked pallets counter to initial value This part of the PRO1 counts up the palletizing counter and stacked pallets counter and checks the completion of palletizing operation for a layer of pallets Unlike usual palletizing programs the simplified palletizing program uses integer variables 110 and 111 in this example as a palletizing counter and stacked pallets counter According to the values assigned to 110 and 111 the 2 Call library calculates the palletizing target position and assigns it to P40 20 9 o ullis j N rows fs ft 7 le Jio ie P TE p a EN Stacked pallets counter value Palletizing counter value I11 in this example 110 in this example For a single layer of pallet you may simplify the program further as shown below Count up counters 1 10 I 10 1 Increment palletizing counter by one IF I 10 gt 3 5 then If palletizing a layer of pallets 3 rows x 5 columns finishes 10 1 then reset palletizing counter to initial value I 11 I 11 1 Increment stacked pallets counter by one IF I 11 gt 5 THEN If palletizing 5 layers of pallets finishes 10 1 then reset stacked pallets counter
185. nternal and external power supplies The factory default is an external power supply The names of components on the parallel I O board are shown below Power signal output fuses F1 F2 F3 F4 F5 F6 IBIG Note Fuse F3 is not mounted on the NPN type STT g CN3 CN2 I O power switching harness To drive this board with internal power supply disconnect this harness from CN2 and connect it to the controller s 24 V connector JP2 For I O power configuration I O power supply ce ane ee Setting method settings settings External Use the board under the factory default settings both JP1 and JP2 are open power supply Internal 1 Short circuit pin 1 to 2 on each of JP1 and JP2 using a short socket power 2 Disconnect the I O power switching harness from CN2 on the parallel I O board and supply JP1 JP2 connect it to 24 V connector CNP101 on the controller s printed circuit board Short circuit Connect to the controller s 24 V connector CNP101 Front panel side Parallel I O board mounted on the controller 3 When mounting two parallel 1 O boards
186. numbered positions 2 for palletizing from even numbered positions ITITLE Palletize from odd numbered positions PROGRAM Sample 003 TAKEARM CALL xdGetPalt 3 5 0 P11 P12 P13 P14 P15 11 1 Call simplified palletizing library APPROACH P P15 100 S 100 Approach the position above palletizing point MOVE L E P15 S 70 Move down to palletizing point CALL CloseGripper Close hand user program T1 11 2 Count up palletizing counter 2 for alternate checker pattern IF I1 gt 3 5 THEN If work take out is completed Il 1 Reset palletizing counter initial value 1 for palletizing from odd numbered positions ENDIF DEPART L P 100 S 80 Move up END ITITLE Palletize from even numbered positions PROGRAM Sample 003 TAKEARM CALL xdGetPalt 3 5 0 P11 P12 P13 P14 P15 11 1 Call simplified palletizing library APPROACH P P15 100 S 100 Approach the position above palletizing point MOVE L E P15 S 70 Move down to palletizing point CALL CloseGripper Close hand user program T1 11 2 Count up palletizing counter 2 for alternate checker pattern IF I1 gt 3 5 THEN If work take out is completed Li Reset palletizing counter initial value 2 for palletizing from even numbered positions ENDIF DEPART L P 100 S 80 Move up END Library MotionSkip MotionComp App 4 7 Appendix 5 Glossary ABOVE One of the elbow figures of 6 axis robot lt BELOW ABSOLUTE MOTION The motion to move to the motio
187. o Var name P2 Press Cancel twice to return to the Current Robot Position window While holding down the deadman switch press the appropriate arm traverse keys to move the robot arm to the position to be assigned to P2 Arm traverse keys Movement in X direction Movement in Y direction Movement in Z direction T axis rotation 253 71 m FIG Lefty 1 70 15 m 393 77 m 119 3 Motion along the Z axis the T axis Motion along the 7 me O X axis A h x io A ga A P1 Motion along the Y axis Assign the value taught for P2 to Var name P2 in the same way as in Step 2 Assigning the taught value to Variable P1 This completes the teaching of P1 and P2 8 6 8 4 Moving the Robot Arm to the Position Taught to the Position Variable In Manual or Teach check mode you can move the robot arm directly to the position stored in the specified position variable Access F2 Arm F4 Var F4 Pos Pressing F4 Pos calls up the Position Variables window as shown below Move the cursor to the target variable number M I a wm eem doit noro r Position Yariables 190 2 0000000 O 0000000 2 0000000 2 0000000 O 0000000 2 0000000 F5 Change the selection F6 Gets the current pos Ctr al Back Next Jump To Move Change Get Pos Pressing F4
188. o 2 Step Stop All tasks Protective Stop 1 Protective Stop 2 Auto Mode Robot Initialized Robot Running CPU Normal Robot Error Operation Preparation Completed Battery Warning 12 Pendant Emergency Stop 1 Pendant Emergency Stop 2 Note Deadman SW 1 Enable SW 1 Deadman SW 2 Enable SW 2 Contactor Contact Monitor Continue Start Permission selectable by I O hardware setting Note System output Input for command l 7 Command 3 bits data area 3 bits and Strobe Signal execution Output for command Command Processing Completed execution Controlled by user program No of Inputs to read the external I O status with an IN command or IO variable User input Used for analysis condition identification condition satisfaction wait data input from the external equipment etc T Outputs to issue a signal to the external equipment during program Jser output Note execution with SET and RESET commands etc HAND input Inputs to read the external I O status with an IN command or IO variable p Used for checking the hand status Outputs to issue signals to the external equipment with SET and RESET HAND output commands etc Used for controlling the hand to open or close Note Terminal 53 on CN5 port 24 is assigned a user output by factory default It can be assigned the Continue Start Permission output signal with the I O hardware setting 3 2 3 2 Overview of I O Extension Boards If you n
189. o Mode After the teach check now you will run the program in Auto mode Caution For programs that will be executed for the first time in Auto mode set the reduced ratio of the programmed speed at 10 or less In Auto mode the robot may run at full soeed while in Manual mode or Teach check mode the robot speed is automatically reduced to 10 of the full speed 12 3 1 Placing the Robot in Auto Mode Step 1 Turn the motor power ON Do not turn the motor power ON if you start a program with the controller being placed in machine lock Step 2 Set the mode selector switch to AUTO When running the program for the first time set SPEED at 10 In the leftmost area of the status bar an icon indicating Auto mode will be displayed Press F1 Program Tip If ERROR21F3 Enable Auto OFF occurs see Section 7 3 2 Relationship between Operation Modes and Enable Auto Input Signal V 12 3 2 Selecting the Program to be Executed In the Program List window select the program to be run in Auto mode aa oro O moron PLock R SEL heron Cioe Fe wares Gree speed C Ot ct mews e Se O Select PRO1 Gets Selection can be made using aD the cursor keys or jog dial or by Pie touching the screen directly Cancel Close this window ou CH a Halt StepStop CycStop Start StpStart ea Jj ej V 12 8 12 3 3 Single Step Start Note
190. o that the path to reach the motion destination position will be an arc If you designate C for designation of the interpolation method with the motion control command the robot executes an arc interpolation motion Pa i The motion path A P1 a Example MOVE C P1 P2 e The robot cannot simply move to the position of a different figure from the current figure in the same manner as in CP control If you designate a different figure an error of 607F robot figure mismatch may occur However if the movement is possible the error may not occur e A figure similar to the current one is selected for the robot figure Therefore even if you designate the robot figure with a Type P and Type T variable the figure may not become the one designated If the figure is different from the figure designated a warning 601C change figure may occur e f you execute the first motion command in a program with arc interpolation control the motion may not be available depending on the robot position PTP control is recommended for the first motion command in the program 17 2 17 2 Robot Control Command 17 2 1 DRIVEA Syntax Description Example Ex 1 DEFINT DEFSNG DRIVEA DRIVEA DRIVEA Execute an absolute motion of each axis DRIVEA lt pass start displacement gt lt axis number gt lt axis coordinates lt axls number gt lt axis coordinate gt lt motion option gt NEXT The DRIVEA statement moves the ax
191. obots and the 6 axis robots of Version 1 2 or later ae pe Refer Classified by functions Commands Functions l _ Vision 4 axis 6 axis Jevice to ON Sets an ON 1 value 16 1 Pl Sets a m value 16 2 FALSE Sets a value of false 0 to a 16 2 Boolean value TRUE Sets a value of true 1 toa 16 3 Boolean value Time Date Control Time Date DATES Obtains the current date 17 1 TIME Obtains the current time 17 1 TIMER Obtains the elapsed time 17 2 Error Controls Error Information ERRMSG Sets an error message 18 1 SETERR Saves a specified error code V1 98 V1 98 18 1 into an integer variable area GETERR Gets the error code from the V1 98 V1 98 18 2 ring buffer declared by the error code saving feature CLRERR Clears the current error V1 98 V1 98 18 3 GETERRLVL Gets the error level V1 98 V1 98 18 3 System Information System GETENV Obtains the environment 19 1 setting values of the system LETENV Sets the environment setting 19 2 values of the system VER Obtains the version of each 19 3 module GETLANGUAGE Gets the current language V2 2 V2 2 19 3 setting Log STARTLOG Starts recording of the servo 19 4 control log CLEARLOG Initializes recording ofthe servo 19 5 control log Operation Mode STOPLOG Stops servo control log 19 6 recording CHGEXTMODE Switches from internal to V1 98 V1 98 19 7 external auto mode CHGINTMODE Swit
192. of I O Extension Boards and Allocation Mode Up to two I O extension boards can be mounted on the controller There are no restrictions on the choice of extension slots or the mounting order The table below lists the permitted combination of I O extension boards and selectable allocation mode Combination of I O Extension Boards I O extension boards Max 2 boards per controller Allocation modes IE mO paea prsna t to Extension 1 All user dedicated I O A e n a ee ee ee ee aloo emva o a 2 ___ewcenetmasterboars ee O a DeviceNet master board Parallel I O board a a DeviceNet master board S Link V board T Parallel I O board Parallel I O board E o fommasns p e ee E a DeviceNet slave board Parallel I O board OOO Jao Tea DE e a EET e 10 E 2 oovoonaimasarsare voar paanan 13 ontnitrasersnenows sumvowes ujem Dofen franos Die fecum fooveoemasersa rfen oumvewes fa rmoreusorsewtens o proreusor smesne pamana o proreus or sarerea ooveoneimaserooa a a a af 4 4 4 4 4 4 4 4 4 4 4 4 4 4 gt E 4 4 4 4 4 4 4 4 ee ee 2 emer anions eee ae ee ee Ca Note 1 Only one mode can be selected from among check marked modes in the Application modes column Note 2 Up to two I O extension boards can be mounted on the controller There are no restrictions on the choice of extension slots or the mounting order
193. of an object workpiece as shown below Work coordinates are expressed by the coordinate origin X Y Z corresponding to the base coordinates and the angles of rotation Rx Ry Rz around X Y and Z axes of base coordinates Up to seven work coordinates can be defined and assigned work coordinates 1 to T If work coordinates are not defined base coordinates go into effect Note To use work coordinates it is necessary to define them beforehand For details refer to the SETTING UP MANUAL Section 4 1 1 1 3 Defining work coordinates Work coordinates 2 Yw2 Base coordinates Zw1 Work e Orr Ss coordinates 1 coordinates 3 Yw3 Yw1 Base Coordinates and Work Coordinates 6 10 Tool Coordinates in 6 Axis Robots The tool coordinates are 3 dimensional Cartesian coordinates defined with reference to the origin of the mechanical interface coordinates shown below and with the offset distance components and axis rotation angles Up to 63 tool coordinates can be defined and assigned tool coordinates 1 to 63 Flange surface Normal axis on the center of the flange surface Axis passing through the flange center and Center of the orientation key hole flange Axis passing through the flange center and crossing Zm and Ym at right angles Definition of Mechanical Interface Coordinates Note To use tool coordinates it is necessary to define them beforehand For details refer to the SETTING UP MA
194. ogram Syntax GOTO lt xlabelname gt or GO TO lt labelname gt Description The GoTo statement unconditionally transfers control to a label specified by lt labelname gt and continues execution there Rules when using a label e Alabel name starts with an asterisk e The second letter of a label name must be an arbitrary alphabet letter e Any combination of alphabet letters and numerals can be used for the third letter and the following letters in a label name e Areserved word cannot be used as a label name e The range in which a label can be referred to is only in the program where the label is present e The last letter of a label name must be a colon Example Ex If the value of I5 is 5 or less jump to the specified label P01 20 Label5 Il Il 1 1 0 IF Il lt 5 THEN If Il is 5 or less gt Label5 GO TO Label5 jJump to the label name lt Label5 gt 11 11 1 END IF Declare the end of the IF statement YES nes NO 18 4 18 4 Conditional Branch Commands 18 4 1 IF END IF Conditionally execute specified statement blocks depending upon the evaluation of a conditional expression Syntax IF lt conditional expression gt THEN Executes the statements if lt conditional expression gt is true ELSE Executes the statements if lt conditional expression gt is false ENDIF or END IF Description If lt conditional expression gt of the IF sta
195. oller Power Supply Specifications Pin assignment on power connector CN6 View from the pin face of cable Three phase 200 VAC 15 to 230 VAC A 200 VAC 10 50 60 Hz a phase R VMG6BA 3 3 kVA VSG6BA 1 85 kVA B 200 VAC a aa ia PRAN a aie PAR ES phase S Powersuonh I a a a es C 200 VAC HSG4BA 1 8 kVA XYCG4AA 1 15 kVA phase T capacity Single phase 200 VAC Power supply Power supply capacity Single phase 100 VAC Power supply capacity Max rush current when the power is turned ON Caution 7 D Protective XRG4BA 1 8kVA ground Single phase 230 VAC 10 to 230 VAC 10 50 60 Hz 200 VAC phase R 200 VAC phase S Protective ground VSG6BA 1 85 kVA HSG4BA 1 8 kVA XYCG4AA 1 15 kVA Single phase 100 VAC 10 to 110 VAC 10 50 60 Hz 100 VAC phase R 100 VAC phase S Protective ground VPGS 6CAA 1 kVA 40 A for 1 50 or 1 60 second If ERROR6102 power voltage drop occurs when the robot is in operation then it may be due to an insufficient capacity of the primary power source Do not bundle the teach pendant cable I O cables or motor amp encoder cable together with high power lines such as power cables and peripheral device cables or route the motor cables near high power devices motor welder parts feeder etc Do not route any additional cables or air tubes of end effectors through the robot unit Doing so will res
196. on always moves to a taught position without being affected by the previous motion The commands to execute an absolute motion are as follows APPROACH MOVE GOHOME DRIVEA Relative Motion A relative motion is a motion to move by a taught distance from the current position Since a relative motion sets its reference to the current position of the result of executing the previous motion command the previous motion command affects the motion The commands to execute a relative motion are as follows DEPART DRAW DRIVE ROTATE ROTATEH 17 1 2 Interpolation Control When the robot arm moves there is not just one path You can create various paths together with the operation of each axis You can also control the robot so that it creates line or circle paths An explanation of the control methods according to the types of motion paths is as follows Use the commands shown below to designate an interpolation method PTP control CP control or Arc interpolation control The commands to designate an interpolation method APPROACH DEPART DRAW MOVE 17 1 PTP Control PTP Point to Point can be defined as the movement from one point to another point The path on which the robot moves depends on the robot posture and is not always a straight line If you designate P when you designate the interpolation method with the motion control command the robot executes the PTP motion CN The motion path is not always a straight
197. on of command processing the controller turns ON the Command Processing Completed signal If an error has occurred during processing a Robot Error signal will be outputted together with the Command Processing Completed signal Note If the Strobe Signal is turned OFF before the Command Processing Completed signal is turned ON the controller outputs the Command Processing Completed signal and the state of the status area once and then turns them OFF within 100 ms The PLC waits until the Command Processing Completed signal is input If necessary it gets the state of the status area In this case confirm that no error exists with the robot After completion of reading of the status the PLC turns OFF the command and data areas and the Strobe Signal As soon as the Strobe Signal is turned OFF the controller turns OFF the Command Processing Completed signal The Robot Error signal which is outputted due to a command processing error remains ON until Clear Robot Error 001 is executed Note The maximum allowable time from when the Strobe Signal is turned OFF until the Command Processing Completed signal is turned OFF is 100 ms 13 8 13 4 3 Types and Functions of System Output Signals in Standard Mode The standard mode supports the following system output signals Output signal name Used to tell external equipment ee That the OPERATION PREPARATION command Robot Initialized is executable Start up Auto Mode That the rob
198. onComp f1g LOOP UNTIL flg 1 ENDIF ST ResetZBalance ST ResetEralw 3 ST ResetCurLmt 3 CALL HAND OPEN DEPART L 50 S 100 IF judge 1 THEN Initialize the flag Check whether the axis reaches the insertion completion position Skip intermediate operations use library Gears meshed judge 0 Forcibly exit from DO LOOP Check the completion of ROTATE command library Repeat DO LOOP until the operation completes Release gravity compensation for Z and T axes Release the allowable deviation setting for Z axis Release the current limit for Z axis Unchuck the hand User program Move Z axis upward If meshing failed PRINTMSG Mesh failed 2 Error Display the message on the teach pendant ENDIF MOVE L 0 P5 S 100 END Return to the home position MotionSkip and MotionComp App 4 2 E 3 Return to Home Position 1 After moving up Z axis Description Assembly position Move the arm to the home position after moving the Z axis upward This program moves the robot arm to the home position if the robot stops midway through a motion If there is no obstacle within the arm motion space as shown below the arm can move to the home position just by moving upward to prevent interference with anything In the sample program below the robot interprets the hand chuck signal ON as a workpiece remaining in the hand so that it ejects the workpiece into the disposal box before returning the arm to th
199. or set for hand control signals for CN20 and CN21 EE fae Wer eles E E E E Ser pC E a FH Dowel pins internally threaded positioning pin and diamond shaped pin HiT See a tes KES KON TT 16 Short sockets for robot controller 2 VT V EV EV VT VV Note 1 Choose and order a motor amp encoder cable from the table below The 20 m motor amp encoder cable standard splash proof is not available for controllers equipped with extended joint options or UL Listed robot units The internal cable bending radius shall at least be 200 mm Excessively bending will result in broken lead wires Robot series except XYC series XYC series Item Part No Remarks Item Part No Standard cable 2m 410141 4400 Standard cable 4m 410149 0960 Standard cable 4m 410141 3611 Standard cable 6m 410149 0970 Standard cable 6m 410141 3621 For standard type Standard cable 12m 410141 3631 Standard cable 20m 410141 4440 Splash proof cable 2m 410141 4420 Splash proof cable 4m 410141 3681 For dust amp Splash proof cable 6m 410141 3691 seabed Splash proof cable 12m _ 410141 3701 type Splash proof cable 20m 410141 4460 Note 2 Preserve the initialization floppy disk in a safe place The disk contains CALSET related arm data exclusively prepared for your robot If a memory error appears on the teach pendant due to a memory failure use the disk to load the arm data to the robot controller Refer to the INSTALLATIO
200. orkpieces According to Part Number Information PROGRAM Sample TAKEARM DEFIO type BYTE 14 amp B00011111 Declare I O variable and get data into it Store the input status data of 5 bits starting from system input port 14 anto the local variable type WAIT IO 34 ON Wait the signal indicating that part number info is ready IN I 1 type Read data of type into I 1 after converting it from binary to decimal SELECT CASE I 1 CASE 1 IE I 1 is 1 CALL pick A pick up through assembly for part A CASE 4 If I 1 is 4 CALL pick B pick up through assembly for part B CASE 5 Lie I 1 is 5 CALL pick C pick up through assembly for part C CASE 6 I I 1l 26 6 CALL pick D pick up through assembly for part D CASE 7 TO 15 IE Api is 7 to 15 CALL pick E pick up through assembly for part E CASE 16 at ITLL 19 16 CALL pick F CASE IS gt 20 pick up through assembly for part F T I 1 is 20 or above CALL pick G pick up through assembly for part G CASE ELSE T I 1 does not match any of the above conditions PRINTMSG Part data read error 2 Error STOP END SELECT MOVE P 0 P10 Return to the home position END App 4 1 E 2 Mesh Gears to Insert HS E G series Mesh gears to insert under compliance control making use of the current limit function Description Using the current limit function of the vertical axis allows the robot to mesh a gear with the target gear
201. orted Green when JP13 on mini I O board is shorted Gray DC power output 24V DC power output OV 16 1 17 2 18 3 19 A 20 5 21 22 7 23 24 25 13 29 14 30 15 31 61 Pendant Emergency Stop 1 b 1 output Dry output Pendant Emergency Stop 2 b 1 output eo Eo o Ta DC power input 24V when external DC power input OV when external power Gray power source is used source is used DC power output OV when internal power Blue No 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 62 63 64 65 67 DC power output 24V when internal power source is used 13 15 13 6 3 Mini I O Board CNS on global type of controller in Mini I O Dedicated Mode ae pee Signal name Signal name 4 Reserved ea el er Reserved Pink i e 3 reena foo a ar en oo a Resena oo oj e reson o S e Reena oo ew o esn oo SCO e Reena foe o fren oo fe 7 Reena o Brown a en oo di e Irena o af e ena oo e o reena J ome e res o E a BED n Sep Stop fasts trou 0 Green EAO OEE ee U M Data area bit 2 input 49 Auto Mode output EIT oe eee 2e E E ee output ERA 17 Command area bit 1 Command area bit4 input 6 51 BatteryWarning output Warning output 22 Command area bit 2 input eommangrrocessing COMPIER Violet output Continue Start Permission output EI as voe 2s vii roma Sa tt
202. ose Project Program Bank to display the Program bank window Tf SAMPLE 001 WINCAPS II File Edit View Project Connect Debug Arm To E g g aj Mir Add Frogram wh Add Existing File z Enabler Disable Folder Create Macro Definition File b C3 Source Files Import Macro Definition File Command builder Gtrl B Program Bank Make Executable Parameter Property Step 3 Select the program to import The dioSetAndWait is located in DW03 Input Output so open the DWOs3 Input Output and select the dioSetAndWait Program bank a a zj fi Bank Function F amp IDWOO Conventional language Synchronization with the external device such as sequencer connected to DIO IDWO01 Palletizing DWO2 Tool operation QQ wos Input Output dioSetAndWwait Explanation 5 dioSynic This statement is the standard procedure to synchronize with the external device such lt dioWaitAndSet amp IDWO4 Arm Compliance amp IDWOS Arm Conveyer Related Terms IDWOE Arm Collision DWO Arm Spline Reman IDWOS Arm Set Reset Example 1 IDWO09 Arm Misc DW10 Vision DW11 Miscellaneous Format dioSetAndwait lt Output signal gt lt Synchronization signal gt Macro definition Readme Source Press Readme and Source tabs to check their contents 20 2 Step 4 Press the Add to WINCAPSII
203. ose the index you want to refer to 15 3 Press Display shown below to display the values of the selected variable NOTE If you select a DEFIO variable whose port address is out of the specified range its details cannot be displayed a Hs as Joint wotel om Program PRO3 57 16 lines Yariable included in all lines 0001 TITLE PROS ae Line 002 PROGRAM PROS 003 DEFPOS px 0004 TAKEARM keep 0 70005 MOVE P PX S 100 0006 defint buf f 10 0007 DEFINI ix Back Next Jum F5 Display the selection Cancel Close this window ctr Al Back Next search Display Register e EASY TEACH QUICK g WATCH BUFF IX Display button The next sample screen shows the values of locally defined position variable PX 3 On this screen you may modify the local variable values or replace local variables as well as for global variables To register the modified variables press F12 Register w amp HS 45352 Som wotolf a Program PRO3 L 5 18 lines Local Yariable Position 19 aS PRO PRO3 Q auie PX 3 9 0000000 9000000 9000000 S 0000000 FIG 1 T PD 0000000 FIG 1 PX Press the Shift button to shift Cancel Close this window cur the menu bar and show F12 a Baek Next ies To Move Change Register button here NOTE 1 When a variable s index field is pressing Displ
204. ot is in Auto mode External Mode That the robot is in External mode That the motor power is ON Program Execution Robot Running That the robot is in operation one or more tasks are being executed CPU Normal ot CPU hardware of the robot controller is That a servo error program error or any other Robot Error Error Warning serious error has occurred Robot Warning That a minor error has occurred Battery Warnin That the voltage of the encoder or memory backup y g battery has dropped below the specified level Continue Start Permission That Continue Start is permitted That the robot is in SS mode SS Function SS Mode See the SETTING UP MANUAL Section 3 4 6 SS Function The output from the contact exclusive to the Emergency Stop Emergency Stop emergency stop circuit Command Processing Completed That the I O command processing has completed I O Command ee nari An odd parity when the total number of output bits Processing rer of the status area 16 bits is even l The processing result of Rear Error Read Integer PUSAR ool Variable and Write I O signals 13 9 13 5 Running in Compatible Mode In the compatible mode I O commands including program start are identified by setting the corresponding bits 13 5 1 Types and Functions of System Input Signals in Compatible Mode The compatible mode supports the following system input signals Enable Auto Enable the robot to switch to the Auto mode Motor Power ON
205. otor amp encoder cable option Power cable Accessory 5 m Note The internal cable bending radius of the motor amp encoder cable shall at least be 200 mm Excessively bending will result in broken lead wires 4 2 Connecting the Teach Pendant Connect the teach pendant to the PENDANT connector CN3 on the robot controller Cautions in connecting the pendant cable to the controller 1 After connecting the pendant cable do not apply pressure on the connector in either direction Such pressure may cause a communications error 2 When disconnecting the cable unlock the connector and pull out the cable straight without twisting it PENDANT CN3 RUN POWER ERR OO PENDANT CN3 Connecting the Teach Pendant 4 1 4 3 Power Supply Circuit Breaker Recommendation Observe the following precautions when wiring the primary power source of the robot controller 1 2 3 4 5 Connect the robot power cable to a power source separate from the welder power source Ground the protective grounding wire green yellow of the robot power cable Ground the functional grounding terminal of the robot controller using a wire of 1 25 mm or more in size For the robot power supply use a protective grounding wire with grounding resistance of 1000 or less If the supply power source for the robot controller requires a leakage breaker
206. ots and vision device O O O Available with all series of robots The command specifications differ between the 4 axis 6 axis robot and vision device V1 2 Available with the 4 axis robots and the 6 axis robots of Version 1 2 or later T he Refer Classified by functions Commands Functions l _ Vision 4 axis 6 axis ying to VISDEFCHAR Designates the size of 21 34 characters and the display method VISPRINT Displays characters and figures 21 35 on the screen Vision Processing VISWORKPLN Designates the storage 21 36 memory process screen to process VISGETP Obtains designated coordinate 21 37 brightness from the storage memory processing screen VISHIST Obtains the histogram 21 38 brightness distribution of the screen VISREFHIST Reads histogram results 21 39 VISLEVEL Obtains a binarization level 21 40 based on the histogram result VISBINA Binarizes the screen 21 42 VISBINAR Displays a binarized screen 21 44 VISFILTER Executes filtering on the 21 45 screen VISMASK Executes calculations between 21 47 images VISCOPY Copies the screen 21 49 VISMEASURE Measures features in the 21 50 window area center of gravity main axis angle VISPROJ Measures the projected data in 21 53 the window VISEDGE Measures the edge ina 21 55 window Code Recognition VISREADQR Reads the QR code 21
207. ouble precision or DEFIO variables if any will display with their values If DEFIO variables are referred to IO variable type Port address and Mask info also appear Q o ssa notro ia Pro PRO3 Stat StepStop ArmGrp Display switcher button Yariable included in one line 0001 TITLE PRO3 002 PROGRAM PROS 0003 defint buff 100 all lines i Values of integer floating point MZEE double precision and DEFIO 0005 do while I1 lt gt 100 iz variables only will display 0006 if buff 8 amp H52 then iim ela mz Back Next Jum In the case of DEFIO variables 1 wou F5 Display the selection Cancel Close this window tr lO variable type Port address and Mask info also Al Back Next search Display Register appear 15 2 NOTE 1 If the index of the referred to variable is out of range Example 1 below or not a numerical value Example 2 below then the index field of the variable name will show Example 1 Although the number of integer variables defined is 200 you attempt to refer to integer variable 1201 written in a program line Example 2 You attempt to display a variable with macro name index like I slotnum If the index field shows then no value will display even for integer floating point double precision and DEFIO variables Press the Display and choose the index you want to refer to NOTE 2 If the port address of a ref
208. ow control statement enables sophisticated programming The flow control can be roughly classified into the following 4 statements Call CALL GOSUB Unconditional branch GOTO Conditional branch IF END IF SELECT CASE END SELECT Repeat FOR NEXT DO LOOP DO WHILE LOOP DO LOOP WHILE DO UNTIL LOOP and DO LOOP UNTIL 18 1 18 2 Calling Commands 18 2 1 CALL Call a program and execute it Syntax CALL lt programname gt Description If a program is created separately from the one that is mainly executed the program can be used by calling it like a subroutine When a CALL statement calls a program control moves to the program that is called If control executes an END statement on the last line of the called program control returns to the next line in the calling program The called program can also call another program which is called calling nesting However the called program cannot call the calling program Program PRO1 PROGRAM PRO1 Program MOTION Program TIMING PROGRAM MOTION PROGRAM TIMING Program PRO2 CALL TIMING PROGRAM PRO2 CALL MOTION One program can be called from multiple programs Other programs can be called in the called progral END Calling nesting Note Callings can be nested up to 31 times including GALL and GOSUB Example CALL PRO1 Call and execute the program named PROI1 CALL SampleProgram Call and execute the program
209. pallets counter to initial value D of 5 stacks END IF END IF 11 Reset stacked pallets counter m Simplified palletizing program PRO1 In simplified palletizing you need to specify addition and resetting of the palletizing counter and stacked pallets counter Variables used in PROI e Palletizing target position variable Position variable P40 in this example e Palletizing counter variable Integer variable 110 in this example e Stacked pallets counter Integer variable 111 in this example e Corner partition variables Position variables P52 to P55 in this example What to do before execution of PRO1 Before start of PRO1 you need to Assign the initial value 1 to each of the palletizing counter 110 and stacked pallets counter 111 and Teach the positions of four corner partitions in the pallet to corner partition variables P1 to P4 On the following pages are detailed explanation of each part of the program PO1 20 7 1 Program name 6 Change the program name PROGRAM TAKEARM 2 Call library Get palletizing positions from P 40 Order of parameters N M Stacked pallet height mm P1 P2 P3 P4 Palletizing points numbers Palletizing counter Stacked pallets counter CALL xdGetPalt 3 5 20 P 52 P 53 P 54 P 55 P 40 I 10 1 11 Setting the following parameters to the called library will assign the target position to the palletizing target position variable specified by the 8th paramete
210. pecification of lt motion option gt is effective only for motion commands such as MOVE to be executed SPEED or S Specifies the motion speed Specifies the acceleration Specifies the deceleration 9 6 8 5 Other input examples A continuous motion specified with two points or more can be written in one line MOVE P P Pl P P2 P P3 E P4 Current position O P2 P4 P1 P3 Note A single step contains all motions up to P4 A Step forward or Step stop operation therefore cannot stop the motion in midstream such as at P1 P2 or P3 Example MOVE L P1 SPEED 100 Move to P1 position at the internal speed 100 under CP control MOVE P 30 P2 P3 S 80 Move to P2 30 and then P3 at the internal speed 80 under PTP control MOVE L 20 P4 50 P5 100 P6 Move to P4 20 P5 50 and P6 100 in this order under CP control MOVE L P P 6 TO 15 P16 Move to P 6 through P 15 in pass motion then to P16 position under CP control MOVE C P1 P P2 Move to P2 via P1 in arc interpolation Move near P2 in pass motion and then transfer control to the next statement 9 7 9 7 Movement in the Z Axis Direction APPROACH and DEPART commands If the robot hand moves from any point directly to the target point in order to pick or place a workpiece it may collide with other surrounding objects To prevent such collision in most cases the robot hand should move once to a position above the workpiece and then
211. peed under CP control DRAW L lv2 S 50 Move to a position lv2 mm away from the current position at 50 of the internal speed under CP control Notes The figure in the destination position becomes the same as the one that is at the start of DRAW motion 17 6 17 3 Practice Exercises Exercise 1 Create a program with robot control sentences to move the robot hand from the motion start position to the workpiece pick up position and then to the mount position CP control PTP control Use APPROACH and DEPART Use Type P variable Motion start position E Motion specification For the motion 1 use a command that moves only J1 axis to the position at 0 degree Use pass motions at the approach and departure points Set the speed for moving down to P1 and P2 at 20 For the travel to P1 and P2 specify the encoder value check motion 1 Move the J1 axis to the position at 0 deg Move the arm to the position 50 mm above P1 in the direction of the hand i Move the arm to P1 o above P2 in the direction of the hand 1 2 iti 3 4 Move the arm to the position 50 mm above P1 in the direction of the hand 5 Move the arm to the position 50 mm above P2 in the direction of the hand 6 7 ee 17 7 Chapter 18 Flow Control Statements 18 1 Types of Flow Control Statements Use a flow control statement to control the execution sequence of each statement in a program Using fl
212. pes and Functions of System Input Signals in Standard Mode The standard mode supports the following system input signals System input signal Purpose Command Data area 1 Data area 2 area 4 bits 8 bits 16 bits Program Reset amp Program number Reset the specified program and then cies nacre E ICID Start the specified program If the program is stopped with Step Stop or Program number Instantaneous Stop the program restarts aaa S90 uae 0 to 32767 at the step immediately following the step containing Step Stop or Instantaneous Stop oni srt om w000 pss ro tn PI instantaneously and then reset initialize Program number the program Set Speed 0010 00000001 a oe Fe speed to the specified setting Odd parity 1 to Acceleration if necessary Change the acceleration to the specified Set Acceleration 0010 00000010 setting 1 to 100 setting 1 to 100 Deceleration Change the deceleration to the specified Set Deceleration 0010 00000100 setting 1 to 100 setting 1 to 100 Strobe Output the number of a currently existing Variable Variable value Assign the variable value 32768 to Write Integer Variable 0101 number 32768 to 0 to 255 32768 32768 to the specified integer variable 0 to 255 Variable Output the current value assigned to the Read Integer Variable 0110 number specified integer variable 0 to 255 to the 0 to 255 Motor Power ON External Speed E xiernal Mode 0111 10000000 Swit
213. port Array DIM Declare an array variable 9 13 Folder Feature FOLDER Declare local variables that are V2 2 V2 2 9 14 accessible from external programs EXTERN Declare access to a FOLDER V2 2 V2 2 9 17 variable defined in another program App 2 2 Classified by functions Assignment Statements Variables Vector Figure Link Angle Posture Rotation Component Axis Component Flow Control Statements Program Stop Commands LET LETA LETO LETP LETF LETJ LETR LETRX LETRY LETRZ LETT LETX LETY LETZ END STOP 4 axis 6 axis O Vision device Available with all series of robots and vision device O Available with all series of robots The command specifications differ between the 4 axis 6 axis robot and vision device V1 2 Available with the 4 axis robots and the 6 axis robots of Version 1 2 or later Functions 4 axis 6 axis Assign a value to a given O O variable Assign a value to an approach vector variable of homogeneous transform type Assign a value to an orientation vector variable of homogeneous transform type Assign a value to a position vector variable of position or homogeneous transform type Assign a value to a figure component of the position variable or variable in homogeneous transform type Assign a value to a specified link angle of the joint variable Assign a value to the post
214. press Cancel instead of OK and the display will return to the program edit screen without the changes being saved 2 To create a new program return to Step 1 10 6 10 2 3 Compiling the Program After editing a program you need to compile it that is transform the edited program into run time format which is executable by the robot controller During compiling syntax errors will be detected if contained in the edited program You need to correct all syntax errors since programs containing them cannot be loaded or executed w Q us 453526 Joint Wo T o Program List No of programs 1 Dir Back Next Search UpFolder Display ris Cancel Close this window Cr V7 W Hsn m noto i Program Li Dir Compile Flag e MPRO1 moror nae the specified program active nic a Programs in a present folder are active Programs in a present folder are inactive All programs are active Cancel x gt Py Config Sets compile flags eo ee ee ee ee V 10 7 Select PRO1 in the Program List window You may select it by using the cursor keys or jog dial or by touching the screen directly Press F12 Config Select Make the specified program active Selecting All programs are active is also possible Press OK Caution W 8 Hs 453526 m wotel a i Dir Su Me
215. put Signals ccccccceccsccseccecceeceecesceseceecesceeeceecesseseees 5 1 5 1 Wire Connection Required in Starting Up the Robot cece ceeccceecseeesseesseensseeeeeees 5 1 5 1 1 Configuration of Emergency Stop Circuitry Standard type of controller 0 aya 5 1 2 Configuration of Safety Circuit Global type of controller ce cc ceeeeeccceesesececeessrceeeeeees 5 1 5 2 Wire Connection Required for Motor ON cccccccccccccccccceecccecceeeccceecceeesseseseeusseeesseeeeseeeeseees 552 5 2 1 PUNCHON Aten eee ee te a ER E ES 5 2 5 2 2 Standard Ly pe Or Conroe haein A E E hed Avda udd cites etic 5 2 5 2 8 Global Type Of Controle vrcccicsesescsesscasaidesdacoseiasaiadosadaseiene Jasesosadvsasess tases i aTr eN 5 2 5 3 Wire Connection Required for Automatic Operation eeesseseesssesercessrererrresrrresresrrrssrererrreses 5 2 wal FUNC 6 0 Ieee tep mer rere are eer a e 5 2 Dow Standard ype OF COn roller oiae OEE E Giada ae 5 2 Ooo Global Type Of Controller i nanan se becsoininia pisiaiscaoni ae ages 5 2 Part 2 Robot Running Chapter 6 Coordinate S eii e ea a E A AAE E 6 1 Gl Coordinates M FAXES RODOS ninae a a a E dae suuedasenancesene 6 1 6 2 Base Coordinates in 4 Axis Robots sssssessseeessssssssseereesssssssseeeesssssssseeesssssssseeeeesssssseseeeeeees 6 1 6 3 Work Coordinates in 4 Axis Robots ssssseesssssssssseeeessssssssssereessssssssereessssssseeeeessssssseeeeessssss 6 1 6A TookCoordinate
216. puts multiple bytes of data to the RS 232C or Ethernet port DOO V1 5 V1 5 App 2 9 6 axis V1 9 V1 9 V1 9 V1 9 V1 9 V1 9 DOO V1 5 V1 5 V1 5 Vision device DOO V1 9 V1 9 V1 9 Available with the 4 axis robots and the 6 axis robots Refer to 12 101 12 102 12 103 12 104 12 105 12 106 12 107 12 108 13 1 13 2 13 3 13 5 13 7 13 8 13 10 13 11 13 12 13 13 13 14 13 15 13 16 4 axis 6 axis Vision device Available with all series of robots and vision device O O O Available with all series of robots The command specifications differ between the 4 axis 6 axis robot and vision device V1 2 Available with the 4 axis robots and the 6 axis robots of Version 1 2 or later T he Refer Classified by functions Commands Functions l _ Vision 4 axis 6 axis devi to evice LINPUTB Inputs more than one byte of V1 5 V1 5 V1 9 13 17 data through an RS 232C or Ethernet port com_ encom Enables the RS 232C port only V1 5 V1 5 V1 9 13 18 for binary transmission com_discom Releases the RS 232C port V1 5 V1 5 V1 9 13 19 from binary transmission com _ state Gets the status of RS 232C or V1 5 V1 5 V1 9 13 20 Ethernet port Pendant PRINTMSG Displays a message with a 13 21 caption and icon on the color LCD of the teach pendant PRINTDBG Outputs data to the debug 13 22 window BUZZER Sounds a bu
217. r 1st parameter No of rows which should be 1 or greater 3 rows in this example 2nd parameter No of columns which should be 1 or greater 5 columns in this example 3rd parameter Height of stacked pallets in mm Specify a positive value when increasing the layers of pallets a negative value when decreasing them 20 mm specified in this example 4th to 7th parameters Position variables to which four corner partition positions of the pallet are assigned P52 to P55 in this example 8th parameter Palletizing target position variable to which the target position will be assigned This position may be calculated from the current counter values P40 in this example 9th parameter Palletizing counter which should be 1 or greater and M N or less According to this value the corner partition positions may be specified 10th parameter Stacked pallets counter which should be 1 or greater According to this value the layer number may be specified 20 8 3 Approaching 4 Down movement 5 Up movement Palletizing APPROACH P P 40 0 50 Approaching P 40 50mm upwards MOVE L 0 P 40 Move down to P 40 DEPART L 50 Move up by 50mm As a result of execution of 2 Call library the palletizing target position is assigned to P40 Then some operations should be carried out to P40 Usually during those operation chuck and unchuck processes will be inserted Count up counters I 10 I 10 1 Increme
218. r comments Syntax lt comment gt or REM_ lt comment gt 9 6 8 Movement to the Specified Coordinates MOVE command Description Syntax This statement moves the tool end from the current position to the coordinates specified by lt pose gt MOVE lt interpolation method gt lt pass start displacement gt lt pose gt lt motion option gt 9 6 8 1 Interpolation method 9 6 8 2 Pose Example PROGRAM PRO5 TAKEARM SPEED 80 MOVE P P1 MOVE L P2 MOVE L P3 END lt interpolation method gt S P L Or C P PTP Point to Point control When moving the robot arm from the current position to the target position the robot decides the route L CP Continuous Path control linear interpolation When moving the robot arm from the current position to the target position the robot keeps the pose and speed of the hand constant C CP Continuous Path control arc interpolation When moving the robot arm from the current position to the target position the robot moves its hand along the 3 point curve lt pose gt can have any of the position joint or homogeneous transform matrix type to which a target position should be assigned The configuration of variables differs depending upon the number of the robot axes Although inputting values for coordinates is possible the formats Pxx or Jxx are often used Variable Name Configuration of variables Position variable X Y Z T FIG px y zi Tt Fi
219. r the meaning of each error code ERROR LOG Record of the error content and occurred time ETHERNET BOARD One of the controller optional boards It is used to communicate with WINCAPSIII through TCP IP protocol EXECUTION PROGRAM The program converted to the data format intelligible to the robot EXTERNAL ACCELERATION The acceleration value set with the teach pendant Percentage value to the maximum acceleration is inputted EXTERNAL AUTOMATIC RUN To execute a program from the external equipment EXTERNAL DECELERATION The deceleration value set with the teach pendant Percentage value to the maximum acceleration is inputted EXTERNAL MODE The mode in which robot operation is possible from the external equipment EXTERNAL SPEED The speed set with the teach pendant Percentage value to the maximum speed is inputted E F VARIABLE Floating point variable The variable which has a value of single precision real number 7 digits of effective precision FIG The number which denotes the robot figure FIGURE The possible status of each axis joint of the robot Multiple figures are possible for the same position and posture FIGURE COMPONENT The component which determine figure There are five components in 6 axis robot arm elbow wrist the 6th axis and the 4th axis FIRST ARM The robot arm nearest to the base FLIP One of the wrist figures of 6 axis robot lt NONFLIP FUNCTION
220. r using the procedure given below Choose Connect Transfer data to display the following window In the WINCAPSIII pane select Parameters Program parameters and then press Send E Transfer data WINCAPS II Controler I lt Local data SAMPLE OO1 T Send gt C Controller 10 8 102 128 E E Jc Program Jc Program 3 Source file F ECEINE H E Source file 0 Executable file Map file _ Executable file Map file Variable mat H Ja variable 4 Tool Work Area 1 L L Tool Work Area z e gt Parameter E E la Log gt Arm parameters w 5 Parameter o gt 1 0 parameters Bea Program Parameters Step 3 From the teach pendant choose F1 Program F6 Aux F12 Compile to compile the current program and load the project to the robot controller Thus the modification of the number of variables made in WINCAPSIII applies to the robot controller 15 9 Part 5 Advanced Usage Chapter 16 Optimizing Use Conditions Chapter 17 Robot Control Statements Chapter 18 Flow Control Statements Chapter 19 Input Output Control Statements Chapter 20 Library Chapter 16 Optimizing Use Conditions 16 1 Setting the Robot Installation Condition Floor mount Overhead mount or Wall mount for 6 axis robots Six axis robots require the robot installation parameter floor mount overhead mount or wall mount to be specified For floor mount set 0 for overhead mount
221. ra on the monitor VISPLNOUT Displays an image in the 21 8 storage memory on the monitor VISOVERLAY Displays draw screen 21 9 information on the monitor VISDEF TABLE Reads images on the camera 21 10 and sets the look up table data for image output VISREF TABLE Refers to data on the look up 21 11 table Window Setting WINDMAKE Designates an area for image 21 12 processing WINDCLR Deletes set window 21 17 information WINDCOPY Copies window data 21 18 WINDREF Obtains window information 21 19 WINDDISP Draws a designated window 21 20 Draw VISSCREEN Designates a drawing screen 21 21 VISBRIGHT Designates a drawing 21 22 brightness value VISCLS Fill cleens a designated 21 23 screen set in a mode with a designated brightness VISPUTP Draws a point on the screen 21 24 VISLINE Draws a line on the screen 21 25 VISPTP Draws a line connecting two 21 26 points on the screen VISRECT Draws a rectangle on the 21 27 screen VISCIRCLE Draws a circle on the screen 21 28 VISELLIPSE Draws an ellipse on the screen 21 29 VISSECT Draws a sector on the screen 21 30 VISCROSS Draws a cross symbol on the 21 31 screen VISLOC Designates the display position 21 32 of characters App 2 15 4 axis 6 axis Vision device Available with all series of rob
222. rakes To release the brake of each axis BRAKE ON locking brakes To apply the brake of each axis BRIGHTNESS The numerical value 0 255 which shows the brightness of each pixel Vision terms BRIGHTNESS INTEGRAL VALUE The value which is the sum of the brightness of all the pixels in the window Vision terms CAL Slight movement of all axes of the robot to make the robot confirm the current position after the robot controller power on CALSET Calibration of the relation between the actual robot position and the positional information of the controller CALSET OF A SINGLE AXIS To perform CALSET on the specified axis only CENTER OF GRAVITY The balance point on which the object weight balances on a plane Vision terms App 5 1 COMMAND AREA A group of I O ports which specify the I O command type COMMAND EXECUTION I O SIGNAL The input output signal fixed to the system in order to inform the execution of I O command and the execution status to the outside COMMAND PROCESSING COMPLETE The output signal to inform the completion of I O command processing to the outside COMMAND The instruction written in a program The controller reads commands in the sequence written in a program interprets commands and executes COMMENT Explanatory notes in a program to make the program easy to understand The controller does not execute comment COMMUNICATION LOG The record of the communication cond
223. rinting arm player Plus 3D data import monitoring interval and a part of program bank are not available 3 Product version that is provided as an option This product version CD is accomplished by the WINCAPSIII License Certificate Tip If you purchase the robot set optional mini pendant and optional WINCAPSIII product version at a time all the three CD ROMs will be delivered 11 1 2 Appearance of CD ROMs CD Label Trial version Light version Product version WINCAPSIIl Programming tool for DENSO ROBOT Ver 2 80 1 WINCAPS III Programming tool for DENSO ROBOT Version 2 80 1 WINCAPS Ii ENSO ROBOT fora Vindows XP Vista for Windows XP Vista TRIAL printed 11 1 3 License Certificate with User ID The WINCAPSIII product version package includes the license certificate The light version or trial version has a license certificate printed on the CD surface Product Name 4m 4 License Key94 GY A m Keke kkk kkk kee zF WINCAPSII wane ma SAFEKEEPING OF THE LICENSE User ID This License Key is exclusive to this WINCAPSII package It is required for after sales servi keep this license card in a safe place Necessary to access fu Il featu res Contact To of WINCAPSIII product version DENSO WAVE INCORPORATED FAX 81 566 25 4757 Controller Business Div ORIN Support Center E mail orin support denso wave co jp 1 1 Showa cho Kariya Aichi 448 8661 Japan http www
224. rogram 12 2 12 2 Starting a Program in Teach Check Mode Teach check refers to checking the teaching results by running the program manually You may take the teach check procedure in Teach check mode 12 2 1 Teach Check Step 4 Turn the motor power ON Do not turn the motor power ON if you start a program with the controller being placed in machine lock MANUAL TEACHCHI Set the mode selector switch to the TEACHCHECK position When running the program for the first time set SPEED at 10 In the leftmost area of the status bar an icon indicating vex yi m fi Vision 1 0 OpePanel Set TEACHCHECK mode is displayed Press F1 Program in the top screen Tip If ERROR21F2 Enable Auto ON occurs see Section 7 3 2 Relationship between Operation Modes and Enable Auto Input Signal V The Program List window appears Q Q a M 49 vetoi iz Program List No of programs 1 On halt 2 0 08 128 YFud o oo o T e Back Next Search display Config Cancel Close this window E UT a Halt StepStop CyeStart StepBack StpStart 12 3 12 2 2 Selecting a Program to be Executed N moror Lock R SEL QO Ww Q Q p A ion voto 1m Select PRO1 in the Program aD List ween CED Selection can be made using the iss e sea Ga eee Ch cursor keys or jog dial or by ea eee ae touching the scr
225. rogram command s entered is wrong In the Output window check the error location and contents and correct the wrong command s Output 1 x PAC We 00 A STRAN We 00 ay C Documents and Settings dwu9097 7 o hy Document s INC Linet Undefined name Id WMT E Linet Instruction not conform to format L Limel6 Instruction not conform to format T 3 Warning lt lt Program list Output Search result Ww 11 12 11 4 Connecting WINCAPSIIT and Controller with Communications Cables For data communication between WINCAPSIII and the controller connecting the PC to the controller with communications cables is required For cable connections see the following 11 4 1 For RS 232C Communication PC DOS V a a a a a a i E ff RS 232C cross cable D E 9 pin D SUB female 9 pin D SUB female 11 4 2 For EtherNet Communication One to one connection PC EtherNet rm EtherNet cross cable N to N connection PC RC7M HUB EtherNet EtherNet Le j RC7M PC straight cable EtherNet om straight cable n EtherNet straight cable EtherNet straight cable 11 13 11 5 Preparation for Establishing Communications Link with Controller 11 5 1 For RS 232C Communication 11 5 1 1 RS 232C Configuring the robot controller Configure the robot controller from the teach pendant to communicate with WINCAPSIII via the RS 232C interface Step 4
226. s SAFETY PRECAUTIONS 3 Installation Precautions 3 1 Insuring the proper installation environment E For standard type and The standard and cleanroom types have not been designed to cleanroom type withstand explosions dust proof nor is it splash proof Therefore it should not be installed in any environment where 1 there are flammable gases or liquids 2 there are any shavings from metal processing or other conductive material flying about 3 there are any acidic alkaline or other corrosive material 4 there is a mist 5 there are any large sized inverters high output high frequency transmitters large contactors welders or other sources of electrical noise E For dust amp splash proof The dust amp splash proof type has an IP54 equivalent structure type but it has not been designed to withstand explosions The HM HS G W and the wrist of the VM VS G W are an IP65 equivalent dust and splash proof structure Note that the robot controller is not a dust or splash proof structure Therefore when using the robot controller in an environment exposed to mist put it in an optional protective box The dust amp splash proof type should not be installed in any environment where 1 there are any flammable gases or liquids 2 there are any acidic alkaline or other corrosive material 3 there are any large sized inverters high output high frequency transmitters large contactors welders or oth
227. s 1 1 and 1 2 8 m 15 m 8 m 8 m 8 m 15 m 1 4 m With cable 8 m With cable 12 m With cable Japanese indication English indication Japanese indication English indication 12 m Japanese indication English indication m For TP MP For TP MP CD ay common to the languages Japanese English German Korean and Chinese For Slave station For Master station For Master amp slave station For Slave station For Master station For Master amp slave station Shipped as installed on the controller Shipped as individual boards supply part Shipped as installed on the controller Shipped as individual boards supply part 410149 0940 410149 0950 410141 2700 410141 2710 410141 1740 410141 1750 410141 3050 410141 3060 410141 3580 410141 3590 410100 1570 410100 1580 410100 1590 410109 0390 410109 0400 410109 0410 410109 0420 410109 0430 410109 0440 410141 3710 410141 3720 410090 0980 410010 3320 410010 3330 410010 3340 410010 3350 410010 3370 410010 3380 410010 3390 410010 3400 410010 3410 410010 3480 410010 3430 410010 3440 410010 3460 410010 3470 Optional Components 2 amanen tom oe fae Optional function for RS 232C board Snipped alter inteoratea Inne 4400620260 12 Board manufacturer CONTEC CO LTD oe Added when the board is Model COM 2P PCI H 410006 0270 purchased
228. s T2 Tee Operation WOO CS turris EEEE TTT a 7 4 Ze ental MO oct tototatctasneranousacnsssnaccncasedacesacedacnseanieaniasuieaaiGautioatanie antec E 7 4 ay iy mmm Teac Ohee k Modes enn vane Ren nr ne ne I ne nee nee CO 7 4 TB ANONO sessions essential aorta oats vce nbs anna 7 4 7 3 switching Between Operation Modes vavniniintinns Gutincistosersrireietiastiestinsdasrianiaeids Td Low over een ne Procedur enre s Hee RET Deri ne Behe Hen me Pie ert nP ni De he Hen REDE DED NE nee Dene pvnE PED ren E ESR Ten T 5 7 8 2 Relationship between Operation Modes and Enable Auto Input Signal TO r Mainak Mode ieee E A A AAN AE R 7 6 7 4 1 Running the Robot in Joint X Y or Tool Mode ccc cecceeccseccseceencccnssessceeeceenceeues 7 6 CA Switcnine to Manual Wie icais ct tacleektacltct telco ees eed ead cad eed ceca E O T T To ROL OU AD OEE AE oay he ave 010 Salk a a E E E E EE E ET T ETTE 7 9 Chapter o Teaching oe sic nsac csinasncieles vccned deattcarssiecncmnedce E o E named beeareneaenteende 8 1 8 1 What is Teaching i scasssacsusecsassusesasasuansusedansdusndasasuisdusecaaeduasdasasuasduseaaaedidedeasvardarateevieeeieeeatiues 8 1 O24 Global Variables Available in Teac hin es ccscscccsccasteetnue ain a neon 8 1 8 3 Teaching to Position Variables cccccccccccccccssccceeccsecceccsecceeceeuceeucseueseeeceeuceeuceeseseseeeeseesens 8 2 8 4 Moving the Robot Arm to the Position Taught to the Position Variable ceecee 8 7 8 5 Moving the Robot
229. s executing upon receipt of l Program Start signal Program Execution aa That the robot is in operation one or more tasks Robot Running are being executed Program Termination 1 Cycle End That a single cycle of program is terminated CPU Normal That the CPU hardware of the robot controller is normal Robot Error That a servo error program error or any other serious error has occurred Error Warning Robot Warning That a minor error has occurred Battery Warnin That the voltage of the encoder or memory backup y g battery has dropped below the specified level The error number in BCD code when an error has Error Number occurred Continue Start Permission That Continue Start is permitted That the robot is in SS mode SS Function SS Mode See the SETTING UP MANUAL Section 3 4 6 SS Function The output from the contact exclusive to the Emergency Stop Emergency Stop ate emergency stop circuit 13 13 13 6 I O Allocation Tables Out of I O allocation tables given in this section select an allocation table suited to your I O allocation mode referring the I O Allocation of Extension Boards in Individual Allocation Modes table in Chapter 3 Section 3 3 1 For allocation of I O extension boards refer to I O Extension Boards for RC7M in the OPTIONS MANUAL Note In the I O conversion box compatible mode or I O conversion box standard mode the I O allocations differ from the ones given in this section so refer to t
230. s turned on Initializes the optimal load capacity setting mode to the mode 0 after the controller is turned on 1 Does not initialize the optimal load capacity setting mode after the controller is turned on maintains the current setting 16 4 1 Setting with Teach Pendant Operation flow Main Screen F2 Arm F6 Aux F7 Config The User Preference No of Parameters screen appears after you use the teach pendant to go through the operation flow above On the screen you will see the current internal load condition values and the internal mode a w em sont wotol r User Preferences LNo of parameters 133 120 Control set of motion optimization initialize Disab 12054 o el 12304 8 Cancel OK F5 Change the selection OK Exit with saving Ctr On the User Preference No of Parameters screen select Set Optimal Load Capacity Initializing and press F5 Set change The Parameter change screen will appear and you will be able to change individual parameter values 0 Disabled Initializes after the controller is turned on Factory default 1 Enabled Does not initialize after the controller is turned on maintains the current values 16 7 16 4 2 Setting with WINCAPSIII This section describes how to configure the control set of motion optimization Choose Project Parameters to display the Parameter window and then choose the Config tab Parameter Strings
231. s used is modified depending on the compiler first a file indicating the modification of the number of variables used is created and then the program is loaded The new setting becomes effective from when loading is completed 15 6 15 2 Operation Using WINCAPSIIT WINCAPSIII monitors global and local variables used in the robot controller and edits them 15 2 1 Monitoring and Modifying Global Variables Monitor global variables used in the robot controller and edit their values using the procedure given below Step 4 Open the target project and choose Connect Monitor Communication Online Monitor see Section 14 2 1 Step 1 Then choose View Variable View and select the type of variables to monitor The window for the selected type of variables appears as shown below Type I Jump Smart Wew Value Usage Macro 1005 Part No PartsID 562 The number of Parts iCounta 120 The number of PartsB iCountE 5 The number of Parts iCountc Type I Type P Type d Step 2 Edit a variable value s assigned in the robot controller by entering the desired value s in the Value column This variable editing procedure modifies the variable data held in the robot controller but it does not modify the data in the WINCAPSIII project To save the newly edited variable data in the WINCAPSIII project receive the data from the robot controller in the Transfer data window 15 7 15 2 2 Monitoring and Modifying Local Variables
232. set 1 At the time of shipping the parameter is set to 0 floor mount To overhead mount the robot change the parameter setting 16 1 1 Purpose of Setting Robot Installation Condition To use the current limit function or compliance control it is necessary to enable efficiency of gravity effect Its direction is determined by the robot installation condition floor mount overhead mount or wall mount 16 1 2 Setting with the Teach Pendant Operation flow Main screen F2 Arm F6 Aux F7 Config If you use the teach pendant and follow the above procedure the User Preferences window will appear agad cer Jenee uccan kohoa Preferences Ho ePm rameter 197 g Floor mount or verhesd nount 00 1 8 Floor mount or Overhead mount 0 17 Cancel K FS Change the selection OK Exit with saving qr ae 2 A Back Next Junp To Change Select the Floor mount or Overhead mount item in this User Preferences window then press F5 Change to call up the numeric keypad where you can enter new values Enter O or 1 Entry of any other value causes the error 6003 Excess in effective value range goad wom oo oe Change Parameter E EEEE OK Take in new entry Cancel Discard mew entry gom A Note After modifying the user preferences with the teach pendant use WINCAPSIII to receive the modified data from the robot controller In the Transfer data window in WINCAPSIII sel
233. set up Windows The network environment setting procedures will be described here preconditioned on the fact that the network card adapter is installed and that the Internet protocol RCP IP is effective First check that the local area connection is effective Next set up an IP address for the TCP IP property Step 1 Select Settings and Control Panel in this order from the START of Windows The Control Panel window will appear on the screen Pe Trt Yew Pe Tec He poset jain Mi D w Sie eee aio es te phone Saye lie Yy KR Ww Cuit su Tice Depim fui Cofia as B i Iaa Pi kemaki reem Cmigrsin p obs amp E rt a 6 hata Poe re ini eid Sobre aed Wiha Moder fan Liig or T Hm Li Step 2 On the above screen click the icon Network Connections The Local Area Connection icon appears as shown below If Disabled is displayed with the icon move the pointer to the icon click the right mouse button and then select Enable Network Connections File Edit View Favorites Tools Advanced Help sek bd gt Ss P Search gt Folders Eas LAN or High Speed Internet Network Tasks za eri Local 4rea Connection fa Create a new Disabled Firewalled connection a CL a Broadcom 440x 10 100 Integr 9 Set up a home or small Step 3 Place the pointer on the Local Area Connection Properties icon click the right mouse button and select Property The Local Area Connection Properties
234. sin Axs RODO cy rpeee ener nT en aE ER EENE ry te cy 6 2 6 5 Advantages of Tool Coordinates in 4 Axis Robots eee sssecceeeeeeeessssnaeeeeeeseeessssnaaeeeeees 6 2 6 6 Position Data Handled by 4 Axis Robots ceeeeessssnnneeeeeeeeeeeessnaceeeeeeeeesssessaaeeeeees 6 3 661 Shoulder Fisuresof FAxIS RODOtS tussictesctearanastoacteactes tases ntoestacereaaune cecenueeoun nus nec ae 6 3 6 Coordinates 111 RODOS ae 6 4 GS Base Coordinates Im GO Axis RODOS adssstctetetet ch coeii wie wie ener eee 6 4 6 9 Work Coordinates in 6 Axis Robots wicaseicsouguiuseiadninsusddedsbessassassaoponcoanssnsaszacooonconasaassanseiodebededs 6 4 6 10 soo Coordinates In O AXIS RODOS nei AA 6 5 6 11 Advantages of Tool Coordinates in 6 Axis RobotSs eessseeseseseseeessressesereseressrssreseesseessresesese 6 6 6 12 Position Data Handled by 6 Axis Robots cccecceseccceecceeecceeecseeesseeesseeuseeeseessseeeeeeees 6 7 6 12 1 Figures of the Shoulder Elbow and Wrist in 6 Axis Robots cccccccecceecseeesseeeseeeees 6 8 Chapter 7 Preparations for Teac ne iis ss cseeusscsnssaieucaceencesaccaeawuoecaacecacaue ps odacneaee biadpaneeehpeeoeaa renee 7 1 Gale donee the Teach iene a bt cigs aonana ciate tanctanecaneeancucacssacecacceacceacsetcseadacadnssctostseseacacuandacs 7 1 Talal Holding the Teach Pendant and the Deadman Switch c ec cecccceecceeeseeeeseeeeeeees 7 1 L12 Names of Keys Buttons and Switches on the Teach Pendant secseeseceeeeeseeeeserrserrseeen
235. sion device Available with all series of robots and vision device O O Available with all series of robots The command specifications differ between the 4 axis 6 axis robot and vision device V1 2 Available with the 4 axis robots and the 6 axis robots of Version 1 2 or later Functions Refer Classified by functions Commands Vision 4 axis 6 axis devi to evice DELETESEM Deletes a semaphore 14 17 FLUSHSEM Releases tasks from waiting for 14 18 a semaphore GIVESEM Releases a task from waiting 14 19 for a semaphore TAKESEM Obtains a semaphore with a 14 20 designated semaphore ID Arm Semaphore TAKEARM Gets an arm group Upon 14 21 execution of this statement the programmed speed acceleration and deceleration will be set to 100 If the gotten arm group includes any robot joint this statement restores the tool coordinates and work coordinates to the origin GIVEARM Releases robot control priority 14 26 TAKEVIS Obtains visual process priority 14 27 GIVEVIS Releases visual process 14 28 priority Supervisory Task INIT Turns on motors carrier out V1 7 V1 7 14 29 CAL and sets the speed according to the preset supervisory task parameters SETOCCUPATION Reconfigures the processing V2 0 V2 0 14 30 TIME time to be exclusively occupied by supervisory tasks INITWAITERR Initializes the storage of V2 2 V2 2 14 31 errors detected by WAITERROR Exclusive to supervisor
236. splay the target input or output signal Allows the selected system input port to accept a dummy input That input port will be marked with and the dummy I O icon will appear in the status bar of the top of the screen This command is useful for testing programs Displays the system message Are you sure you want to turn the I O xxxx on or off Pressing the OK button will turn the selected input port on or off This function is available for user outputs hand outputs and internal I Os If an invalid number is specified the ERROR 21FB Reserved output area writing error or ERROR 73E4 Out of I O range occurs F10 ClrDummy Clears the dummy input setting 14 1 14 1 2 Turning Dummy Inputs ON OFF Only for user inputs and hand inputs dummy inputs can be enabled When dummy inputs is enabled you can turn the signal ON or OFF with the teach pendant Enabling dummy inputs Pressing F4 I O on the top screen will display the I O Monitor window as shown below W Y mM 4s oint wotel a2 I 0 Monitor Cminil0 Assgin e Enable futo Select the desired I O number for which dummy input is enabled r Deadman SH r Robot stop Wio dedct mici Wedct mic edct mics IDedct IN by using the cursor keys or jog Stop all steps Strobe signal Data 20 Data 1 di b t i th Wis Dedcet miis IDeact INMBce IDeact iniic7 IDedct IN lal Or Dy tougning the screen Data 2 Command Command ommane His enri Inco
237. ssage mMPROL cm Do you want to compile Enable Cancel Press OK B e E OA T Compiling will start All programs are active Cancel w Tx Config E ey C T J T 1 If you press Cancel instead of OK at this point the screen will return to the Program List window without performing the compiling operation 2 There is one other way with which you may compile programs into run time format Press F6 Aux in the Program List window to call up the Auxiliary Functions Programs window In the window press F12 Compile V After the compiling is completed loading of projects automatically starts V If there is no syntax error the message Local variable initialized is displayed M g a H a bes noto n Program Li Dir ompi te ae p _ Please wait Error Message 73F5 Local variable initialized Sets compile flags a w Y 4s 4532 Joint noto a2 Program List No of programs 1 Back Next Search UpFolder Displey Config Cancel Close this window H a NewProg Delete Copy Yar Edit fux 10 8 10 2 4 Loading the Program Lo You need to load the compiled program so that the robot controller can execute it Even if compiled programs are transferred from the PC connected to the robot controller they cannot execute They need to be loaded to the memory area where the program can be executed Display the top s
238. sses height of each pallet For every pallet added to a stack a plus unit value is added For every pallet removed from a stack a minus 20 6 20 2 3 Simplified Palletizing Program PRO1 ITITLE Simplified palletizing program sample Approach clearance 50mm Depart clearance 50mm Palletizing target position variable P 40 Palletizing counter I 10 Stacked pallets counter I 11 N 3 M 5 K 20mm i M t N P P 55 E P 52 P 53 K oh PROGRAM PROL E TAKEARM Get palletizing positions from P 40 Order of parameters N M Stacked pallet height mm P1 P2 P3 P4 Palletizing points numbers Palletizing counter Stacked pallets counter CALL xdGetPalt 3 5 20 P 52 P 53 P 54 P 55 P 40 I 10 I 11 o Palletizing APPROACH P P 40 0 50 Approaching P 40 50mm upwards E MOVE L 0 P 40 Move down to P 40 5 Count up counters I 10 I 10 1 Increment palletizing counter by one O 6 Count up palletizing counter if I 10 gt 3 5 then If palletizing a layer of pallets 3 rows x 5 columns finishesO 7 Check completion of palletizing of a layer er f pallet I 10 1 then reset palletizing counter to initial value g i sce I 11 I 11 1 Increment stacked pallets counter by one H IF I 11 gt 5 THEN If palletizing 5 layers of pallets finishes O I 10 1 then reset stacked
239. sttccecesstaeecens 9 4 9 6 7 Comment REM Comima id scicisseiacsiaserieiieckedtcieuciedoclenadeniadstclaleldtliedietlesisiiiawnaiwntee 9 4 9 6 8 Movement to the Specified Coordinates MOVE command ss ssssesssesssesssrsssressressrrssrresen 9 5 9 7 Movement in the Z Axis Direction APPROACH and DEPART commands 00 064 9 8 9 7 1 Approach in the Hand Direction APPROACH command ccceeeseescccceestececessnneeeeess 9 8 9 7 2 Dodging Movement in the Hand Direction DEPART comman cceseecceeeeeeeeeeee 9 9 Je COWS OV Ai A CS cesar adanthar teat ene eats aati 9 10 FSk AG EOD al WAV ADE sists ietihateratadalenehosarosete hetero N 9 11 Po overs MAY cH casio its a eeurane Mini nne nc nner tein epee monte reer nn nee MNO U aT Tn Oe tnine eee ery tne ere meri 9712 99 Mmitiatne trom External Edip ment esssesmntatenn eea eA ARE ENR enini 9 13 Chapter 10 Programming with Teach Pendant sessseesesesensesesessesesesessesesesersesesesseseseseseeseseseee 10 1 TOM Overview OF Sample Prootam acses E EEE EEE AA AANEEN AERAR 10 1 T02 Creatine a Prora oe Seen AA E Rn TERE SO 10 2 10 2 1 Entering a New Program Nam sssicseisesisssiireisseisersoeosisaioss iscinu iare ies in e Ee E i a 10 2 10 2 2 Wnt erime Program CodeS oussiinerivivinimii iii TiTa EEEE ETEEN TEETE 10 3 O2 Compo ne the Prora Niasa E 10 7 POW A TO ACIS PIMP 6 oraa EE aceactinennae 10 9 Chapter 11 Programming with WINCAPSUD 66 csccssesssntsssoawesnvaseadeaerv
240. t Dry output Power for conveyor tracking board Oo O wo ee o f DC power input 24V when external power source is used Black Brown wo O O N DC power output 24V when internal power source is used 13 17 13 6 5 Mini I O Board CNS on global type of controller in Compatible Standard and All User I O Modes Pee ae Signal name Signal name 4 Reserved Black 35 Reseved o Pink ee a es oe e eea oo fea a e o a Reserves Soo o e en o e Reema oo o e een o e frema O fE e f o res Ti Reserved Brown Reserved White aa o freme o o e en oo e E a e S a On Poema S o n e o o e E a User input 53 User output 24 Violet anae Obd aa T Ca Poema o S o oo ss Sosro S a C t a fuera o s feom o freee i a SC E ee fo SSO ry Ca frema CP x vetow o Trena o Power for conveyor tracking board Power for conveyor tracking board Green when JP13 on mini I O board is shorted Gray DC power output OV when JP12 on mini I O board is shorted fe Bwe 6 j oo I rey O EC 30 DC power output 24V we o a o DC power input OV when external power Gray source is used Blue 32 DC power input 24V when external DC power output OV when internal power source is used e 33 power source is used 34 DC power output 24V when internal power source is used 13 18 Chapter 14 Monitoring and Manipulating the I Os You ca
241. t It has components Xb Yb and Zb which are identical with X Y and Z in X Y mode 6 3 Work Coordinates in 4 Axis Robots Work coordinates are 3 dimensional Cartesian coordinates defined for each operation space of workpiece The origin can be defined anywhere and as much as needed It lies at a corner of the rectangular parallelepiped envelope of an object workpiece as shown below Work coordinates are expressed by the coordinate origin X Y Z corresponding to the base coordinates and the angles of rotation Rx Ry Rz around X Y and Z axes of base coordinates Up to seven work coordinates can be defined and assigned work coordinates 1 to T If work coordinates are not defined base coordinates go into effect Note To use work coordinates it is necessary to define them beforehand For details refer to the SETTING UP MANUAL Section 4 2 1 1 3 Defining work coordinates Zw2 Work 4 gt coordinates 2 Yw2 Xw2 Base coordinates Zw3 Zw1 Work lt Work a As coordinates 3 4s coordinates 1 Yw3 Yw 1 Base Coordinates and Work Coordinates 6 1 6 4 Tool Coordinates in 4 Axis Robots The tool coordinates are 3 dimensional Cartesian coordinates defined with reference to the origin of the mechanical interface coordinates shown below and with the offset distance components and axis rotation angles Up to 63 tool coordinates can be defined and assigned tool coordinates 1 to 63 Width across flats o
242. tement is true 1 the statement block following IF and preceding ELSE is executed if false 0 the statement block following ELSE and preceding ENDIF is executed In lt conditional expression gt the following operators can be used Relational operator Operation description Equal to ed pe Nearly rae Approximation expression gt comparison YES TRUE 1 pS Notequalto Statements executed when Statements executed when NO the condition is true the condition is false Greater than Less than or equal to Greater than or equal to Remark The comparison precision of the approximation comparison operator can be specified with Approximation comparison precision in PRJ setting Example Ex If IO 2 is ON assign 2 to I5 and turn O 16 ON Otherwise assign 3 to I5 and then turn O 16 OFF IF IO 2 ON THEN If IO 2 is ON I5 2 SET IO 16 ELSE If IO 2 is OFF IO 2 NO I5 3 RESET I0 16 YES TRUE 1 END IF 15 2 15 lO 16 O 16 OFF lt 18 5 18 4 2 SELECT CASE Syntax Description Example Execute the statement block associated with the matching condition out of multiple conditions SELECT CASE lt expression gt CASE lt item gt Executes the statements if the value of lt expression gt matches lt item gt in the CASE sentence CASE ELSE Executes the statements if the val
243. tems General Safety Requirements ISO10218 1 2006 Robots for industrial environments Safety requirements Part 1 Robot NFPA 79 2002 Electrical Standard for Industrial Machinery 8 Battery Recycling DENSO Robot uses lithium batteries Discard batteries according to your local and national recycling RA eS Ete as el ic EU Comprehensive Guidance Flow for STARTUP MANUAL Setting up the robot Running the robot Mandatory wiring Jb e Power cable and Motor amp encoder cable p 4 1 e Emergency Stop and Enable Auto input circuits p 5 1 General info about the interface p 3 1 i e global type of controller p 2 2 To the next page Running the robot from external equipment Check the I O allocation mode p 13 1 Notes on using the global type of controller p 13 1 Running in mini I O dedicated mode p 13 2 Running in standard mode p 13 6 Running in compatible mode p 13 10 I O allocation tables p 13 14 Hand I O common to all modes p 13 14 Mini I O on standard and global types p 13 15 lf an extension board s is mounted Mini I O board p 13 17 E Parallel I O board p 13 19 DeviceNet slave board p 13 23 E PROFIBUS DP slave board p 13 35 E DeviceNet master board p 13 38 S Link V master board p 13 39 CC Link board p 13 26 Manual to Automatic operation nl Basics of operation 7 Coordi
244. ternal 12 52 composite deceleration of joints involved in a currently held arm group JDECEL Specifies the internal 12 53 deceleration ratio of individual joints included in a currently held arm group CURACC Gets the current internal 12 54 composite acceleration of joints included in a currently held arm group CURJACC Gets the current internal 12 55 acceleration of individual joints included in a currently held arm group App 2 6 4 axis 6 axis Vision device Available with all series of robots and vision device O O O Available with all series of robots The command specifications differ between the 4 axis 6 axis robot and vision device V1 2 Available with the 4 axis robots and the 6 axis robots of Version 1 2 or later Functions Refer Classified by functions Commands _ Vision i 4 axis 6 axis devi to evice CURDEC Gets the current internal 12 56 composite deceleration of joints included in a currently held arm group CURJDEC Gets the current internal 12 57 deceleration of individual joints included in a currently held arm group CURJSPD Gets the current internal speed 12 58 of individual joints included in a currently held arm group CURSPD Gets the current internal 12 59 composite speed of joints included in a currently held arm group CUREXTACC Obtains the current external V1 4 V1 4 12 60 acceleration value CUREXTDEC Obtains the current external V1 4 V
245. th the Command Processing Completed signal Note If the Strobe Signal is turned OFF before the Command Processing Completed signal is turned ON the controller outputs the Command Processing Completed signal once and then turns it OFF within 100 ms The PLC waits until the Command Processing Completed signal is input In this case confirm that no error exists with the robot The PLC turns OFF the command and data areas and the Strobe Signal As soon as the Strobe Signal is turned OFF the controller turns OFF the Command Processing Completed signal The Robot Error signal which is outputted due to a command processing error remains ON until Clear Robot Error 001 is executed Note The maximum allowable time from when the Strobe Signal is turned OFF until the Command Processing Completed signal is turned OFF is 100 ms 13 4 13 3 3 Types and Functions of System Output Signals in Mini I O Dedicated Mode The table below lists the system output signals in the mini I O dedicated mode System output signal Used to tell external equipment TNES That the OPERATION PREPARATION command Robot Initialized RA Start up Auto Mode That the robot is in Auto mode Operation Preparation That the motor power is turned on and the robot is Completed in External auto mode Program Execution Robot Running That the robot is in operation one or more tasks are being executed CPU Normal That the CPU hardware of the robot controller is normal
246. the depart point that is specified in the Z axis direction and lt depart length gt away from the current position Syntax DEPART lt interpolation method gt lt pass start displacement gt _ lt depart length gt lt motion option gt Description 1 lt interpolation methods is either P PTP control or L CP control 2 The depart direction differs depending upon the robot type 4 axis The tool end moves lt approach length gt mm from the current position in the Z direction of the base coordinate system 6 axis The tool end moves lt approach length gt mm from the current position in the Z direction of the tool coordinate system 3 lt pass start displacement gt and lt motion option gt are the same as in the MOVE command Example DEPART L P 50 Move the tool end 50 mm above the current position in path motion under CP control C gt Motion 4 axis robot Depart length 6 axis robot Depart length ZI AS os ss r 9 9 9 8 Scope of Variables A variable refers to a temporary storage area for data used in a program Global and local variables are available A global variable can be accessed by any programs tasks to share information between those programs A local variable can only be accessed in a program where it is defined Since local variables are restricted in access they can be defined with a same name in different programs Those variables do not affect each
247. to initial value END IF Delete these lines for a single layer of pallet m Relationship between the palletizing positions and counter values in the simplified palletizing program M columns _ gt If each pallet consists of 3 rows x 5 columns N 3 M 5 palletizing counter is 110 and stacked pallets counter is 111 then Position a 110 1 111 1 Position 110 7 111 4 Position 110 14 111 5 20 10 Appendix 1 Sample Answers to Practice Exercises E Practice Exercise 1 In Section 17 3 for robot control statements 2 Move the arm to the position 50 mm above P1 in the direction of the hand TITLE Practice program 1 PROGRAM PRO1 TAKEARM SPEED 100 DRIVEA 0 1 O APPROACH P P1 P 50 MOVE L E P1 S 20 DEPART L P 50 APPROACH P P2 P 50 MOVE L E P1 S 20 DEPART L P 50 MOVE P 0 P10 END 3 Move the arm to Pl 4 Move the arm to the position 50 mm above P1 in the direction of the hand 5 Move the arm to the position 50 mm above P2 in the direction of the hand 6 Move the arm to P2 7 Move the arm to the position 50 mm above P2 in the direction of the hand 8 Move the arm to P10 Declare the end of the program E Practice Exercise 2 In Section 18 6 for flow control statements Code Comment Program title Declare program name Obtain the arm control priority Internal speed 100 1 Move the arm to P1 2
248. to register a program as a library or to add registered programs to a project To use the library programs registered in the program bank it is necessary to import the library For operation of the program bank refer to Section 20 1 4 Importing a Library Program 20 1 3 Library Classifications The standard program library is classified into the following 7 classes Standard Program Library Class Class name Description 1 Conventional Provides functions similar to conventional language language commands Palletizing Provides a palletizing function Tool operation Provides tool operation related functions Input output Provides DIO and RS232C input output related functions Arm motion Provides arm motion related functions except for the above described Vision Provides vision operation related functions T Version 1 2 Provides the version 1 2 compatible library that can be compatible used in Controller Software Version 1 2 or earlier This library contains three programs ndVcom pltMove and pltMove0 If in Version 1 2 or earlier any of those programs not in this library but in classes 1 to 6 above is used a compilation error will result Use libraries in classes 1 to 6 above except for those three programs 20 1 20 1 4 Importing a Library Program This section describes how to import the program dioSetAndWait from the program bank to a program project Step 4 Open a target project in WINCAPSIII Step 2 Cho
249. tool end moves a long distance until it stops Note The NEXT option is invalid in Teach check mode DEFINT lil li2 1i3 DEFSNG 1f1 1f 2 1 3 DRIVE lil 30 Move lil axis 30 degrees from the current position DRIVE lil 1 1 Move lil axis by 1f1 degrees from the current position DRIVE LLEF 0 7 SRAD if Clas er lar Se LEX Move lil axis by 0 78 rad 112 axis by 1f 2 degrees and 113 axis by 1f 3 degrees from the current position 17 4 17 2 3 DRAW Execute a relative motion specified in the work coordinate system Syntax DRAW lt interpolation method gt lt pass start displacement gt lt translation movement gt lt motion option gt NEXT Description The DRAW statement moves the tool end from the current position by a distance specified by lt translation movement gt lt interpolation methods is either P or PTP or L Move under GP control lt pass start displacement gt Is any of 0 P 1 to 255 and E Pass start displacement e The robot moves in the end motion If omitted the default 0 applies The robot moves in the pass motion Note The specified numeric value is the radius of a sphere whose center is located at the destination position and it is expressed in units of mm when the motion command value enters the sphere range control passes to the next one This is merely used as a guide value for changing the pass start timing not a guaranteed value The robot checks th
250. ue of lt expression gt matches lt item gt in all of the CASE sentences END SELECT In a SELECT CASE statement lt expression gt is placed after the SELECT CASE If the value of lt expression gt matches lt item gt of the CASE statement the statement block following the CASE and preceding the next CASE is executed If the value of lt expression gt does not match lt item gt of any CASE statements the statement block following the CASE and preceding the next CASE is executed Ex If the value of 11 matches each condition the corresponding statements are executed me YES NO abe YES Call Prot Call Pro2 a YES I2 10 y Call Pro3 y Call Pro4 SELECT CASE I1 CASE 1 If IlL is 1 CALL PRO1 CASE 3 5 7 TE LL TS Sy by or 7 CALL PRO2 CASE 8 to 11 IF Il is 8 to 11 For specifying the range x to xx is used I2 10 I3 5 CASE IS lt 15 Pat bl aS 15 or less Comparison format IS lt comparison operator gt lt compared value gt I2 10 CALL PRO3 CASE ELSE If Il does not match any condition above CALL PRO4 END SELECT 18 6 18 5 Repeat Commands 18 5 1 FOR NEXT Repeatedly execute a block of statements in a FOR NEXT loop Syntax FOR lt variablename gt lt initial value gt TO lt final value gt STEP lt increment gt Executes the statements if th
251. ult in broken cables or tubes Use the correct power source 200 VAC or 100 VAC for the controller specification 4 3 Chapter 5 Wire Connection for System Input Signals 5 1 Wire Connection Required in Starting Up the Robot This section shows the minimum wire connection required for the stand alone robot unit to turn the motor power ON or run in Auto or Manual mode during adjustment in starting up the robot system 5 1 1 Configuration of Emergency Stop Circuitry Standard type of controller The External Emergency Stop and Enable Auto input signals are important for safety Be sure to configure their circuits with contacts as shown below Robot controller Internal power source 24V O External Emergency Stop input 1 External Emergency Stop input 2 Enable Auto input Internal power source 0V 5 1 2 Configuration of Safety Circuit Global type of controller Input signals to the safety circuit are important for safety Be sure to configure their circuits with contacts as shown below observing the notes given below Robot controller Prepared by customer O Internal 24V External Emergency he Stop input 1 Safety relay pce r EMG1 External Emergency Stop input 2 Safety relay O Internal 24V CR r PRT2 Safety relay CR PRT1 CN10 SAFETY I O Salely relay pee bp Protective Stop input 1 Protective Stop input 2 Enable Auto input 1
252. umbers Names are replaced with numbers in program execution MACRO DEFINITION FILE The file which defines macro MANUAL ROBOT OPERATION Robot operation by the user using the teach pendant MECHANICAL END The mechanical motion limit set by the mechanical stopper lt Software limit MECHANICAL INTERFACE The junction surface of the flange and the tool Mechanical interface JIS MECHANICAL INTERFACE COORDINATES Three dimensional orthogonal coordinate system which has the origin on the center of the flange MECHANICAL STOPPER The mechanism to restrict the motion of the robot axes physically MENU TREE The description of the functional menu of function keys in tree form It is listed on the operational guide MODE METHOD The method to set binarization level in the valley when the histogram is two hills distribution MODE SWITCH The switch on the pendant It can switch the robot run mode MONITOR To display the current status of the robot MOTION SPACE The range in which the robot can operate MULTITASKING The state in which multiple programs are executed virtually simultaneously It is realized in the way that CPU of the robot controller executes each program in a short interval by turns N NLIM The negative directional end value of the software limit gt PLIM NONFLIP One of the wrist figures of 6 axis robot FLIP NORMAL MODE The standard allocation mode of I O NORMAL
253. uously ae a Single cycle and press ee LSet a Sar aes Program PRO1 is executed OK Runs the specified program CD O a Once the program has been run to the end it will stop The elapsed time on display refers to the length of time from the start to end of the program including temporary stop time caused by Step stop or Halt 12 10 12 3 5 Continuous Start Start a continuous run of the program Check that the program to be started is selected SHORT Press F4 Start The selection screen for Single cycle and Continuously is displayed Oe oe Monn veteli w Program List No of programs 1 Run Program m N Do you want to run the program PRO1 Single cycle a i AT Select Continuously a me Cx J Press OK coe ll IRL i I EED LUA Program PRO1 will be executed OK Runs the specified progran ED continuously eo You may stop continuous run by Halt Stop or Step stop Caution During program running always keep one hand free and ready to press the STOP key This completes the procedures required to run the robot with the teach pendant 12 11 12 4 Robot Stop This section describes the four ways to stop the robot UTi EACHCHECK moron PLock R SEL Cron Cier nsec noe E SPEED Oo yl Halt A E 4 Cyc
254. ure three rotation components of the position variable Assign a value to the X axis rotation component of the position variable Assign a value to the Y axis rotation component of the position variable Assign a value to the Z axis rotation component of the position variable Assign a value to the T axis component of the position variable Assign a value to the X axis component of the vector variable position variable or variable in homogeneous transform matrix Assign a value to the Y axis component of the vector variable position variable or variable in homogeneous transform matrix Assign a value to the Z axis component of the vector variable position variable or variable in homogeneous transform matrix Declare the end of motion executed by a program Stop program execution App 2 3 Vision device O Refer to 10 1 10 2 10 2 10 3 10 4 10 5 10 6 10 7 10 7 10 8 10 8 10 9 10 9 10 10 Classified by functions Call Repeat Conditional Branch Unconditional Branch Comment Robot Control Statements Motion Control 4 axis 6 axis O Commands STOPEND CALL GOSUB ON GOSUB RETURN DO LOOP EXIT DO FOR NEXT EXIT FOR REPEAT UNTIL WHILE WEND IF END IF IF THEN ELSE SELECT CASE GOTO ON GOTO REM APPROACH DEPART DRAW DRIVE Vision device A
255. ure TASK The motion process formed by each program when multiple programs are managed their simultaneous execution TEACH CHECK To check the motion by the program TEACHING To input the necessary information for operation into the robot using the teach pendant TOOL The portion of the robot which affects the work immediately It is a synonym of end effector JIS TOOL COORDINATES The coordinate system which sets the origin on the tool and offsets the origin of the mechanical interface coordinates to any point and rotates around each axis TOOL MODE The manual operation mode on the tool coordinates TOOLO A special form of tool definition that has origin offset zero i e it implies the mechanical interface coordinates TYPE DECLARATION To declare the type of variable in a program Ul USER COORDINATES The coordinate system which users can define USER I O SIGNALS The input output signals controllable by the user program USER LEVEL The class provided for users to keep data management security Access to information or operation is restricted by each class VARIABLE TABLE A group of data which are the pair of each port number and value retained by the controller VISUAL DEVICE The device to provide the robot with necessary data by processing the images inputted from the camera VISUAL FUNCTION The function to provide the robot control function with necessary data by processing the
256. use a high frequency proof leakage breaker for inverters 6 When inserting a circuit breaker between the robot and the AC input power supply select the circuit breaker with breaking capacity higher than the following specification Recommended circuit breaker example CP33V 20 Fuji Electric FA Components amp Systems Co Ltd Caution Using a circuit breaker with breaking capacity lower than the following specification may cause the circuit breaker to be shut down due to robot operation Breaking characteristics curve w ab E O amp x ab a mM 100 120 140 160 180 200 Breaking current Arms Circuit Breaker Characteristics 4 2 4 4 Wiring of Primary Power Source Observe the following precautions when wiring the primary power source of the robot controller 1 Three phase 200 VAC Connect the robot power cable to a power source separate from the welder power source Ground the protective grounding wire green yellow of the robot power cable Ground the functional grounding terminal of the robot controller using a wire of 1 25 mm or more in size For the robot power supply use a protective grounding wire with grounding resistance of 1000 or less If the supply power source for the robot controller requires a leakage breaker use a high frequency proof leakage breaker for inverters Prepare power cables of proper capacity according to the tables given below Robot Contr
257. v User input UIN4 User input UINS User input UING User input UIN User input UINS System outpi CPU normal disable tc SOUT1 14 5 Chapter 15 Monitoring and Modifying Variables 15 1 Operation Using the Teach Pendant 15 1 1 Monitoring and Modifying Global Variables Access F1 Program F4 Var Monitor values assigned to various types of variables the number of variables used and or modifies them 1 Press F4 Var in the Program List window and the Select Variable Type window will appear as shown below W LE ca HS 45352 Joint wotolf ia Select Variable Type Eyal ol 2 2 Integer Float Vector Pos Joint RegYar F1 F2 F3 F4 FS F6 Double Tran String YarsUsed CF8 F19 F11 F12 Cancel Close this window CH al Integer Float Yector Po 3 Joint RegYar 2 Select the desired type of variable to monitor or modify Pressing F1 Integer will display the Integer Variables window as shown below 2 a m eem Joint noro r Integer Yariables 100 String YarsUsed F11 F12 F5 Change the selection Cr e al Back Next Jump To Change Function keys available F1 Back Displays the previous page of the variables list F2 Next Displays the next page of the variables list Displays the Jump To Variable Number window where you may F3 Jump To type a variable name you want to see with the numerical keys and press OK Do
258. vailable with all series of robots and vision device O Available with all series of robots The command specifications differ between the 4 axis 6 axis robot and vision device V1 2 Available with the 4 axis robots and the 6 axis robots of Version 1 2 or later Functions _ Vision ne 4 axis 6 axis devi to evice Cycle stop a program started 11 3 with a continuous run or with a cycle option Call a program and execute it 11 4 Call a subroutine 11 6 Call a subroutine depending 11 7 upon the value of an expression Return control from a 11 8 subroutine Repeat a block of statements 11 9 while a condition is True or until a condition becomes True Forcibly exit from DO LOOP 11 11 Repeatedly execute a block of 11 12 statements in a FOR NEXT loop Forcibly exit from FOR NEXT 11 14 Repeat a block of statements in 11 15 a posttest loop Repeat a block of statements in 11 16 a pretest loop Conditionally execute specified 11 17 statement blocks depending upon the evaluation of a conditional expression Conditionally execute specified 11 18 statement depending upon the evaluation of a conditional expression Execute the statement block 11 19 associated with the matching condition out of multiple conditions Unconditionally branch a 11 21 program Unconditionally branch to the
259. ve CIE Source file w Variable _ Variable H Tool Work Area Parameter J Tool Work Area 3 Log Parameter STEP 2 Inthe WINCAPSIII pane choose Program Source file to display the programs held in WINCAPSIII Transfer data _ WINCAPS II Controller WS sLocal data SAMPLE 002 lt Controller 10 8 102 128 a Jic3 Program ic Program wA Source file elve EI Source file R 13 smppgm01 pac _ Variable C13 pick placeO1 pac J Tool Work Area 1 pick placeO2 pac l3 Log OO Executable file Map file H 5 Parameter J Variable a J Tool Work f Area C5 Parameter STEP 3 Select Program and press Send Transfer data _ WINCAPS TIT Controller VI Local data SSMPLE 002 a Mics C lt Controller 10 8 102 128 JG Program d MIE Source file sive CIS Source file smppgm01 pac _ Variable pick placeO1 pac 4 _ Tool Work Area pick placeO2 pac l3 Log MO Executable file Map file Parameter J Variable J Tool Work f Area H 5 Parameter 11 27 STEP 4 Wait for the confirmation dialog to appear Press Yes to transfer the data to the robot controller WINCAPS If Q Data of the controller will be updated Are you sure you to send the data ee a Transfer data Send data finished Transferred items Process result smppgm01 pac Finished pick placeO1 pac Finished
260. w I O Allocation Mode PRO lt number gt executable Mini I O dedicated mode PROO to PRO7 Standard mode PROO to PRO32767 Compatible mode PROO to PRO127 Note External equipment can initiate only programs located in the root folder in the controller When creating programs with a folder function be careful about the storage location 9 13 Chapter 10 Programming with Teach Pendant This chapter describes how to create a program using the teach pendant 10 1 Overview of Sample Program The sample program created in the following sections is for moving the robot arm from the current position to P1 and then P2 Program Flow Chart Obtain the arm control priority Set the arm motion speed at 100 Move the arm to P1 in CP control mode Move the arm to P2 in CP control mode 10 1 10 2 Creating a Program This section shows how to create a program using the teach pendant with a simple example When creating and editing a program turn the operation mode to Manual 10 2 1 Entering a New Program Name To create a new program it is necessary to open the window for editing programs on the teach pendant screen MANUAL 2 y ve Joint HoTo z Old lt Press F1 Program on the top screen Press F1 NewProg y g vs 655ee al es noto a2 Program Li Dir Please choose E Program New i Header file Folder
261. xecute any of the step start cycle start or continuous start 12 13 Chapter 13 Running the Robot from External Equipment 13 1 Checking the I O Allocation Mode How to run the robot from external equipment PLC etc differs depending upon the I O allocation mode specified in the robot controller It is therefore necessary to check the current allocation mode beforehand Use the I O monitor called up with F4 I O on the top screen of the teach pendant Access F4 I O The current I O allocation mode is displayed Gp vs ssm sone woro x I 0 Monitor LIn standard mode Enable Auto r Deadman SH r Robot stop Wio Wedct miii Wedct niic Wedct nics IDedct IN Stop all steps Not used Halt All Strobe signal Bes i wedet miis Deact nice IDedct INBc7 IDedct IN Skip interrupt Odd parity Data 1 Data 1 1 Wis dedct miio IDeact inicio Wedct Inici IDedct IN Data 1 2 Data 1 3 Data 1 4 Data 1 5 Wii Deact miis MDedct inicia IDedct icis IDedct IN Data 1 6 Data 1 7 Data 2 Data 2 1 F5 0K Turns the selection on or off ry 13 2 Notes on Using the Global Type of Controller To run the robot from external equipment PLC etc it is necessary to set the single point of control function to the External Automatic mode For details about the single point of control function see Section 2 2 2 Check that turning the mode selector switch to the AUTO position turns the operation mode icon in the status bar to
262. y in base Drives the robot flange linearly along independently coordinates the Cartesian coordinates of the 4th across flat Reference hole Viewed Ath axis T from A Drives each of the six joints Drives the robot flange linearly in base Drives the robot flange linearly along independently coordinates the X Y and Z axes of the flange face Gon x 2nd axis J2 3 f f if ig 2 Flange face A C listas gt d J1 s Cc Oo pru O lt _ O Q O faun 92 x lt p st Cc Oo pru O lt J6 O Q O paun 2 x lt P 7 4 2 Switching to Manual Mode CAUTION At the start set the reduced ratio of the programmed speed to 20 or less If you run the robot manually at high speeds from the beginning you may mistakenly strike the robot against the surrounding objects E From the teach pendant Step 1 Set the mode selector switch to the MANUAL position Icon Mode selector switch O POWER Step 2 l Press the MOTOR key to turn the motor on Step 3 Press the M MOD key O O MOTOR LOCK R SEL w g C el YS 6556G_ A Joint HOT olf om Chl CRY O POWER The Select Operation Mode window appears as shown in the next step Step 4 Select the desired operation mode by using the cursor keys or touching the screen directly then press the OK key In the mode area of the status bar appears the selected operation
263. y tasks WAITERROR Detects errors V2 2 V2 2 14 32 CURERRSTATUS Returns the current error V2 2 V2 2 14 33 status Exclusive to supervisory tasks Functions Arithmetic Function ABS Obtains the absolute value of 15 1 an expression value EXP Obtains an exponential function 15 2 with a natural logarithm taken as a base INT Obtains the maximum integer 15 3 value possible from a designated value LOG Obtains a natural logarithm 15 4 LOG10 Obtains a common logarithm 15 5 POW Obtains an exponent 15 6 MAX Extracts the maximum value 15 7 MIN Extracts the minimum value 15 8 RND Generates random numbers 15 9 from 0 to 1 SGN Checks a sign 15 10 SQR Obtains the square root 15 11 App 2 11 Classified by functions Trigonometric Function Angle Conversion Speed Conversion Time Function Vector Pose Data Type Transformation Distance Extraction Figure Component Angle Component Axis Component Rotation Component 4 axis 6 axis O Commands ACOS ASIN ATN ATN2 COS SIN TAN DEGRAD RAD RADDEG MPS SEC AVEC OVEC PVEC MAGNITUDE J2P J2T P2J P2T T2J T2P TINV NORMTRN DIST FIG JOINT POSX POSY POSZ POSRX O Vision device Available with all series of robots and vision device O Available with all series of robots The command specifications differ betwee
264. zzer 13 23 PRINTWARNING Displays a message in the V2 2 V2 2 13 24 alarm message area on the teach pendant PRINTLBL Sets a label caption for a user 13 25 definition button Programming a TP set_button Sets button parameters V1 5 V1 5 13 29 operation screen set_page Sets page parameters V1 5 V1 5 13 32 change_bCap Edits a caption for a specified V1 5 V1 5 13 34 button change_pCap Edits a caption for a specified V1 5 V1 5 13 35 page disp page Displays a specified page ofa V1 5 V1 5 13 36 TP operation screen Multitasking Control Statements Task Control RUN Concurrently runs another 14 1 program KILL Forcibly terminates a task 14 2 SUSPEND Suspends a task 14 3 DEFEND Defends a task 14 4 STATUS Obtains the program status 14 5 SUSPENDALL Suspends all running programs V1 98 V1 98 14 6 except supervisory tasks KILLALL Forcibly terminates all tasks V1 98 V1 98 14 7 except supervisory tasks CONTINUERUN Continue runs tasks V1 98 V1 98 14 8 ROBOTSTOP Stops the robot V1 98 V1 98 14 9 TAKEARMSTATE Returns the current acquisition V2 2 V2 2 14 10 status of the arm group control LOCKSTATE Obtains the machine lock V2 2 V2 2 14 10 status DEADMANSTATE Obtains the current deadman V2 2 V2 2 14 11 switch status SEMIDSTATE Returns the current status V2 2 V2 2 14 12 enabled or disabled of the specified semaphore ID Semaphore CREATESEM Creates a semaphore 14 14 App 2 10 4 axis 6 axis Vi

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