AMrsuBtsHl

INDUSTRIAL MICROROBOT SYSTEM

RV-M1
a

Model

MOVEMASTERtrX

THIS MANUAL IS DIVIDEDUP AS FOLLOWS

f sercrrrcnrrorus
main specifications, Givesoverallof construction, using instrucread this oart first. tions. etc. Please

p oernarroru
procedures, basicfunctions of Givesinstallation connection and powering-up position to settingprocedures, systemcomponents, procedures. and execution and programgeneration 1 3 I D E S C R I P T I O N T H EC O M M A N D S OF which have commands Givesformatsand usagesof intelligent with functions.The commands been classified accordance in appearin alphabetical order. I4 MAINTENANCE D INSPECTION AN partsreplacement procedures and Givesmaintenance, inspection, servrcepans.

@ neeeNorcrs
Gives interfacing with a personalcomputer and external l/O positionsetequipment, cartesian coordinate system reference programs, ting, command list, application etc.

CONTENTS I 1 I SPECIFICATIONS 1, UNPACKING AND ACCEPTANCE INSPECTION 1.1

1.2

Un p a c ikn g I n s t r u c t i o n s
Acceptancelnspection
'' t-5

2. SYSTEM CONSTRUCTTON OF 2.1 2.2 Overall Construction of Standard and Optional

1-3

1-5
J. I

3.1.3 Externaldimensions . 3 . 1 4 O p e r a t i os p a c e . .. . .. .. . . . . n
3 . 1 . 5 B a s i c p e r a t i o n s. . . . . . . . . o .
J.Z

......1-7
' '' ' '' t-lt

' " ' . ' .. . . .... . . . . .. .. . . .1 - 9 . . . . . . . . -1 _ ' t ' l .

. . . . . .. . . . .. . . . . . - 1 1 1
t-tJ

DriveU nit 3.2.1 Nomenclature. 3.2.3 Exte I dimensions rna Teaching Box (Option) 3.3.1 Nomenclature.. 3.3.2 Externaldimensions M o t o r - o p e r a t Hd n d( O p t i o n ) . . ea

3.3

1-14 1-'t4

3.4

. . . . . . . . . . .- 1 5 1 . . . . . . . . . . . . . . . . . . . . . .1 - . . 6 .. 1 .

4. USINGINSTRUCTIONS
4.1
A '

4.3 4.4
A F

. L i n e o l t a g e. . . . . . V

4.6 4.7 5. WARRANTY PERIOD AND PAINTCOLORS

1-17 1-17 1-17 1-18 1-18 1-19 1-19

iz ] onennrom
1. 1.'l 1.2 'l.3 Transportation f the Robot o l n s t a l l a t i oo f t h e R o b o t n T r a n s p o r t a t i oa n d I n s t a l l a t i oo f t h e D r i v eU n i t . . . . . . . . . .. . . . n n l n s t a l l a t i o n h e l / OC a r d . . . . . . . . tof 2-1 2-3 . . . . 2-5 . . . . . . . . . . .. .' . . . . 2 - 5 2-6 2-7 .. .. . .. .. ....2-8 " " " '2-10 .. .. .. . . 2-10 " '2-11 " "

1.4 1.5 Grounding 1 . 6 C a b l eC o n n e c t i o n s 1 . 7 l n s t a l l a t i o n t h e H a n d( O p t i o n ).. . . . . of '1.8 I n s t a l l a t i oo f t h e T e a c h i n g o x ( O p t i o n ) n 8 1 . 9 l n s t a l l a t i oo f t h e B a c k u p a t t e r y O p t i o n ) n B { 1 . 1 0 i n s t a i l a t r oo f t h e E m e r g e n c y t o p S w i t c h n S

2.2

. . . . . . . . ' . 2.- 1 2 ' Drive nit U ' " " "'2-12 2 . 1 . 1 F u n c t i o n s o f f r o n t c o n t r o lw i t c h e s n d L E D s" a s " " " ' 2-13 2 . 1 . 2 F u n c t i o n so f s i d e s e t t i n gs w i t c h e sa n d L E D s 2 . 1 . 3 F u n c t i o n so f c o n n e c t o r s s w i t c h e s ,a n d t e r m i n a l b l o c k o n r e a r p a n e l " " " " " 2 - 1 6 , . " """ 2-18 Teaching ox " B "" " """""2-18 2 . 2 . 1 F u n c t i o n s tohf es w i t c h e s "" """" ""2-18 2,2.2 Functionsofeachkey " "" " " "" " "" '2-21 i r 2 . 2 . 3 F u n c t i o n s o f t h en d i c a t o L E D ' ' '' '' '' '' ''''''2-22 2.2.4 Eeleasinthe brakes g """"" 2-22 2 . 2 . 5 l r r r e l i i g e n to m m a n d sc o r r e s p o n d i ntg e a c hk e y " " " o c

J. l

"" 2-23 r S y s t e mC o n t i g u a t i o n "" """""'2-23 l a 3 . 1 . 1 S y s t e mc o n f i g u r a t i o c e n t e r i n g r o u n da p e r s o n ac o m p u t e r " n 3 . 1 . 2 S y s t e mc o n f i g u r a t i o c e n t e r i n g r o u n dt h e d r i v eu n i t " " " " " " " " " " " " ' 2 - 2 4 n a R o b o t - C o m p u t e L i nk r 3 . 2 . 1 C e r rrto ni c s i n t e r f a c e i 3 . 2 . 2 R S 2 3 2 Cn t e r f a c e C o n t r o lM o d e s h 3 . 3 . 1 P e r s o n a l c o m p u tre ro d e" 3 . 3 . 2 D r i v eu n i t m o d e 2-25 2-25 " "'2-25 "" " " "" 2-26 ''' 2-26 ' ' '2-24

3.2

3.3

" """

4 . 1 S e t t i ntg eS i d e e t t i n S w i t c h e s h S g 4.2 Turning oweON P r 4.3 Origin etting S

"

''

'''2-29 2-29 """'2-29

5. POSITION PROCEDURE SETTING ' .-3 5 . 1 S e t t i n gh eC a r t e s i aC o o r d i n a t ey s t e m e f e r e n c eo s i t i o n. . . . . . . . . . . . . . . . . . . . . . . . . .2 . . 0 t n R S P . .. ..... ... 2-30 5 . 2 S e t t i n g t h e T o o ln g t h . Le "t 'i o n s " ...'..2-31 5.3 Defining,Verifying,Changing,andDeletingthePosi 6.
o. l

6 . 2 Executing Program the

' 6.2.1 Stepexecution 6.2.2 Starting program the 6 . 2 . 3 S t o p p i n g / r e s t ia g h e p r o g r a m r n t g/resetting program 6.2.4 Stoppin the 7. WRITINGTHE PROGRAM/POSITION DATA IN EPROM . . . ( P E R S O N A L C O M P U T E R M O D.E ) . . . . . 7.1 7.2 7.3 8. 8.1 8.2 8.3 8.4 lnserting EPROM the .......... Setting SideSetting the Switches TurningPower ON Executing Program the 8.4.1 Stepexecution 8.4.2 Starting program the 8.4.3 Stopping/resta the program rting 8.4.4 Stopping/resetting program the I n s e r t i nE r a s e d P R O M g E W r i t i n g a t a n t oE P R O M D i Preca nsfor Storag of EPROM utio e

" " 2-34 " " " "... ... 2-31 . .2-34 . . . . . .. . . . . . . . .2 - 3 5

. . . .. . . . . 2 - 3 6 .'. .....'.....2-36 . . . . .. . . . . . . 2 - 3 6 "" "" " "" " " 2-36

' 2-37 . . . . .. . ' ' ' ' ' """ " " " "" " " 2-37 2-37 2-37 2-37 2-37 2-38 2-38

9. OPERATION USINGTHEEXTERNAL SIGNALS

10. 1 0 . 1 E r r o r M o dIe " 10.2 ErrorMode II " """""" 2-4O " 2-41

OF El DESCBTPTTON THE COMMANDS

1.

2.1

z.z

. . . . . . . ' . '.. . . . . . . . . . . .3 - 3 .. P o s i t i o n / M o tCo n t r o ln s t r u c t i o n s . . .... . . . . . i on I D P{ D e c r e m e Pto s i t i o n ) " M o v i n g o a p o s i t i o n u m b e o n es m a 1 | e r . . . . . . . . . . ......... 3 - 3 t r . n 'Moving a distance (Draw) DW specified the cartesian in coordinate ...........3-4 system . . . . . . . . . . .. . - 5 (Here) HE T e a c h i ntg ec u r r e np o s i t i o n h t 3 HO {Home) " posiSettingthe cartesian coordinate systemreference .........3-6 tion....'..... nt l P( l n c r e m e P o s i t i o n.). . . M o v i n g t o a p o s i t i o n n u m b e r o n e g r e a t e r . . . . . . . . . . . . . . . . . . . 3 - 7 . (Move pproach) MA A M o v i n g o a s p e c i f i eid c r e m e n td ilm e n s i o n . . . . . . . . . . . . . - 8 t n a 3. ") " M o v i n g h r o u g hn t e r m e d i a pe i n t s o n t i n u o u s l y ........ .3 - 9 M C{ M o v e o n t i n u o u s C t i to c " " . ' . . T u r n i ne a c ho i n t a s p e c i f i e d a n g l e . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 - 1 1 g j MJ(MoveJoint) MO (Move) position articulated Movingto a specified by interpola" .......3-12 tion MP (MovePosition) Movingto a position whosecoordinates specified... are 3-13 (Move traight) MS S M o v i n g t o s p e c i f i ep o s i t i o n y l i n e a i n t e r p o l a t i o n .3 .-.' 1 4 a d b r . MT (MoveTool) Moving an incremental distance in specified the tool """" ""'3-16 direction .Returningtherobottoorigin........'..'.......'...'.'...'...3-17 N T( N e s t ) OG (Origin) Moving to the cartesian coordinate system reference " " "" positlon 3-18 ' .. Defining numberof columnand row grid points a (Pallet PA Assign) the for ' . . . . . . . . . . . . . . . ' -. 9 specified llet oa 3.1 " "' 3-20 position PC(Position Clear) " " Clearing specified a " n P D( P o s i t i oD e f i n e ) D e f i n i ntg ec o o r d i n a t e s a s p e c i f i e d p o s i t i o n . . . . . . . . . . 3 - 2 1 h of " Asslgning positionto PL(Position Load) the positiondata of a specified """ " " "' 3-22 position another specified PT(Pallet) Calculating coordinates a grid pointon a specified the of ... . . . . . . .........3-23 na||et PX (Position Exchange)" Exchanging coordinates a positionfor those of the of "" " " "" 3-2'l another" position" " " SF(Shift) " Shifting coordinates a specified the 3-28 of SP{Speed) Settingthe operating velocityand acceleration/decel" "" 3-29 eration time" " Halting motionfor a specified periodof time " Tl {Timer) the 3-30 " S e t t i ntg e t o o ll e n g t h ....'...."" "'3-31 TL(Tool) h " ' """""'3-32 P r o g r a m o n t r olln s t r u c t i o n " C s "" "" CP(Compare Counter) Loading counter dataintothe comparison register " 3-32 "" DA (Disable Act) Disabling interrupt an externalsignal "" " " 3-33 the by " Subtracting from a valuein a specified "" DC(Decrement Counter) 1 counter " 3-34 "'3-35 "e) " " " D e l e t i nags p e c i f i e d r t f a p r o g r a m " """" pa o DL(DeleteLin

" "' 3-36 the by signal "" Enabling interrupt an external " E n d i n gh e p r o g r a m t 3-38 a of Causing jump to occurif the contents the compari"" " "" ' 3-39 son register equala specified value " " GS(GoSub) Executing specified a subroutine ' 3-40 " ' 3-41 i GT(GoTo) C a u s i n a l u m p t oo c c u r t o s p e c i f i eldn en u m b e r " g a "" " ' 3-42 lC (lncrement Counter) " 'Adding 1 to the valuein a specified counter"" . L G( l fL a r g e r.)" . . . . . . . . . . . . . . .C.a u s i n g j u m pt o o c c u ri f t h e c o n t e n t o f t h e c o m p a r i s a thana specified value"" " " " 3-43 son register greater are " Causing jump to occurif the contents the compariNEllf Not Equal) " " of a value " "" " " 3-44 son register not equalaspecified do " ' 3-45 . . D e l e t i na l l p r o g r a m a n dp o s i t i o d a t a" " " g n s N W( N e w ) " " " " " " " ' S p e c i f y i ntg er a n g e o a l o o pi n a p r o g r a m " " " " " ' 3 - 4 6 NX(Next)" h f ( R e p e a t y c l e ) ' ' ' ' S p e c i f y i n g t h e n u m b e r o fp e a t ec y c l e s f a l o o p " " ' 3 - 4 7 re d RC C o """""" r 3-48 R N{ R u n ) " " ' E x e c u t i na s p e c i f i ep ar t o f p r o g a m " " g d (Return)" program after completinga RT Returningto the main "" """3-49 subroutine " " S C ( S e t C o u n t e " )" ' ' ' r L o a d i n g a v a l u e i n a s p e c i f i e d c o u n t"e r " " " " " ' 3 - 5 0 of SM (lf Smaller)" Causing jump to occurif the contents the comparia value " " " " ' 3-5i son register smaller are thana specified " "'3-52 ' 2 . 3 H a n d o n t r oIln s t r u c t i o n s." C " "" 3-52 " G C( G r i p C l o s e )" " " " ' C l o s i n g t h eh a n dg r i p " " " " " " "" " " " 3-53 '). . . . . . .. . . . . ' . D e f i n i ntg eo p e n / c l o s e a t e f t h eh a n d F h st o G F( G r i p l a g """" " 3-54 " " " " " Openingthe nd rip (Grip pen) " ha g GO O " "" " Definingthe gripping force/timewhen the hand is GP(GripPressure)" 3-55 3-56 2.4 " " " " F e t c h i na n e x t e r n a l s i g n a l " " ' t 3-56 l D( l n p u D i r e c t ) " g " " ' 3-57 " F e t c h i na n e x t e r n a l s i g ns y n c h r o n o u s"l y" " lN(lnput) g al e o O B ( O u t p u t B i " ) " " " " " S e t t i n gh eo u t p u s t a t e f a s p e c i f db i t " " " " " " ' 3-58 t" t t " "" " " "" " 'Outputting 3-59 specified data OD (Output Direct).." " " " ' 3-60 " " " ' O u t p u t t i n g e c i f i e d t a y n c h r o n o u s l y" sp da s OT(Output) """" " " " " "'Causinga jump to occurdepending the condition of on TB (Test Bit) " "" " " "" "" " " 3-6' external signalbit" " a specified " 3-62 2.5 RS232C Readlnstructions " "" " " " ' 3-62 Reading datain a specified the counter CR(Counter Read)" "" ' 3-63 "" " " " Reading datain the external (Data port " input the DR Read) " "'3-64 " " . ) E R ( E r r o r R e a d" " " " R e a d i n g t h e s t a t u s o etrh e r " f ro " line LR(LineRead) Reading program a specified number" " " 3-65 the on " " Reading coord position " "'3-67 inates a specified PR(Position the of Read)"position " ' 3-68 the of WH (Where) Reading coordinates the current " "'3-69 2.6 Miscellaneous RS(Reset) "" ""'3-70 " " " Transferring ROMatao RAM EP d t T R( T r a n s f e r ) """""" 3-7 writing RAMdataintoEPROM wR (write) ' ( C o m m e n t")" " ""'3-72 " ' W r i t i n g c o m m e n t" a EA {Enable Act) (End) ED EO(lf Equal)

AND TNSPECTTON l!l MATNTENANCE

2.1 2.2 2.3 3.

J. I

3.2

3.4

..........4-g C o n s t r u c t i oo f t h e R o b o t . . . . n . . . . . . . . . . . 4.-.1 0 . R e m o v ao f t h e C o v e r s . . . . l .......-..-..4-j2 R e p l a c e m e o f t h e M o t o rB r u s n . . . . . . . . . . . . nt ..........4-12 3 . 3 . 1 C h e c k i n g n d r e p l a c i n gh e w a i s td r i v em o t o r b r u s h e s . . a t . 3 . 3 . 2 C h e c k i n g n d r e p l a c i n gh e s h o u l d e r / e l b o d r i v em o t o r b r u s h e s. . . . . . . . . . . . . . . . .4.-.1 5 a t w . ...... . . . . . . . . . . . . . . . . . . .4.-.1 6 . 3 . 3 . 3 R e p l a c i n t h e w r i s t p i t c hd r i v em o t o r . . . . . g . . . . . . . . . . . . . . . . . . . . . . . . 4 -1g 3 . 3 . 4R e p l a c i n g t h e w r i s t r o l l d r i v e m o t o r . . . . . . . . . . . . . ......'........ . . . . . . . . . .4 - 2 0 . A d j u s t m e n a n d R e p l a c e m e n tf t h e T i m i n gB e l t t o . . . . .4 - 2 0 3 . 4 . 1 R e p l a c e m e nr e q u e n c y . . . ft 3 . 4 . 2C h e c k i n g , a d j u s t i n g , a n d r e p l a c i n g t h e s h o u l d e r d r i v e t i m i n g b e l t . . . . . . . . . . . . . . . . . . 4 - 2 1 3 . 4 . 3 C h e c k i n ga d j u s t i n ga n d r e p l a c i n gh e e l b o wd r i v et i m i n g b e 1 t . . . . . . . . . . . . . . . . .4 - 2 4 , , t .. 3 . 4 . 4 C h e c k i n ga d j u s t i n ga n d r e p l a c i n gh e w r i s t p i t c hd r i v et i m i n g b e l t . . . . . . . . . . . . . . .4 . .2 7 , , t .. . . . . . . . . . .4 - 3 0 . R e p l a c e m e n tf t h e C u r l e dC a o r e s. . . . . . . . . . . . o . . . . . . . .4 - 3 2 . l n s p e c t i o n , d j u s t m e n ta n d R e p l a c e m e n tf t h e B r a k e s . . . . . . . . . A , o . 3 . 6 . 1 C h e c k i n ga d . j u s t i n g , d r e p l a c i n gh e s h o u l d e r r a k e. . . . . . . . . . . . ...... . . .. . . . . . . . . . . .4 - 3 2 , an t b ... ....4-34 3 . 6 . 2C h e c k i n g , a d j u s t i n g , a n d r e p l a c i n g t h e e l b o w b r a k e . . . .. 4-36

3.5
J.O

4.
A 1

4.2 4.3

@ neeeruorces
APP-1
1.1 1.2 1.4 1.5

2.
1 1

APP.5

2 . 2 F u n c t i oo f E a c h i g n aL i n e . . .. . . . . . . . . . . . . n S l
2.5

RS232C Settings R S 2 3 2 C a b l e. . RS232C Interfacing Examples

2.5 2.6

3 . 1 . A x t e r n a /l OC o n n e c t o ri nA s s l g n m e n ltT y p e l / OC a r d ) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A p p - 1 5 E l P s A 3 . 1 8 E x t e r n a /l OC o n n e c t o ri nA s s i g n m e n ( T y p e l / OC a r d . . . ' . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A p p - 1 6 . l P ts B ) l/OCircuitSpecifications(TypeAl/OCard).............. ..........'.....App-l7 . ..................App-18 T 3 . 2 . 8l / OC i r c u iS p e c i f i c a t i o(n sy p e l / OC a r d ) . . . . . . . . . . . t B . ...........App-19 ( 5 . 5 . 4 F u n c t i o n s o/fO S i g n a l i n e s T y p e l / OC a r d . . . . .. . . . . . . l L A ) ....... . . . .............App-20 ( 3 . 3 . 8F u n c t i o n sf l / OS i g n aL i n e s T y p e l / OC a r d ) o l B .) 3.4.AE x a m p l e o f o n n e c t i o n t o l / O C i r c u i t s ( T y p e A l / O C a r d . .. .. .. .. .. .. .. '.. . . . . . . . . . . . . . . . A p p - 2 1 C 3 . 4 . 8E x a m p lo f C o n n e c t i o n t o l / O C i r c u i t s ( T y p e B l / O C a r d ) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A p p - 2 e . ............App-23 3 . 5 l / OS i g n aL i n e i m i n g h a r ( S y n c h r o n o u/ s ) . . . . . . . . . l T C t l O 3.5.1.ASynchronousinputtiming(TypeAl/Ocard)............... ...App-23 .........App-23 ( 3 . 5 . ' l . B y n c h r o n o un p u t t i m i n gT y p e l / Oc a r d ) . . . . . . ... . S is B ..App-24 3.5.2.A ynchronousoutputtiming(TypeAl/Ocard)................ S . .....App-24 3.5.2.8 ynchronousoutputtiming(TypeBl/Ocard)........ S ............App-25 3 . 5 . 3 . A e d i c a t el dOt i m i n g( T y p e t / Oc a r d ) . . . . . . . . . . . . . . . . D / A .....App-26 3.5.3.8Dedicated timinglTypeB l/Ocard) l/O . . . . . ' . . . .A P P - 2 7 J.O E x t e r n a/l O C a b 1 e . . ...... l a'7 ....................APP-28 P r e c a u tno f o r C o n e c t i o t o E x t e r n a Iq u i p m e n t is n n E 4. CARTESIAN COORDINATE SYSTEM REFERENCE 4.1 4.2 4.3 4.4 M o v i n g t h e o b o t t o e f e r e n c eo s i t i o n . . .. .. . . . R B P S e t t i n gh e R e f e r e n c eo s i t i o . . . . . . . . . t P n StoringReference Position Datain EPROM L o a d i n g t hR e f e r e n c eo s i t i o D a t a . . . ' . . . ..... . e P n ..App-29 . . . . . . . . . . . .A.p p - 2 9 . .........App-30 ..APp-31

5. PROGRAMMING SYSTEM USING PERSONALCOMPUTER 5. SAMPLE ROGRAMS.... P . 7 . C O M M A N D 1 | S T . . . . ...... . . 8. TIM|NG ELTTENSTON B 9. DEFINITIONOFWEIGHTCAPAC|TY............. . . .. . . 1 0 . R O B O T A R M S T O R A G E P O S | T | O.N . . . . . . . ...... 1 1 . O P E R A T | O N A L S P A C E D | A G R A M .. . . . . . . . 1 2 .W | R | N G D I A G R A M 1 3 .D R | V E U N | T W t R t N G D | A G R A M . . . . . . .

..."".......APP-32 ...............App-36 ...........App-44 ...........'.. pp-48 A ........App-49 .....App-50 . . . .. . . A p p - 5 1 . . . . . . . . . . . . . .....A.p p - 5 2 . ............'......App-54

1.SPEC|F|CATI0N
2. OPERATIOl{

TIII OT 3. DESCRIPTIONCOt|MANDS
4. MAIl{TEI{ANCT A1{D INSPECTION 5. APPENDICTS

(SPECIFICATIONS} CONTENTS

INSPECTION AND ACCEPTANCE 1. UNPACKING n 1 . 1 U n p a c k i nIg s t r u c t i o n s " Ie 1.2 Acceptancnspection OF 2. SYSTEM CONSTRUCTION " ofConstruction " ""' 2 . 1 Overall
S t a n d a r da n d O p t i o n a lE q u i p m e n t "

' ' '' 1-1 """ "'1-2

t-J

"

"

. . . .' t- 4 1-5

3.1

" Robo""" t ' 3.1.1 Nomenclature d 3 . 1 . 2 S t a n d a r s p e c i f i c a t i o n' s 3.1.3 Externaldimensions ' 3 . 1 . 4O p e r a t i o n s p a c " " e c s" 3 . 1 . 5 B a s io p e r a t i o n " " " " o s 3 . 1 . 6 O r i g i n e t( R e t u r tn o r i g i n ) " " U 3.2 Drive nit 3.2.1 Nomenclature" p 3 . 2 . 2 S t a n d a rsd e c i f i c a t i o 'n s 3.2.3 Externaldimensions Box(Option) Teaching ' 3.3.1 Nomenclature rnaldimensions 3.3.2 Exte 3.4

" " '

" """""'1-5 " " "" 1-5 "" 1-7 """ "" """' " "1-7 " " "" ""'1-8 "" " """"1-9 " "" 1-10 "" "" " 1-11 "" "" " "' 1-11 ''l-12 " """"""
1-13 1-14 1-14 1-1 5 1-1 6

4.1
.+.J

Robot

""'

4.4
1+.3

4.6 4.7

N o i s e" ' Position

1-17 1-17 1-'t7 1- 8 1 1-18 1-19 1-19

..... PERIOD AND PAINTCOLORS 5. WARRANTY

3. 1

5.2

1-21 1-21

1. SPECIFICATIONS
1. UNPACKINGAND ACCEPTANCE INSPECTION 1.1 Unpacking Instructions11)Carefullyread "Section 1.1 Robot Transportation, Vol. 2,, beforeremovingthe robot from the package. ( 2 ) D o n o t h o l dt h ec o v e r a r e a i n F i g .1 . 1 . 1 w h e nr e m o v i n gh e ( A .) t robot. (3) The origin limit switchesand dogs (areasB, C) have been factory-adjusted. not touch them to ensurehigh repeataDo bility. (4) Brakeis being appliedto the arms (areasD. E) Do not force these arms to extend. (5) Do not removethe arrn fixing plate (areaF) until the robot installation complete, is This plate protects the arm during transportation.

Do nol force the arm.

Do not force the arm,

'Do not ho d tlie cover,

Do t h e I mil swltch.

Do not louch the imlt swilch.

Robot weight: approx. 1gkg

Fig. 1.1.1 Robot Attitude in the Package

The arm fixing platemust be reinstalled beforetransporting the robot.

1. SPECTF|CAT|ONS
product to order. 1.2 Acceptance Inspection Check conforms your purchase thatthe received purchased as follows: whichvou have are Ihe basiccomponents
Tvpe
RV,Ml D/U t\,'11 IVISM 1 t\,1P- 1 t\,1 POW-M1

No. Robot

Description

Ouantity 1 1
l

2 3
4 5 6 1 8 I

Dflve unit lMolorsignai cable {5m) Motor power cable {5m) Power cord (2.5m)

,I 1 1

S p a r ef u s e ( 1 0 A )
Instructron anua m

1
1

Warranty card
Installation olt b

M8x30

4 4 4

10
11

Spring washer for installation For Mg bolt F l a tw a s h e r { o r i n s t a l l a t i o n o l t b l/O card

ForM8 A 8 o r 4 1 6 ( 8 8o r 8 1 6 )

12

Table 1.1.1 Standard Components

The following options are available.

No.
1

Description
T e a c h i n gb o x lMotor operated hand

Type T/8,M1 Htvl-01 256K,ROM

l/O-CBL {5m) NilULTl16, PC9801 (Note)

2 3
4 5

EP-RO I\,4
External l/O cable P e r s o n a lc o m p u t e r c a b l e

Backupbattery

BAT-M1
Table 1.1.2 Options

1. SPECIFICATIONS
2. SYSTEMOF CONSTRUCTION 2.1 Overallof Construction

Motor power cable

(MPM]) 5m

c o m p u t e rc a b l e *

M o t o r s i g n a lc a b l e ( M SM l ) 5 m Drive unit I D / UM 1 )

Robot (RV,M1) ( P O WM 1

OPersonalcomputer (MUtTtl6lll)
Teaching ox' b ( T / BM l ) C a b l el e n g t h3 m + indicales an option. OThe equipment indicated by should be prepared by the customer.

Fig. 1.2.1Ovelall of Construction

1. SPECIFICATIONS
2 . 2 S t a n d a r da n d OptionalEquipment

Division Robot

Description

Type RV-t\,11 D/U M1 MS.t\,4 1 t\,1P- 1 M P O WM 1

Remarks
Vertical articulated robot with 5 degrees of freedom. Pobot controller. G i v e sc o n t r o ls l g n a l sf r o m t h e d r i v e u n i t t o the robot. S u p p l i e sp o w e r f r o m t h e d r i v e , J n i tt o t h e robot.

e
;

Drive unit Molor siEnalcable (5m)

l M o t o rp o w e r c a b l e ( 5 m ) Power cord (2.5m )

p S u p p l i e s o w e rt o t h e d r i v e u n i t . 8 inputs/B utputs. o 16 lnputs/16utpurs. o

Handy cont.ol switch box with a cable for t e a c h n g , c h e c k i n g ,c o r r e c t i n gp o s i t r o n s i Hand which is only used with the RV-M1 a n d a l l o w s 1 6 s t e p h o l d i n gp o w e r c o n t r o l .

l/O card A8 (or BB) l/O card416 (or B16i

T e a c h i n gb o x { C a b l el e n g t h 3 m ) Motor operatedhand

to-A8 (r/o-88) ( v o - A 1 6 t / o8 1 6 )
T/B Ml

HM O1 2 5 6 KR O M BAT II1

EP,ROM Backupbattery

Stores writtenprograms andset positions.

B a c k su p l " e m e m o r y d u l n g p o w e r o f f . , C o n n e c t s i t h a n e x t e r n a lp e r i p h e r a l e . g . w p r o g r a m m a b l ec o n t r o l l e r . RS 232C cable used to MULTI'I6. connect the

External l/O cable

r/o-cBL
R S ' M U L T I - C B3 m ) {L

MULTIl6
Centronics
f

L L C-MU TI-CB(2m) (3 RS'PC-CBL m)

Centronicscable used to connect the

MULr16.
RS 232C cable used to PC9801. connect the

E
PC9801

RS-232C

( Centronics C-PC-CBL1.5m)

Centronicscable used to connect the PC9801 . RS-232C cable wiih one free end. C e n t r o n i c sc a b l e w i t h o n e { . e e e n d .

RS-232C
Free cable

R SF R E E B L ( 3 m ) C (L C - F R E E - C B1 . 5 m )

Centronics

Table 1.2.1 Standard and Optional Equipment

Note: l/O card A8 or 416 is for sink ioad. B8 or 816 is for sourceload.

1. SPEC|F|CAT|ONS
3. MAIN SPECIFICATIONS 3.1 Robot 3.1.1 Nomenclature

F o r ea r m upper arm
Elbow (J3 axis)

u"j"i:i-/A -+f

\-t
Hand installation surface

S ho u l d e r (J2 axis)

S h o u l d e rc o v e r (upperl

W r i s tp i t c h( J 4 a x i s )

Shoulder cover {lower) Curl cable

W a i s t{ J 1 a x i s )

--S=:?

Molor siqnal cable

(to the upper conneclorl

Motor power cable (to the lower connector)

Base side cover (R) * {L) Left side

Fig. 1.3.1 Nomenclature (External Viewl

1. SPECIFICATIONS

J5 axismotor
J4 axis motor J4 axis timing belt J2 axis timing belt J3 axis limit switch

J2 axismotor

J4 axis limit switch

J5 axis limit switch

J2 axis brake

J3 axis brake

J2 axis limit switch

J'l axis limit switch

J1 axis motor

Relay card

Fig. 1.3.2Nomenclature (lnternalView)

1. SPECTFTCAT|ONS
3.1.2 Standard specifications
Itern Mechanical Structure

Specifications
5 degrees of freedom, venical articulated robot

Remarks

Waist rotation Shoulder otation Operation range

Elbow rotation

300' (max. 120"/sec) 130"lmax. 727sec) 1'10'(max. 109'/sec) 190" (max. 1001sec) 1 1 8 0 ' ( m a x .1 6 3 7 s e c ) 250mm 160mm
M a x . 1 . 2 k g f ( i n c l u d i n gt h e h a n d w e i g h t ) 1000mm/sec (wrist tool surface)

J1 axis

J2 ax;s J3 axis J4 axis J5 axis

Wrist pitch
ro tl

upper arm
Arm length

F o r ea r m
Weight capacity Maximum path velocity

75mm from the mechanical interface (center of gravity) Speedat point P in Fig. 1.3.4 Accuracy at point P in Fig. 1. 3 . 4

Positionrepeatability Drive system

Robot weight Motor capacity

0.3mm (roll centerof the wrist tool surface) Electrical servodrive usinqDC servomotors Approx. 1gkgf J l t o J 3 a x e s :3 0 W ; J 4 , J 5 a x e s r1 l W
Table 3.1.1 Standard Soecifications

3.1.3 External dimensions

-L
Mechanical interface

I I r+s
t68

60 a2

254

180"

Frange deraiLs

lP c

968)

Fig. 1.3.3 Fxternal Dimensions

1. SPECTFTCATIONS
3.1.4 Operationspace

Fig. 1.3.4OperationSpace

indicated Fig.1.3.4 in assume thatthe Note1: Theoperation space hand is not installed the robot. (Traceof point P) to may be restricted some area in Note2: The wrist pitchoperation positions.For depending the upper arm and fore arm i d e t a i l ss e e F i g . 5 . 1 1 . 1n t h e a p p e n d i x . , Note3: Jog operation mustbe performed with special careas the robotbaseand floor surface. wrist mav interfere with the REMARKS Jog operation indicates a manual operation using the teachingbox.

1. SPECIFICATIONS
3.1.5 Basicoperations in system. Fig. 1.3.5shows axis operations the articulated

lJ:lr 'E

S r r o ! d e . r o r a ro .

.rzr9

Fig. 1.3.5 Operations in Articulated System

is Note I: The positive direction the J1 and J5 axisoperations of clockwise viewedfrom arrowsA and B, respectively. as direction the J2, J3 and J4 axisoperations of Note2: The positive is the uoward directionof the arm and wrist.

system. in coordinate Fig. 1.3.6shows operations the cartesian

*4)>J+;z'; : -\, M/ 1 , ' y 7

//'

, r *, l*. /f<<-=

/ - roo a '
I

t--

rength

Fig. 1.3.6Operationsin Cartesian Coordinate System

Note3: The TCP moves straight in the Cartesiancoordinate system. Note4: The tool length is set by a parameter.(See the TL command.) Note5: f, indicates robotattitude the changing operation without moving the TCP. REMARKS Symbolsin "n" indicatethe control keys of the teaching box.

1. SPECIFICATIONS
3.1.6 Originset (Returnto origin)

- 10"

<

top vrew 2

Fig. 1.3.7Robot Zeroing Operation

( 1 ) The robot of the Movemaster RV-M1 EX must be returned to

origin after power on. (For details,see Section4.3 Origin Setting, Vol. 2.) by t2l The arm should be moved as appropriate jog operation beforereturnto origin so that the robot will not interferewith any peripheral equipmentduring set origin.

(3) Returnto origin procedure (See Fig. 1.3.7.)

Q.,

Note1: All axesin step1),step2) mustbe returned originat the to same me. Note 2: The wrist roll (J5) angle is *179.9" after origin set.

1. SPECIFICATIONS
3.2 DriveUnit 3.2.1 Nomenclature Externalvi

E
Front control

@;
now
E x t e r n a ll / O e q u i p m e n t c o n n e c t o r V e n t i l a t i o no p e n i n g

Side door

Rearview (View A)

H e a ts i n k

Power switch

Centronics connector Rating plate

Fuse (10A) Hand select sw[cn

RS-232C connector

Teaching box connecror

R e a rt e r m i n a l block Externalemergency I stop and frame I grouno l

AC inlet Motor signal cable connector Motor power cable connector Fig. 1.3.8 Nomenclature (Drive unit)

1. SPECIFICATIONS
3.2.2 Standard specifications
Item
Teachingmethod Control method Number of ccntrol axes Position detection Specilications Programminq language system 163 commands), MDI'1 (using a personal compLlter) PTP position control system usinq DC sei\/o motors 5 a , ( e s { i l o L , !c n a a ^ 3 l Pulseencodei system L i m i t s w i t c h e ea n d p u l s e e n . c d e f s ( Z p h a s e d e t e c t i o n m e t h o d ) A r t i c u l a t i c ni n t e r p o l a t i o n l, i n e a r i n t e r p o l a t i o n

Return o Origin t O r i g i ns e t t i n g
Interpolation functioo

Speed setting
Number of positions Number of program sleps

'lC

steps lmax. 1000n-rmlsec)

629 (8KB)
2048 (16K8) Write to EP ROM iisrng the built-in EP-RO|\4 writer or storage in the batterybacked static RAM lthe battery is optional and backs up the RAfvl for about 2 years). T e a c h i n g D o x { o p t i o n ) o r p e r s o n a lc o m p u t e r * 2 P e r s o n a lc o m p ! t e r * ' z

Data storage P o s i t rn t e a c h i n g e q u i p m e n t o
P r o g r a m m n g e q ui p m e n t i

Externall/O

General'purpose 6 points each (16:plnt type algllab]gL I'O, G e n e r a l - p u r p os y n c h r o n o us i g n a l s S T B ,B U S Y , C K ,R D Y ) se s A l No dedicatedl/O (dedicated of 3 points each available) l/O Power for externall/O should be preparedby the user (12Vto 24V DC)
1 parallel interface (conforming to Centronics) 1 s e r i a l i n t e r f a c e( c o n f o r m r n gt o R S 2 3 2 C ) Using any of the front control switch, teaching box switch, and rear terminal block (N/C contact terminali Motor-operated hand or pneum atically-operated irand (using AC solenoid)

Interface

E m e r g e n c ys t o p Hand control

Brakecontrol
Power source Ambient temperature

) J 2 a x i s ( s h o u l d e r J,3 a x i s ( e l b o w ) 120Vt220V t230Vt240V 0.5KVA.AC,

5"C to 40"C

Weight Size

Approx.23kgt 3 8 0 ( W ) x 3 3 1 ( D )x 2 4 6 { H ) m m Table 1.3,2Drive Unit StandardSpecitications

Note 1: MDI standsfor ManualData Input Note2: To be preparedby the user. powervoltagein your country. Note3: Depending the source on

1. SPECIFICATIONS
3.2.3 External dimensions

o POWER
E M G ,S T O P ERROR EXECUTE START STOP RESET

MOVEMASTER EX

;0 i! 3fl i0il :l.U

it I
l

Fig. 1.3.9 External Dimensions (Drive unit)

1. SPECIF|CATIONS
3.3 TeachingBox (Option) 3.3.1 Nomenclature

Cable (3m)

E m e r g e n c ys t o p s w i t c h ON/OFF switch

Control key

Teaching box

Hand strap

Fig. 1.3.10 Nomenclature (Teaching box)

1. SPECIFICATIONS
3.3.2 Externaldimensions

_r------------1

L:3000mm

RV-M1

t_t t_t t t t t l t . t t .t t . t _ t .

;;ll

rruc lloec
P.C

NST O R G T R N WRT

ar ;;ll

'-lt

Atr ;ll n1
4E+ll I EP_

Y-[-;l

STEP

xYz

Flt
< o>

."* ll

R_

0PTt0 >c<

T00t

MITSUBISHI

Fig. 1.3.11 External Dimensions (Teaching box,

1. SPECIFICATIONS
3.4 Motor-operated Hand (Option) The motor-operated handfor the RV-M1 can be easilyinstalled to the robot and allows the holding power to be set by current control.
Specifications

Item Type Drive system O p e n i n g / c l o s i n gr o k e st

Grip power

Remarks

HM-01 DC servo motor drive 0 to 60mm Max.3.skgf 5 to 40"C More than 300,000 times 6009f
Table 1.3.3 Motor-Opeiated Hand Specifications The holding power can be set in 16 steps.

A m b i e n tt e m p e r a t u r e
Service life

Weight

Conneciion The motor-operated hand can be used by connecting the curl cable to the connector of the robot fore arm.

2-3.4mm dia. hole {6.5 mm dia. x 3 spot facing in the rear surface)

n
1'l
t

o l

;r--,t

mr-'. -l
I
I

Stroke 0to60 (20 to 80)

2 x 4-M3

1 SPECTFTCATTONS
4. US|NGTNSTRUCTTONS 4.1 Safety (1) Do not touch any moving part of the robot duringoperation. Any work within the operationrangesmust be done after switching off the power. (2) Severalemergencystop switchesshould be installedas required. (3) Do not allowthe robotto makecontact with any person(e.g. set up a fence aroundthe robot). corresponding the robotoperating to states from the {4) Signals driveunit l/Oconnector may be usedas appropriate indicate to the operation statusof a line, etc. (Dedicated output signal available the option l/O-A16 B16) for or to shock. {5) Groundthe Movemaster preventnoiseand electric 4.2 Operating Environments (1) Usethe robot and drive unit within the allowedtemperature range (between5'C and 40'C). (2) Install Movemaster the awayfrom the directsunlight and any heat source. (3) Do not allow water, liquid and metal shavings enter the to robot and drive u nit. (4) Use the Movemaster anywhere that there are no explosive gases,dust, dirt, oil mist, etc. Do not use this robot in atmospheres contsining explosive gas, dust or mrst. (5) Protect the robot againstimpact and vibration. (6) Keep the robot and drive unit connectors clean.Wipe the protectfrom dirt, dust, etc. conductive areaswith alcoholto (1) Protect the plasticcoversfrom damage. (2) Inspection must be donedailyand periodically. any noiseis lf generated unusual performed, or operation immediately stop the robot and make the required check and adjustment according vol. 4 "IVIAINTENANCE TNSPECTION to AND PROCEDURE."

4.3 Robot

1. SPECTF|CATIONS
(3) Thedrivemotormay be overloaded burneddepending and on the robot usingcondition. The robot must not be usedunder the following onditions. c (D The workpiece extremely (Thecenterof gravityof is large. the workpieceis away from the hand mountingflange surface. ) @ Load over the drive motor rating le.g. forcing,pressure application is generated continuously. ) for a long time. ) The robot arm is extended f4l Acceleratio n/deceleration repeated is withoutstopping the given axis. @ The jog operationkey is kept pushed with the robot pressedagainsta mechanical stopper. (4) Do not operatethe robot with the brakeapplied(shoulder, elbow axes only). (Checkthat the brake "clicks" in the shouldercover at power on.) (5) Fix the robot to a surfaceplate, etc. using the accessory installation bolts.(Minimumsizeof the iron Dlate: 270x 350x 12 mm) (6) Beforetransporting robot,the suppliedarm fixing plate the must be installedin accordance with "TRANSPORTATION. I N S T A L L A T I O N D S E T T I N G - U Pn V o l . 2 . AN i " (7) Avoidanycollision between robotarm andworkpiece, the etc. to protectthe mechanical area from damage. ('l) The motor-operated hand losesthe grip powerduringpower off. (2) A lessholdingpower is providedby extremely long fingers. 4.5 LineVoltage (1) The line voltagemust be within +101o of the rating. (2) The robot is reset or placed in an error state and is then brought a stopwhen instantaneous to powerfailure continues morethan 20ms.In this case.restart operation the beginning with the steo after oower on. (3) lt is recommended usethe memorybackup (option) to battery to retaindata during any power failure.

4.4 Hand

1. SPECIFICATIONS
4.6 Noise
( 1 ) A robotfaultor dislocation may occurif surgevoltage more of

than 1000V,1 us is appliedto the power line. thatgenerates awayfrom anyequipment \21 Usethe Movemaster high-frequency oscillator, large-sized inverter, largenoise(e.9. contactor).

(Con(3) Use a radio or television away from the Movemaster. coninterference, Movemaster the cerningelectromagnetic in FCC,U.S.A.) forms to classA (4) In hostileenvironments, disconnect teachingbox when the not in useso that external noisemav not causea robotfault.

4.7 Position Repeatability

robotis based the The Position reoeatabilitv the Movemaster of on Industrial following industrialrobot definitionin the Japanese Standards. {JlS) with whichthe Position repeatability: measure the accuracy The of robot is positioneci underthe same conditions and by the same method. Thisdefinition doesnot applyto the position difference when the teaching speeds are different from execution speeds, and to the numerically coordinates to the positioning precision, set and etc.

1. SPECIFICATIONS

M o v e m a s t eIrn f o r m a t i o n1 ) { tilisjamesl The robot articulation namescorrespond the humanbody as illustrated to

Detow.

/----',,' --< -

1. SPECIFICATIONS
5, WARRANTY PERIOD AND PAINTCOLORS

5.1 WarrantyPeriod

( 1 ) The robot indicated the warrantycard is repaired in free of

charge within one year (i.e.8 hours/day 250 days)afterthe x deliverydate if a fault has occurredunder the appropriate operatingconditionsand the fault is attributable the to (Thiswarrantydoesnot applyto any process. manufacturing parts specified Mitsubishi.) consumable by on \ 2 ) The robotwill be repaired a commercial basisevenduring the warrantyperiodif the fault and/ordamageis attributable
IO:

1) Act of God (e.9. earthquake, damagesfrom wind and water).fire. 2) Using mistake. 3) Movementor transportation after installation. 4) Repairor modification made by other than Mitsubishi. 5) Equivalents the above for WARNING Consumableparts (e.g. motor, brush, timing belt, curl cable| are changedon a commercialbasis.(For consumable parts, see Section 4 MAINTENANCE PARTS, Vol. 4.) (3) Any warranty card without the delivery data and sales representative name enteredis invalid. (4) lmmediately contact the salesrepresentative anv fault has if rred. occu {5) The warrantycard must be shownto the service engineer. lf the warranty card is not shown, a servicingfee may be chargedeven during the warrantyperiod. . . l 70% gloss O R o b o t a r m . . . . . . . ...... . . . . . .M.u n s e l10Y8/1 . . . . .. . . . . . . . . . . . . M .u n s e l l10Y3/1 .. 70% gloss ) R o b ob a s e t . Munsell 10Y8/1 unit 70% g loss )Drive . . . . . . . . . .. .. .. . . M u n s e l5.2G2.510.2 . bo l @Teaching x . ha O M o t o r - o p e r a t e d n d. . . . . . .M un s e l lN2.5 metallic70% gloss paintcolorsare subject changewithout notice. The standard to

5.2 PaintColors

l. sPrcrflcATr0r{s

2. IIPERATIllN
3. DESCRIPTI0t{ C0ililAl{0S 0FTHE 4. ilAlltTtl{A1{CEtt{Spt0Tl0t{ Al{D 5. APPEilDtCtS

(OPERATION} CONTENTS 1. TRANSPORTATION, INSTALLATION, SETTING-UP............ AND 1.1 1,2 1.3 1.4 1.5 1.6 1.7 1.8 1.9 1.10 ,.......... 2-1

........2-1 T r a n s p o r t a t i o f t h e R o b o t. . . . n .............2-3 I n s t a l l a t i o nt h e R o b o t . . . . . of . . .. . .. . .. . .. . 2 - 5 T r a n s p o r t a t i a n dI n s t a l l a t i o nt h eD r i v e n i t . . . . . . . . . . . . . . . . . o of U ...............2-s l n s t a l l a t i o n t h e l / OC a r d of .............2-6 Grounding .n. s . . . . . . . . . ' . . ............-................2-7 Cable onnectio C ...................2-8 (Option)..........' I n s t a l l a t i o nt h e H a n d of . . . . . . . . . . . . . 2.-.1 0 . I n s t a l l a t i o nt h e T e a c h i nB o x( O p t i o n ) of g ..............2-10 f n s t a l l a t i o n t h eB a c k u p a t t e r ( O p t i o n ) of B y ..............2-11 l n s t a l l a t i o n t h eE m e r g e n c yt o pS w i t c h of S ..............2_12

2. BASfCFUNCT|ONSOFSYSTEMCOMPONENTS................... 2.1

. . . . . . . . . . 2.- 1 2 . Drive nit U ........2-12 2 . 1 . 1 F un c t i o n o f f r o n tc o n t r os w i t c h ea n dL E D s . . . . . . . . . . . . . . . . s l s ..........2-13 2 . 1 . 2 F u n c t i o n s o fi d e s e t t i n g s w i t c h e s a n d L E D s . . . . . . . . . . . . . . . s 2 . 1 . 3 F u n c t i o n s o f n n e c t o rs w i t c h e s ,n d t e r m i n a ll o c k o n r e a r p a n e l . . . . . . . . . . . . . . . 2 - 1 6 co s, a b ..............2-18 2 . 2 T e a c h i nB o x. . . . . . . . . . . . . . . ' g . . . . . . . . . . . . . . . . . . . . . .2 - . . 9 .. 1 . 2 . 2 . 1 F u n c t i o n sf t h es w i t c h e s o . . . . . . . . . . . . . . . . . . . . .Z.-.1 . . .9 2 . 2 . 2 F u n c t i o n sf e a c h e y . . . . . . . o k . . .. . .. . .. .. .. . .. . .. . .. . .. . . 2 _ 2 1 2 . 2 . 3 F u n c t i o n sf t h e i n d i c a t o rE D . . . . . . . . . . . . . . . . o L ..........................2-22 2.2.4Releasingthebrakes........ 2 . 2 . 5 l n t e l l i g e n t m m a n dc o r r e s p o n d i no e a c h e y . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2 - 2 2 co s tg k 3. BEFORE STARTfNG OPERATION THE 3,1 .........................2-23

3.2

3.3

.....2-23 System onfiguration.........'.... C .. . . . . . . . . . . . . . . . 2 - 2 3 3 . 1 1 S y s t e m o n f i g u r a t i o n n t e r i na r o u n d p e r s o n a l c o m p u t e r ' . c ce g a . . 3 . 1 2 S y s t e m o n f i g u r a t i o n n t e r i na r o u n dh ed r i v e n i t . . . . . . . . ' . . . . . . . . . '...... . . . . . . 2 - 2 4 . c ce g t u . . . .. . . . . . . . . .....2-Zs Robot-Computenk Lir .. . . .... . . . . .. ..................2-25 3.2.1 Centronicsinterface ......2-25 3.2.2 RS232C interface....'..'.. ...........................2-26 C o n t r oM o d e s . . l . . . ' . . . . . .... . . . . . . . . . . 2 - 2 6 3 . 3 . 1 P e r s o n a lo m p u t em o d e c r ...'..'..'.......2-28 3 . 3 . 2 D r i v e n i tm o d e u .....................2_29 . . . . . . .. ' . . . . ' . . . . . . 2 - 2 9 . . . . . . . . . . ... . . . . . . .. 2 - 2 9 ......2-29

4. FROMPOWER-UPTOORtctNSETT|NG. 4 . 1 S e t t i n gh eS i d eS e t t i n g w i t c h e s t S 4 . 2 T u r n i n P o w e O N . . . . . . . . .. . . . . . . . g r 4.3 OriginSetting

.E s . P o s f T f o N E T T | N GR o C E D U R . . . . . . . . . . . . . . . . . S P

............2-30

..... 5 . 1 S e t t i n gh eC a r t e s i a no o r d i n a t ey s t e m e f e r e n c eo s i t i o n . . . . . . . . . . . . . . . . . . . . . . . . . . .- 3 0 t C R S P 2 .. .h . ' . . . . . . . . . . . . . . . . . . . ' . . . . . . . . . . 2.-.3 .0 . . . . 5 . 2 S e t t i n g t h e T oL e n g t ol 's . .2-31 5 . 3 D e i ni n g ,V e r i f y i n g , h a n gn g ,a n dD e l e t i ntg e P o s i t i o n . . . . . . f C i h 6. PROGRAM GENERATION EXECUTION.. AND 6.1 6.2 G e n e r a t i n g dT r a n s f e r r i n g r o g r a m an aP E x e c u t i ntg e P r o g r a m h 6 . 2 . 1 S t e pe x e c u t i o n 6 . 2 . 2 S t a r t i nt h ep r o g r a m g 6 . 2 . 3 S t o p p i n g / r e s t ia g h e p r o g r a m r n t 6 . 2 . 4 S t o p p i n g / r e s e t ttih e p r o g r a m ng ,..,.,,..,..,,2-33 . . . . . . . . . . ' . . .2.-.3 3 . ..'.'...........2-34 ..-..-.......'..'..2-34 .... .2-34 . . . . . . . . . .. . . 2 - 3 5 . . . . . . ' . . . . . . . .2 .-.3 5 .

7. WRITINGTHE PROGRAM/POSITION DATA IN EPROM ( P E R S O N A L C O M P U T E R M O D E.).. . . . . . . 7.1 7.2 7.3 I n s e r t i nE r a s e d P R O M g E W r i t i n g a t a n t oE P R O M D i P r e c a u t i o no r S t o r a g o f E P R O M fs e

...................2-36 . . ' . . ' . . . . . . .2 - 3 6 . . . . . . . . . . . . .2 - 3 6 .. . . . . . . . . . . . ' . . . . ' . . . .- 3 6 2 ......................2-37 ......-..2-37 .....'.'....'.'.2-37 .......--.-...........'.'.2-37 ....-....-....-..2-37 . . . . . . . . . . . . . . .2 - . 7 ..3 --.-..--..2-37 . . . . . . . ' . . . . . ' . '- 3 8 2. ...............'..2-38 ..........,,2-39 . . . . . . . ' . . .- 3 9 2 . . . . . . . . . . . . . .2 . .3 9 .. . . . . . . . . .- 3 9 2 ..'.".'..'.'....2-39 . . . . . . ' . . . . . . . .2 .-.3 9 . .............2-40

8 . O P E R A T f O N I N G H EE P R O M A T A US T D . 8 . 1 l n s e r t i ntg e E P R O M . . . . . . . . . h . 8 . 2 S e t t i n t h e S i d e e t t i n g w i t c h e.s . . . . . . . . g S S "N. . . ' . . . . . . . . ' 8.3 TurningPowerO 8 . 4 E x e c u t i n g eP r o g r a m th 8 . 4 1 S t e pe x e c u t i o n . . 8 . 4 . 2 S t a r t i nt h ep r o g r a m g 8 . 4 . 3 S t o p p i n g / r e sttia g h e p r o g r a m r n t 8 . 4 . 4 S t o p p i n g / r e s e t ttih ep r o g r a m ng 9. OPERATIONUSINGTHEEXTERNALSIGNALS 9.1 9.2 S e t t i n gh e S w i t c h e s . . . . . . . . . . t E x e c u t i ntg e P r o g r a m h 9 . 2 . 1 S t a r t i nt h ep r o g r a m g 9.2.2 Stopping/resta the program rting 9 . 2 . 3 S t o p p i n g / r e s e t ttih ep r o g r a m ng

10.ERRORCOND|T|ONS..........

2. OPERATION
1. TRANSPORTATION. INSTALLATION, AND SETTING-UP 1.1 Transportation the of Robot

Fig. 2.1.1 Transportation of the Robot

( 1 ) F i g . 2 . 1 . 1 s h o w s t h e l o c a t i o n st o b e h e l d b v h a n d s w h e n transportingthe robot.

the 12) Beforetransporting robot, release the brakesin accordancewith Section 2.2.4, Vol.2, move the first arm (4) in the positivedirectionand the secondarm (6) in the negative direction untilthey are pressed against stoppers shown the as i n F i g .2 . 1 . 1a n d i n s t a ltlh e a r m f i x i n gp l a t e 5 )t o t h ef i r s ta r m , ( ( 4 ) a n d b o d y ( 1) . (3) When raising robot,takehold of the underside body 11) the of or base {2) with your both hands.
(4) Never take hold the sides or back of shoulder cover (3), or damage to the cover or personal accidentcould result.

2. OPERATION
(5) Thefixingplate(5)mustbereinstalled before transportation to protect the arm (4) (6) duringtransportation. robot must The be transported the attitudeshown in Fig. 2.1.1. in WARNING The robot must be transported with the fixing plate installed.

2. OPERATION
1.2 Installation the Robot of

Installation Dolt, F o u r M 8 X 30 hexagon

82 60

168 les

.---+i

Front ot rooot Fig. 2.1.2 Installation ot the Robot Fig. 2.1.3 Robot lnsta ed Dimensions

l1) Fig. 2.1.2shows how the robot is installed.

(21The robot mountingsurface been machined accurate has for

installation. Usingthe 0 9 mountingholes providedat four cornersof the base and the installation bolts lMg X 30 hexagon sockethead bolts)furnished, secure the robot onto the floor. {3) It is recommended that common surfaceplatesbe used ro ensure that the robot is properly aligned with the equipmenr, jigs, and fixtureson which the robot works.
( 4 ) Surface roughness the surface platesonto whichthe robot of

is to be secured must be Vv or more.A roughsurface the is causeof poor contactbetween the robot and surfaceplate, r e s u l t i n gn m i s a l i g n m e n t . i
( 5 ) The fixing plate(4) is installed beforeshipmentas shown in

Fi7.2.1.1 protect arm (5)duringtransportation. to the Remove this plate beforeoperating the robot. (6) The customer shouldkeepthe fixing plateas it must be used when transporting the robot.
17) Fig. 2.1.3 shows the installeddimensions of the robot. ( 8 ) R e m o v et h e a r m f i x i n g p l a t e a f t e r t h e i n s t a l l a t i o n s c o m p l e t e . i W h e n t h e r o b o t i s t r a n s p o r t e do n a s u r f a c e p l a t e , t h i s p l a t e must be keptfit on the robot until the robot is finallv installed.

2. OPERATION
WARNING The customer should keep the arm fixing plate together with the bolts as it must be used when transportingthe robot.

2. OPERATION
1 . 3 T r a n s p o r t a t i o na n d ( 1 ) U s e c a r e n o t t o s u b j e c tt h e d r i v e u n i t t o e x c e s s i v es h o c k sa n d I n s t a l l a t i o no f t h e D r i v e v i b r a t i o n sa n d n o t t o l e t i t t o p p l e o v e r o r t i l t d u r i n g t r a n s p o r t a Unit tion. ( 2 ) W h e r e v e r f e a s i b l e ,k e e p l e v e l t h e d r i v e u n i t w h e n i n s t a l l e d . The tiltingangle should be kept within 20". ( 3 ) K e e p t h e v e n t i l a t i o no p e n i n g i n t h e d r i v e u n i t o p e n t o a t m o s ph e r e . ( 4 ) A l l o w a d i s t a n c eo f 1 0 0 m m o r m o r e b e t w e e nt h e b a c k p a n e l o f the driveunit and the adjacent all. When the drive unit is w i n s t a l l e d i n a c a b i n e t , m a k e s u r e t h a t i t i s w e l l v e n t i l a t e df o r a m p l e h e a t d i s si D a t i o . n

Fig. 2.'1.4Insta ation ot the Drive Unit

1 . 4 I n s t a l l a t i o no f t h e l / O Card

I n s e r ty o u r l / O c a r d i n t o t h e e m p t y s l o t { t h e s e c o n d o n e f r o m t h e l e f t ) i n t h e r e a r o f t h e d r i v e u n i t . A t t h i s t i m e , e n s u r et h a t t h e c a r d f i t s i n t h e u p p e r a n d l o w e r g u i d e r a i l sp r o v i d e d i n t h e s l o t , s l i d et h e c a r d a l l t h e w a y i n t o t h e s l o t , a n d s e c u r ei t b y t i g h t e n i n gt h e u p p e r a n d l o w e r s c r e w s . F i g . 2 . 1 . 5 s h o w s t h e i n s t a l l a t i o np r o c e o u r e . The type of your l/O card is identified by a unique symbol as follows: A8, i2A; 88, *28; A16, #2C: and, 816. fi2D. The s y m b o l i s s i l k - s c r e e n - p r i n t e d n t h e s h e e t m e t a lo f e a c h c a r d . o (Setbit 3 of the side panelswitch SW'l in accordarrce ith the l/O w card used. See Section 2.1.2.)

Itttttilililililtilliltl

!== *nff

-'.

Fig. 2.1.5 lnstallation ot the l/O Caro

2. OPERATION
1.5 Grounding
{ 1 ) W h e r e v e rf e a s i b l e ,p r o v i d e t h e s e p a r a t eg r o u n d i n g d e d i c a t e d , r e s p e c t i v e l yt,o t h e r o b o t a n d t h e d r i v e u n i t . F o r t h e d r i v e u n i t . n o t e t h a t t h e f r a m e g r o u n d t e r m i n a l p r o v i d e do n i t s r e a r p a n e r i s t h e g r o u n d c o nn e c t i o n .

(21Use the Class3 grounding(groundresistance ohms or 100

below).The best method to be employedis the dedicated g r o u dI n g . n ( 3 ) Use a 2-mm2-or-more groundingwire. t4l L o c a t e t h e g r o u n d i n g p o i n t a s n e a r t h e r o b o t a n d d r i v e u n i t
and keep the grounding wire as short as possible.

D/U: Drive unit; P/C: Personal computer

FI
-=-

TT
a) Dedicated lBest) b ) S h a r e d( c o o d ) Fig. 2.1.6GroundingMethods
c) Common (Fair)

2. OPERATION
1.6 Cable Connections

Drve lnit

M o t o r s i g n a lc a b e {Tvpe:MS Ml )

Motor power cab e ( T y p e : M P N ,I4j

Fig. 2.1.7

( 1 ) F i g . 2 . 1. 7 s h o w s t h e c a b l e c o n n e c t i o n s . \ 2 ) B e f o r ea t t e m p t i n gt o c o n n e c tc a b l e s ,m a k e s u r e t h a t t h e p o w e r s w i t c h o n t h e r e a r p a n e lo f t h e d r i v e u n i t i s i n t h e O F F p o s i t i o n .

( 3 ) Plugthe power cord into the AC inlet on the rear panel of the
drive unit.

t4) C o n n e c tt h e m o t o r s i g n a l c a b l e a n d m o t o r p o w e r c a b l e t o t h e
c o r r e s p o n d i n gc o n n e c t o r s i n t h e r o b o t a n d d r i v e u n i t . ( 5 ) T h e t w o c a b l e s h a v e n o s p e c i f i c o r i e n t a t i o nf o r c o n n e c t i o n . E i t h e re n d c a n b e h o o k e d u p t o e i t h e r u n i t .

( 6 )When securing the connector, be sure to raise the spring

l a t c h e s o n b o t h s i d e s o f t h e c o n n e c t o r a s i l l u s t r a t e di n F i g . 2.1.8. { 7 ) U s e s p e c i a lc a r e w h e n r o u t i n g t h e c a b l e s .D o n o t p u l l h a r d o r b e n d t h e c a b l e s , a s a n o p e n - c i r c u i t e dc a b l e o r d a m a g e d c o n n e c t o r c o u l d r e s ul t .

Spring latch

t
Raise

F i g . 2 . 1 . 8 S e c u r i n gt h e C o n n e c t o .

2, OPERATION
1.7 Installation the Hand of (Option)

Connector on fore arm

Curledcable (Hl\.4-CBL)

n ,t-\ lol n

r
Position of the connecror

\JJJ

Ar \\lr
/
Fit nylon clrp

J5 axis dog

Fig. 2.1.9 Installation of the Hand (Option)

Fig. 2.1.10 Hand position When Installed

( 1 ) F i g .2 . 1 . 9s h o w s h o w t h e m o t o r - o p e r a t e d a n d { o p t i o n )i s t o b e h i ns t al l e d .

t2) F i g . 2 . 1 . 1 0s h o w s t h e p o s i t i o n o f t h e h a n d w i t h r e f e r e n c et o
t h a t o f t h e h a n d m o u n d i n g s u r f a c ew h e r e t h e h a n d i s i ns t al l e d . ( F o r i n s t a l l a t i o n u s e t w o M 3 x 1 2 h e x a g o n s o c k e th e a d b o l t s . ) ,

(3) A f t e r t h e h a n d h a s b e e n i n s t a l l e d , e c u r et h e c u r l e d c a b l e o n t o s
t h e c o n n e c t o ro n t h e h a n d a n d t h a t o n t h e f o r e a r m a s s h o w n i n F i g . 2 . 1 . 9 .U s i n g t h e n y l o n c l i p f u r n i s h e dw i t h t h e h a n d , secure the straight section of the curled cable to the cable cover.

t4l

l f t h e h a n d i s c u s t o m i z e db y t h e c u s t o m e r ,m a k e s u r e t h a t t h e hand weighs 1.2 kg{ or less including the workpiece to be handled. (At this time, ensure that the center of gravity is located 75mm or lower than the hand mounting surface.)

( 5 ) T a b l e 2 . ' 1 . 'l1s t st h e s p e c i f i c a t i o n s f t h e m o t o r , s o l e n o i dv a l v e , i o a n d c o n n e c t o r sf o r t h e c u s t o m - b u i l t h a n d .

WARNING The curled cable may get caught between wrist housing and fore arm during operationof the robot equippedwith a hand, dependingon the position of wrist pitch (J4 axis) and wrist roll (J5 axis).Avoid using with the robot in such a position.

2. OPERATION
Connector

Key No. ill

pin Connector Manufac{urer

Description Name
Connector on fore arm C a b l ec o n n e c t o r( o n a r m s i d e ) ( C a b l ec o n n e c t o r o n h a n d s i d e ) Connector on hand

Type SMP,O2V.BC SMR O2V-BC

Tvpe
SHF,OOlO.8SS T sYM 001T,0.6
SOLDERLESS TERMINAL MFG,CO,, LTD.

.r., a3-'
i4l

SM connector

R ( 0 1 ) Furnished with connector S R 1 3 s B1 3 , 1 0 2 P connector

0 s B r 3r o P . 2(s 1 )

Furnishedwith connector

HI R O S E ELECTRIC CO.,LTD,

C!rled cable

(HM,CBL)

W r J s tf l a n Forearm " S p e c i f i c a t i o n so r c L r s t o m - b u i lh a n d f t

Pneumatically-operated hand D r i v es o u r c e :A C s o l e n o i dv a l v e AC Power requirements. 120,220, 230, 240V (Dependingon source voltage in the country) A A l l o w a b l ec u r r e n t : M a x . 0 . 5 A ( 1 2 0 V C ) , 0.254l22O to 24Ov AC)

llotor operated hand

Drivesource:DCmotor Powerrequirement24VDC | Capacityr6.5W

WARNING The hand select switch located on the rear panel of the drive unit must be set properly according to the type of hand to be used (AC or DC). Wrong setting can be a cause of a burnt dflve source.

NOTEr . I n s t a l lv a l v e o n t o p o f f o r e a r m a n d c o n n e c t l i n e w i r e t o c o n n e c t o ro n f o r e a r m ( 1 ) . . The load capacity will be reduced by the weight of the valve. Motor-operated hand

NOTE: . Model 106-3001 SM26) ( m o t or m a n u f a c t ue d b y r S a n y o El e c t r i c i s r e c o m mended.

Table 2.1.1Specificationstor the Motor, Solenoid Valve, and Connectorsfor Hand

2. OPERATION
1 . 8 l n s t a l l a t i o no f t h e Teaching Box (Option) W h e n u s i ng t h e t e a c h i n gb o x ( o p t i o n ) ,b e s u r e t o p l u g t h e t e a c h i n g b o x c a b l ec o n n e c t o ri n t o t h e m a t i n g c o n n e c t o ro n t h e r e a r p a n e l o f t h e d r i v e u n i t ( t h e l o w e r c o n n e c t o ro n t h e l / O c a r d ) b e f o r et u r n i n g p o w e r O N . A t t h i s t i m e , d o n o t f o r g e t t o r a i s et h e s p r i n g l a t c h e st o secure the connector rnto posrtron. W h e n e v e rt h e c o n n e c t o ri s p l u g g e d a n d u n p l u g g e d ,m a k e s u r e that the drive unit is OFF.
l/O card

or f,2C or #2Dl

.aa Q

& tnt ltil

?t o

IlJI

Fig. 2.'1.11Connecting the Teaching Box

1 . 9 l n s t a l l a t i o no f t h e T o i n s t a l l t h e m e m o r y b a c k u pb a t t e r y{ o p t i o n ) ,p r o c e e da s f o l l o w s . Backup Battery (Option) ( 1 )A f t e r e n s u r i n g t h a t t h e p o w e r i s O F F , l o o s e n t h e u p p e r a n d lower screws on the card in the first slot from the left in the rear of the drive unit. Then. slide the card all the wav out.

( 2 1Pass Lt"_V!"o*(-liS,llgu_oJf the into !_ellJurnished the mounti n g h o l e i n t h e e m p t y a r e a l o c a t e do n t h e r i g h t b o t t o m o f t h e c a r d a n d s e c u r et h e b a t t e r yi n p o s i t i o n a s s h o w n i n F i g .2 . 1 . 1 2 .

( 3 ) P i c ku p t h e b o t h e n d s o f t h e b a t t e r ys o c k e ta n d p l u g t h e s o c k e t
) i n t o t h e c o n n e c t o r( P S ' 1o n t h e c a r d . A t t h i s t i m e . m a k e s u r e

t hat $9SgegJ_tj,q,s_o_cJtelylgLg_t!9_gle,gg_oge_ j9,v_'jJ9!E Je999. to en re correctpoIarity. su 9SWg^ltlg,gelg,SyIgggl

(4) Afterthe aboveprocedures havebeencomplete, reinsert the cardintothe firstslotfrom the left and secure by tightening it the upper and lower screws.

2, OPERATION
WARNING Beforethe drive unit is first turned ON after the battery has been installed, be sure to flip down (to the OFF position)bit 2 of SWI locatedinside the side door of the unit. After the power has been turned ON, flip up (to the ON position) bit 2.

Fig. 2.'1.12.

1.10 Installation the of Emergency Stop Switch

From a safetyviewpoint,be sure to installthe emergency stop switch at a locationwhich is readilyaccessible. (1) Usethe "EXT.EMG.STOP"terminals the rearpanelof the on drive unit for connection (2) Removethe strap furnishedand connectthe COM terminal and NC terminal {norma lly-closedof the emergency stop ) switch to the terminals. Use care not to lose the strap. (3) Electrical ratingsfor the emergency stop are 'l2V DC,25mA. Select wire that offerssufficient strength and good resistance to environmental nges. cha

2. OPERATION
2. BASICFUNCTIONS OF SYSTEM COMPONENTS 2.1 DriveUnit 2.1.1 Functions front of controlswtichesand LEDs

rrl l2') i3)

i.4)

POWER E M G .S T O P ERROR EXECUTE START

t!1ovEt\,lASTEREX

(61
!,1)

STOP RESET MITSUBISHI

Fig.2.2.1 Dtive Unit Front Panel

( 1 ) POWER (PowerindicatorLED,yellow)

L i g h t s p w h e nt h e d r i v eu n i ti s t u r n e d N .l t i s O F F h e nt h e u O w fuse in the rear panel is blown.

t2) EMG. STOP(Emergency stop switch,red)

The emergency stop pushbutton switch.When this switch is pressed, servosystem cut off andthe brakes applied, the is are thus bringingthe robot to an immediate stop.At the same time,the errorindicator LED(3)flashes OFFand ON with LED3 l o c a t e d n s i d et h e d r i v eu n i t s i d e d o o r l i g h t i n g p . i u ( 3 ) ERROR (ErrorindicatorLED, red) B l i n k s r l i g h t su p t o w a r nt h a t a n e r r o rh a so c c u r r e dn t h e o i system.In error mode I, it blinksat 0.s-second intervals. while in error mode II. it lightsup and stayslit. The buzzer s o u n d s n p h a s e i t h t h e O N t i m i n go f t h i s L E Di f i t h a sb e e n i w set to ON {bit 8 of SWl insidethe side door in the upper position).
( 4 ) EXECUTE (Commarid execution indicatorLED,green)

Lightsup and stayslit while a commandis beingexecuted by operaing driveunit or teaching the box. lt goesout when the execution has beencompleted. stay lit while a programrs lt running. ( 5 ) START(Startswitch,green) Startsthe programor restarts from an suspended it state.

2. OPERATION
(6) STOP (Stop switch, red) Stopsthe program being executed. this time, the robor At completes executing the currentcommandbefore it stops. This meansthat, if the robot is executing move command a when the switch is pressed, will completereaching it the point. destination (Reset t 7 ) RESET switch,white) Resets programsuspended the deperssion the stop the by of switch and error mode II. When the switch is pressed, the programreturns its beginning to and,if an errorhasoccurreo, the error indicatorLED goes out. Note, however,that the general-purpose outputsare not reset at this time. l/O 2.1.2 Functions side of setting switchesand LEDs

(1r)
l)?)

(el [o)

Fig.2,2.2 Dtive Unit Side Panel

( 8 ) SOC2(EPROM socketfor program and positiondata)

A user socketfor installation an EPROMinto which the of program and position datahavebeenwritten. The EPROM can be inserted into,or removed from,the socket just operating by the lever provided under the socket.When insertingthe EPROM, makesure that the indentation positioned the is on left.

(s)ST1 (Controlmode settingswitch)

Setsthe controlmode of the driveunit (upperposition: drrve unit mode; lower position:personal computermode).

2. OPERATION
(10) ST2 {Select datafrom EPROM to switchwhetherto transfer power-up) RAM upon to Selects whetherto transferdatafrom EPROM ciriveunit position: memoryRAMwhen the poweris turnedON (upper EPROM data is transferred RAM; lower position:EPROM to datais not transferred RAM). to The RAM datais usedto run necessary to a programfrom the drive unit. lt is therefore previously thisswitchto the upperposition set when running a program by means of data written in EPROMafter the powerhas beenturnedON.Whena programis to be run by p RAM, set this switch to the lower the battery-backed-u position.
( 1 1 ) S W 1 ( F u n c t i o ns e l e c t D I P s w i t c h ; B i t s a r e n u m b e r e d 1 through 8 from left to right)

for from the the Bit 1: Selects terminator datatransmission (upperposiinterface drive unit throughthe RS232C : F t i o n : C R* L F ;l o w e rp o s i t i o nC R ) . l i pt h i s b i t d o w n you use MULT|16. to the lower positionunless Bit 2: Selects whetherto checkif the contents the RAM of data are retainedupon power-up{upper position: Check is performed;lower position: Check is not performed). this bit to the lower positionif the Set battery(option)is not used. lf the batteryis to be used,set the bit to the lower position when the systemis first turnedON afterthe placethe bit in has been installed; thereafter, battery the upper position.Then, error mode I is caused when power is turnedON if the contents memory of properly retained duringpowerdowndue to a are not batteryfailure or other cause.(At this time, LEDS i n s i d et h e d r i v e u n i t s i d e d o o r l i g h t su p . ) type Bit 3: Selects type of l/O cardused{upperposition: the position:type A8 or B8). A16 or 816; lower Bit 4: Selects whetheror not to set, change, deletethe or positiondata in the cartesian reference coordinate (upper position: enabled; lower position: system disabled). Set this bit to the upper positionwhen setting the cartesiancoordinatesystem reference position positionsand when loadingthe reference datawritten in the EPROM into the RAM; otherwise, set it to the lowerposition avoiderroneous to setting.

2. OPERATION
Bit 5: Selects enableeitherthe drive unit front control to switches external or signals runningthe program for while type A16 or 816 l/O card is being used (upper position:external signals;lower position:front control switches). When this bit is set to the uDoer position. possible meansof the operation becomes by dedicated signallineson the external equipment liO connector the driveunit rearpanel, on whilethe front (except emergency controlswitches the stop switch) aredisabled. Withthe bit setto the lowerposition, the front controlswitches enabled, are while the external d e d i c a t es i g n a l i n e i s d i s a b l e dP l a c e h e b i t i n t h e d . t lower positionwhen tyfle A8 or 88 l/O card is to be useo. Bit 6: Selectswhether to enable tf'e Sl] key on the teachingbox to release robot brakes. Normally, set this bit to the lower position. the lsee 2.2.4Releasing brakes.) Bit 7: Not used. (upper Bit 8: Selects whetherto turn ON or OFFthe buzzer position:buzzer soundswhen an error occurs;lower position: buzzer does not sound when an error occu rs). (12) SW2 (RS232C communication format settingswitch) S e eC H A P T E2 I N T E R F A C EI T HT H EP E R S O N A LO M P U R W C TER (RS232C), APPENDIX. (13) SW3 (RS232C baud rate settingswitch) SeeCHAPTER 2INTERFACE WITHTHEPERSONAL COMPU(RS232C), TER APPENDIX. ( 1 4 )L E D s1 - 5 ( H a r d w a r e r r o r d i s p l a y s ) Indicatethe cause the corresponding of hardware error(error mode I ) when it occurs. LEDl Excessive servosystemerrors(1st LEDfrom the teft) Open or disconnected motor signal cable (2nd LEDfrom the left) Driveunitemergency from the stopinput (3rdLED left) Teaching emergency box stopinput(4thLED from rhe left) Backupbatteryfailure (sth LED from the left)

LED2

2. OPERATION
2.1.3 Functions of connectors, switches, andterminalblockon rearpanel

?41 i?3) L2lr i?7

L18r 129, i l 9 i Fig.2.2.3 Drive Unit Rear panel

(Centron connector) ics {15) CENTRONICS Servesas the connector for the Centronics interface that personalcomputerand drive unit. connects a (16) RS-232C co r) {RS232C nnecto Serves as the connectorfor the RS232Cinterfacethat connects personal a computerand drive unit.
( 1 7 ) E X T E R N A Ll / O ( E x t e r n a l l / O e q u i p m e n t c o n n e c t o r ) S e r v e s a s t h e c o n n e c t o rf o r c o n n e c t i n g e x t e r n a l l / O e q u i p m e n t ( l i m i t s w i t c h e s ,L E D s ,p r o g r a m m a b l e c o n t r o l l e r s ,e t c . ) and drive unit. { 1 8 ) T E A C H I N GB O X ( T e a c h i n gb o x c o n n e c t o r ) Serves as the connector for connectingthe teaching box { o p t i o n )a n d d r i v e u n i t .

(19) MOTORPOWER (Motor power cable c o nn e c t o r ) Serves the connector the powerl i n e b e t w e e nt h e d r i v e as for unit and robot. ( 2 0 ) M O T O R I c N A L ( M o t o rs i g n a lc a b l eco n nector) S Serves the connector the signall i n e b e t w e e nt h e d r i v e as for unit and robot. (21) EXT ElvlG. STP (Emergency stop input terminal) lnput terminalfor connecting externalemergency an stop switch (12V DC, 25mA, N/C contactterminal). (22 G (Frame round) g ) G r o u n d i n ge r m i n a l f t h e d r i v e u n i t . t o

2, OPERATION
(23) HAND AC/DC(Handselectswitch) Selects eitherDCor AC depending the type of driveof the on handattached the robot. to Select when a motor-operated DC hand (option) used;select when using pneumaticallyis AC operatedhand employingAC solenoidvalves.Mgbg_gy}_ly_

s,J9 9J -c-g -s,{!iJL% y - -t-te Lr-e,* 99in:ruiL^9J$l^ittY,^

(24) FUSE(Fuse ) Fuseholdercontaining fuse {250VAC, 10A)for the drive a untr. (25) POWER {Powerswitch) Power ON/OFF switch for the drive unit. (26) AC (AC inlet) l n l e ti n t o w h i c ht h e d r i v eu n i t p o w e rc o r d i s p l u g g e d(.1 2 0 , powervoltage 220,230, 240V depending the source or AC on rn your countrv)

2. OPERATION
2 . 2 T e a c h i n gB o x

(3r
1141

301 ,31 \32

L3l 311 361 37 L38l L39r 40 :4Zl 41 Fig. 2.2.4 Teaching Box

r46l i47l ilEl 191 is0 \52i i53 1541 L56l

2.2.1 Functions the of switches

\ 2 7 O N / O F F ( P o w e r s w i t c h) )
S e l e c t sw h e t h e r t o e n a b l e o r d i s a b l e k e y s o n t h e t e a c h i n g b o x , W h e n t h e r o b o t i s t o b e o p e r a t e du s i n g t h e t e a c hi ng b o x , turn this switch ON. During program run or when controlling the robot by means of commands sent from a personal c o m p u t e r , t u r n t h e s w i t c h O F F .A n e r r o n e o u s k e v e n t r v c a n also be cleared by turning the switch OFF.

(28)E M G . S T O P ( E m e r g e n c y s t o p s w i t c h )
Pushbuttonswitch used for emergency stop of the robot {signal is internally latched when this swjtch is presseol. W h e n t h e s w i t c h i s p r e s s e d , h e r o b o t i s i m m e d i a t e l yb r o u g h t t t o a s t o p a n d t h e e r r o r i n d i c a t o rL E D b l i n k s ( e r r o r m o d e I ) . LED4 inside the drive unit side door also comes on.

2.2.2 Functions ofeachkey (29) INC (+ IENT )

Moves the robot to a predefinedposition with a position number greater than the current one. To move the robot t h r o u g h a c e r t a i n s e q u e n c e ,r e p e a t t h e k e y i n g - i ns e q u e n c e . (Seecommand "lP.")

(30) IDE-cl(+ [=NT-]

Moves the robot to a predefined position with a position number smaller than the current one. To move the robot t h r o u g h a c e r t a i n s e q u e n c e ,r e p e a t t h e k e y i n g - i ns e q u e n c e . "DP.") {Seecommand

2. OPERATION (31) t (+ !N!.@ + lEttfr iP.

D e f i n e st h e c o o r d i n a t e so f t h e c u r r e n t p o s i t i o n o f t h e r o b o t i n t o a p o s i t i o n i t h t h e n u m b e r s p e c i f i e dl.f a s i n g l en u m b e r w i s a s s i g n e d t o t w o d i f f e r e n t p o s i t i o n s ,t h e o n e d e f i n e d l a s t "HE.") t a k e s p r e c e d e n c e(.S e e c o m m a n d

132),

D e l e t e st h e c o n t e n t so f a p o s i t i o nw i t h t h e n u m b e r s p e c i f i e d . "PC.") {Seecommand Returnsthe robot to origin. (See command "NT.")

cl r+ tN,;crl + Egf)

(33) lNSil {+ [FNT]

(34) (+ l-bRq- ENr--)

M o v e s t h e r o b o t t o t h e r e f e r e n c ep o s i t i o n i n t h e c a r t e s i a n c o o r d i n a t e y s t e m .( S e e c o m m a n d " O G . " ) s

( 3 5 ) N l ( +E E ) m

Transfers the contentsof the user EpROM(programano position data)installed SOC2 the driveunitsidepanel in of to t h e d r i v eu n i t R A M .( S e ec o m m a n d" T R . " ) Writes program the and position datawrittenin the driveuntt RAM intothe userEPRoMinstalled soc2 0f the driveuntr in ( s i d e p a n e l . S e ec o m m a n d" C R . " )

(36) @

(+ fENil)

(37) lMotl (+ [Nfitt] + [ENi]) (38) l-rEF (+:M;Grl + aENl

Moves the end of the hand to a specifiedposition.(See command"MO.") The moving speedis equivalent SP4. to

E x e c u t e st h e p r o g r a m s t e p b y s t e p s t a r t i n g w i t h t h e l i n e n u m b e r s p e c i f i e d .T o c a u s e t h e p r o g r a m t o b e e x e c u t e d s e q u e n t i a l l yf r o m o n e s t e p t o a n o t h e r , r e p e a t t h e k e y i n g - i n sequence. Note that, at this time, no number entry is necessary. rror mode II is causedif an error occurswhile E the steps are being executed.

(3e) [FrPi
Selects the articulatedjog operation. When this key is p r e s s e d ,o p e r a t i o no f a n y j o g k e y t h e r e a f t e re f f e c t sa m o t i o n i n e a c hj o i n t .I n t h e i n i t i a lc o n d i t i o n h e n t h e t e a c h i n g o x i s w b turned ON, this PTP state is set.

(40)
j S e l e c t st h e c a r t e s i a n o g o p e r a t i o n .W h e n t h i s k e y i s p r e s s e d , j o g k e y t h e r e a f t e re f f e c t sa n a x i s m o t i o n i n o p e r a t i o no f a n y t h e c a r t e s i a nc o o r d i n a t e s y s t e m .

2. OPERATION
l41J
Selectsthe tool jog operation.When this key is pressed, o p e r a t i o n o f a n y j o g k e y t h e r e a f t e re f f e c t sa n a x i s m o t i o n i n t h e t o o l c o o r d i n a t e s y s t e m ( a d v an c e / r e t r a c tm o t i o n I n r n e h a n d d i r e c t i o n. )

(42)[ENil

Completes each key entry from (29)through (38)to effect corresponding operation.

() [t+/Bfl
Moves the end of the hand in positive X-axis (to the left looking toward the front of robot) in the cartesian jog operation and sweeps the waist in the positive direction (clockwise s viewed from the top of robot)in the articulated a .log operation.

l44l FrleM o v e s t h e e n d o f t h e h a n d i n n e g a t i v eX - a x i s ( t o t h e r i g h t l o o k i n g t o w a r d t h e f r o n t o f r o b o t ) i n t h e c a r t e s i a n . j o ga n d s w e e p s t h e w a i s t i n t h e n e g a t i v ed i r e c t i o n ( c ou n t er c l o c k w i s e a s v i e w e d f r o m t h e t o p o f r o b o t ) i n t h e a r t i c u l a t e dj o g .

(45)

wT/s+l

M o v e s t h e e n d o f t h e h a n d i n p o s i t i v eY - a x i s ( t o t h e f r o n t o f j t h e r o b o t ) i n t h e c a r t e s i a n o g a n d s w i v e l st h e s h o u l d e ri.n t h e p o s i t i v e d i r e c t i o n ( u p w a r d ) i n t h e a r t i c u l a t e dj o g .
l

(46) fa-=- { b L Y-

l I V l o v e sh e e n d o f t h e h a n d i n n e g a t i v eY , a x i s ( t o t h e r e a r o f t j t h e r o b o t ) i n t h e c a r t e s i a n o g a n d s w i v e l st h e s h o u l d e ri n t h e n e g a t i v e d i r e c t i o n { d o w n w a r d ) i n t h e a r t i c u l a t e dj o g .

Moves the end of the hand in positive Z-axis {straight u p w a r d ) i n t h e c a r t e s i a nj o g , t u r n s t h e e l b o w i n t h e p o s i t i v e d i r e c t i o n { u p w a r d ) i n t h e a r t i c u l a t e dj o g , a n d a d v a n c e st h e h a n d i n t h e t o o l j o g . l t s e r v e sa l s o a s t h e n u m e r i c k e y " 4 . "

I V l o v e st h e e n d o f t h e h a n d i n n e g a t i v e Z - a x i s ( s t r a i g h t downward) in the cartesianjog, turns the elbow in the n e g a t i v e d i r e c t i o n ( d o w n w a r d ) i n t h e a r t i c u l a t e dj o g , a n d r e t r a c t s h e h a n d i n t h e t o o l j o g . l t s e r v e sa l s o a s t h e n u m e r i c t " 9 ." key

T u r n s t h e e n d o f t h e h a n d , w h i l e m a i n t a i n i n gi t s c u r r e n t position determined by the "TL" command, in the positive d i r e c t i o n ( u p w a r d ) i n t h e c a r t e s i a nj o g a n d b e n d s t h e w r i s t ( w r i s t p i t c h ) i n t h e p o s i t i v ed i r e c t i o n ( u p w a r d ) i n t h e a r t i c u lated jog, lt also serves as the numeric key "3.".

2. OPERATION
(50)

[F--e

Turns the end of the hand, while maintaining current its positiondetermined the "TL" command,in the negative by (downward) the cartesian and bends wrist jog direction in the (wrist pitch) in the negativedirectionldownward)in the jog. lt also servesas the numerickey "8.". articulated

(51 )

tR+2

Twists wrist(wristroll)in the positive the direction {clockwise looking towardthe hand mountingsurface). alsoserves lt as the numerickey "2."
---= t l

,-^, t^ \czl lI

Twiststhe wrist (wrist roll) in the negative (coundirection terclockwise lookingtowardthe hand moundingsurface). lt also servesas the numerickey "7."

( 5 3 )FoprrorlTll
Moves the optional axis in the positive direction. lt also serves as the numeric key "1,"

Moves the optionalaxis in the negativedirection.lt also serves s the numeric ey "6." a k (55)

t<otal
5l

Opensthe hand gripper.lt also servesas the numerickey "0."

(s6)tlc<
c.

C l o s e s t h e h a n d g r i p p e r . l t a l s o s e r v e s a s t h e numerickey

Functions the of indicator LED

The 4 - d i g i t L E D s h o w s t h e f o l l o w i n g i n f o r m a t i o n . (57) P o s i t i o n u m b e r n
Shows the position number in 3 digits when

used. lP.='1, Eql, o' lrvtbvlkeyis beins

[Ni], JoEfl

(58) P r o g r a m i n e n um b e r l Showsthe programline numberin 4 digitswhen [SiiPlkey i s b e i n gu s e d o r w h e n p r o g r a mi s r u n n i n g . (59) Teaching (the first digit from the left) box statusindicator "- meansprocessing 1" invoked depression ENTkey is by of e i t h e ri n p r o g r e s s r a t a n e n d . o "!" meansprocessing invokedby depression ENT key of cannot be carriedout.

2, OPERATION
2.2.4 Releasing brakes when the systempower is oFF or when error mode I occurs, the brakes applied J2 and J3 axesof the robot.Thismeansthat are to theseaxesof motioncannotbe achieved externally. following The stepsmay,however, performed release brakes be to the and allow for the axismotionexternally. procedures be useownen The can (Remember, servicing robotor positioning for packing. the it you must have the teachingbox to performthe procedure.) (1) After power has beenturned ON, pressthe emergency stop pushbutton switchon the front panelof the driveunitto cause e r r o rm o d e I . (2) Flip up {to ON position) 6 of SW'l locatedinsidethe side bit door of the drive unit. (3) Setthe teaching box ON/OFF switch ON and press to the ENTI keyto release brakes J2 and J3 axes. thistime,be sureto in At hold the robot arm with vour handsso that it will not droo
d o w n b v i t s o w n w e i q h t . N o t e t h a t t h e b r a k e sa r e r e l e a s e d

J2 and J3 axesat the sametime; brakes reapplied soon are as as the fENil key is released. (4) Afterthe required hasbeencompleted, sureto flip bit 6 job be of SW'l down (to OFF position). 2.2.5 Intelligent commandsThe functions the keyson the teaching of box correspond the to corresponding eachfunctions to invoked intelligent by commands sentfrom the personal key computeras follows.

tNc
P.S
t\J I

" tP" "NT" "TR" "MO" "GO"

11E

p-a-

* fFr. 1 *

"DP" "PC"

<o>

TRN MOV

tbRGI * twBil *

"oG" ,,WR,,

Dc{l*

"cc"

2. OPERATION
Th 3. BEFORESTARTINGTHE i s c h a p t e r g i v e s t h e o v e r v i e w o f t h e o p e r a t i o n a n d p r o g r a m OPERATION ming as initiationto the robotic system.

may be configured two different in 3.1 SystemConfiguration The Movemaster systenr ways. describe uniquefeatures and the Thefollowingparagraphs the of, basic idea behind,each systemconfiguration. 3.1.1 SystemconfigurationThis systemconfigures Movemaster the with a personal compucenteringarounda ter. The personal computerinvokes the robot'saxis motionsby personalcomputer p t h e i n t e l l i g e n to m m a n d s r o v i d e d n t h e M o v e m a s t e r n t h i s c i I. personal configuration, the computer actsasthe brainthat causes the robot to performa varietyof tasksincludingassembly and experimentation, When configured with a whole rangeof peripheral equipment, printer, plotter, X-Y suchas the external storage, and sensors, the systembecomes highlyexpandable, a enhanced one.The system , w i l l a l s o b e c o m eh i g h l yf l e x i b l es i n c ea l l r o b o t i cm o t i o n sa r e effectedby the program written with the personalcomputer. P o s s i b l e p p l i c a t i o n r e a s i n c l u d et h e t r a i n i n ga n d r e s e a r c h a a programs,preliminary assessment a robotic system before of making a decisionto invest in it, and laboratory automation. This configuration corresponds the personal to computer control m o d e t o b e d e c r i b e da t e ri n t h i s m a n u a l . l

P e r s o n ac o m p u t e r l

Expansion nit u

tuB: Keyboard; D/U: Drive u nit

------l

Measuring X Y plotter e qu i p m e n t

Printer

Sensor

lMovemaster

F i s .2.3.1 Typical

System Configuration Cenlering Around a Personal Computer

2. OPERATION
3.1.2 Systemconfiguration and the uses driveunitto drivethe Movemaster the Thisconfiguration around centering purposes. computeris used only for programming the personal driveunit to computer transferred is writtenwith the personal The program for laterrunningthe robot.This meansthat you do the driveunit on computer the actualproductaon not needto installa personal equipthe robot and peripheral between floor. Signalexchange relays,LEDs,and programmable ment such as limit switches, throughthe externall/O port in the is controllers accomplished EPROM, can program, whichis storedin the built-in driveunit.The just exchanging existingEPROM a for the by be easilychanged new one. Application areas includethe productionlines and inspection in the p lants. stations to corresponds the drive unit controlmode to The configuration later in this manual. be described

Personal computer

P r o gr a mm a b l e c o n t r o l l e r

Movemaster

Fig.2.3.2 Typical System Contiguration Centering Around the Drive unit

2, OPERATION
3.2 Robot-Computer Link
T h e d r i v e u n i t m a k e s a v a i l a b l et w o t v o e s o f i n t e r f a c e s o r t h e l i n k f b e t w e e nt h e l v l o v e m a s t e a n d a p e r s o n a lc o m p u t e r .T h e f o l l o w i n g r paragraphs outline the features of each interface.Study the d e s c r i p t i o n sa n d u s e t h e a p p r o p r i a t ei n t e r f a c ea c c o r d i n gt o y o u r p e r s o n a lc o m p u t e r a n d a p p l i c a t i o n .F o r m o r e d e t a i l s ,s e e C H A P 'l T E R S a n d 2 I N T E R F A C E I T H T H E P E R S O N A LC O M P U T E R , W APPENDIX.

l 3.2.1 Centronics interface T h i s i s o r i g i n a l l y h e p a r a l l e s t a n d a r d o r p r i n t e r se s t a b l i s h e d y t f b C e n t r o n i c sC o r p o r a t i o n .M o s t p r i n t e r s a n d X - Y p l o t t e r s c u r r e n t l y i n u s e s u p p o r t t h i s s t a n d a r d .T h e p e r s o n a lc o m p u t e r s e n d s 8 b i t s s i m u l t a n e o u s l yo r i n p a r a l l e l ,a n d t h e d e d i c a t e ds i g n a l l i n e s , control the flow of data. T h o u g h r e s t r i c t e d o s m a l l d i s t a n c e so f 1 t o 2 m e t e r s ,t h e p a r a l l e l t t r a n s m i s s i o ne n s u r e s a t r a n s m i s s i o ns o e e d f a s t e r b v f a r a n d r e q u i r e sn o s p e c i a ls e t t i n g s ,t h u s a l l o w i n g f o r e a s eo f a p p l i c a t i o n s . T h e M o v e m a s t e r h a s t h e i n t e r f a c ee q u i v a l e n tt o t h a t u s e d i n t h e printer,meaning that the data transferls only one-wayfrom the personal computer to the robot. Also, part of the intelligent c o m m a n d s ( t h o s e r e q u e s t i n gf o r r e a d o f d a t a o n t h e r o b o t s i d e , i n c l u d i n gW H , P R , a n d L R ) c a n n o t b e u s e d . D a t a c o m m u n i c a t i o n i s d o n e b v t h e L P R I N Ts t a t e m e n t i n B A S I C .

3.2.2 RS232C interface

The RS232C interface was originally the standard for data c o m m u n i c a t i o n q u i p m e n t s i n gt e l e p h o n e i n e sa n d h a s e v o l v e d e u l i n t o t h e s e r i a ld a t a t r a n s m i s s i o ns t a n d a r df o r t h e c o m p u t e r a n d i t s p e r i p h e r a le q u i p m e n t . S i n c ed a t a a r e s e n t a l o n g a s i n g l ew i r e , o r c h a n n e l , n e b i t a t a o t i m e , i t t a k e sl o n g e rt h a n i n t h e p a r a l l e tl r a n s m i s s i o nf t h e b a u d i rate is low. Settingson the robot must also match those on the personal computer and not all personal computers can be emoroveo, I t s b i d i r e c t i o n a ld a t a t r a n s f e r c a p a b i l i t y , h o w e v e r , e n a b l e s t h e personalcomputer to read the robot's internaldata. Serial also p e r m i t sa t r a n s m i s s i o n i s t a n c e o n g e rt h a n p a r a l l e la s l o n g a s 3 , d l t o 1 5 m e t e r s ,a n d a l l o w s c o n f l g u r a t i o ne v e n w h e n t h e C e n t r o n i c s p o r t o f t h e p e r s o n a lc o m p u t e r h a s b e e n o c c u p i e d b y a p r i n t e r o r o t h e r D e r i o h e r a ld e v i c e . I n B A S I C d a t ac o m m u n i c a t i o ns d o n e b y t h e O P E N , R I N T# , a n d , i P L I NE I N P U T f s t a t e m e n t s .

2. OPERATION
3.3 ControlModes Theseparagraphs describe two controlmodesavailable the with the Movemaster, the personal i.e., computer mode and driveunit mode. procedurel Lsetting Setthe toggleswitch(ST1 located inside the driveunit sioeooor ) to the lower position, lExplanationJ fhis modeallowsthe personal computer execute intelligent to the commandsdirectly, write and transfera program,and start the program transferred the driveunit RAM (themodecorrespondto ing to 3.1.1Systemconfiguration centering around a personal computer).The operation in this mode is divided into the j f o l l o w i n g h r e ep h a s e su s t a s i n t h e g e n e r a B A S I C . t l In the followingoperations, sureto keepthe ON/OFF be switchof t h e t e a c h i n g o x i n t h e O F Fp o s i t i o n . b (1) Directexecution This phasedirectly executes intelligent the commands the of Movemaster, example, movethe robotto a previously For to " t a u g h tp o i n t( p o s i t i o n ) u s i n gt h e c o m m a n d M O " ( m o v e ) , 1 the character string: " M O 1 " ( M o v et o p o s i t i o n 1) is sent in ASCIIcode. This corresponds to: " L P R I N TM O 1 " for the Centronics interface, and r PRINT 1, "MO 1" (spacemay be omitted). for the RS232C interface The commandssequentially sent in this phaseare executed one by one and they do not form into a program storedin the drive unit. (2) Programgeneration The personal computerin this phasegenerates program a usingthe Movemaster commands. The programis storedin the drive unit RAM. For example,to write a program for the robotic motion effected above,the character string: "10MO 1" is sent in ASCIIcode; where the number at the beginning, "10," represents programlinenumber, the Movemaster which identifies orderof storage memorylikethoseusedin the the in generalBASIC. The programis executed the order of the in line number.Be sure,therefore, assign to the line numberat the beginningwhen writing a program.Line numbersare possiblefrom 1 up to 2048. The Centronics equivalent the above ;s: to " L P R I N T1 0 M O 1 " . w h i l e t h e R S 2 3 2 C q u i v a t e ni t : e s PR|NT 1, "10 MO 1", # where the spacemay be omitted.

3.3.1 Personal computer mode

2. OPERATION
n 13) Programexecutio In this phase,the programstoredin the drive unit RAM is executed. The programis startedby sendingthe command "RN" which corresponds "RUN," to the programstart command in BASIC, The Centronics equivalent this command to " L P R I N T R N" , w h i l e t h e R S 2 3 2 C q u i v a l e ni ts : e "RN". PRINT 1, # Now, let us study some of the typical programs.
( E x a m p l e 1 ) D i r e c t e x e c u t i o n( C e n t r o n i c s )
IS:

l O OL P RN T " N T " I " 1 1 0L P R I N Ts P 7 " 1 2 0 L P BN T " M O 1 0 ,o " I 1 3 0 L P BN T I 1 4 0 L P RN T " M O 1 1 ,C " I 1 5 0E N D RUN OK

O r i gr n s e t t i n g ( n e s t i n g ) . Set speed at 7. f M o v et o p o s i t i o n 1 0 w i t h h a n d o p e n e d . Close hand {grip close). Move to position 11 with hand ciosed. E n d B A S I C p r o gr a m . Run BASICprogram.

I n t h i s e x a m p l e , i t t i n g" R U N " c a u s e s a c hl i n e ( n u m b e r e d 0 0t o h e 1 p r o g r a m t o b e e x e c u t e d ,w h i c h i n t u r n c a u s e s 150)of the BASIC each of the Movemaster commands to be directly executed s e q u e n t i a l l y( w i t h r e s u l t a n t r o b o t i c m o t i o n s ) .
l E x a m p l e 2 ) P r o g r a m g e n e r a t i o nt o e x e c u t i o n ( C e n t r o n i c s )

" l O OL R P I N T1 0 N T " " 1 1 0L P R I N T1 2 S P 1 " 1 2 0 L P B T N " 1 4 t \ 4 01 0 , o " T " 1 3 0L P R I N T1 6 G C " 1 4 0 L P R T N" 1 8 t \ , 4 0 r , c " T 1 " 1 5 0L R P I N T2 0 E D " 1 6 0E N D RUN OK " L P R I N TB N "

E n d M o v e m a s t e rp r o g r a m . End BASICprogram. R u n E A S I C p r o gr a m . R u n M o v e m a s t e rp r o g r a m .

I n t h i s e x a m p l e , i t t i n g" R U N " c a u s e s a c hl i n e { n u m b e r e d 0 0t o h e 1 1 6 0 ) o f t h e B A S I C p r o g r a m t o b e e x e c u t e d ,w h i c h i n t u r n c a u s e s the Movemaster program (lines numbered 10 to 20) to be transferred o the drive unit. Notethat, at this time,the robot does t not start its motion. "RN" When i s t h e n t r a n s f e r r e d .i t r e s u l t s i n t h e r o b o t i c m o t i o n .

2. OPERATION
3.3.2 Driveunit mode
Iq6+r ih^ n/^^a; |, 16l

located Set the toggleswitch{ST1) inside the driveunit sidedoor to the upper position. IExplanation] This mode allowsthe programstoredin the driveunit EPROM or p ry-backed-uRAM to be executed(corresponding 3.1.2 batte to centeringaround the drive unit). In this System configuration mode,the frontcontrolswitches the driveunit are usedto start, of lf l/O stop,and resetthe program. type ,A16 B'16 card is being or used,operationis possibleby means of externalsignals.Any computeris not honored. commandsent from the personal

2. OPERATION
4. FROMPOWER-UP TO ORIGIN SETTING This chapterdescribes the procedures that must be performed afterdelivery and installation the systembeforeinitiating of the actualroboticoperations.

4.1 Settingthe SideSetting Before turningthe systempowerON,setthe sidesetting switches Switches as followsby referring 2.1.2Functions side settingswitches to of and LEDs. : ST1 Lower positlon(Personal computermode) ST2: Lower position{EPROM data is not transferred RAM) to 4.2 TurningPowerON
T u r n O N t h e p o w e r s w i t c h l o c a t e do n t h e r e a r p a n e l o f t h e d r i v e u n i t . W h e n t h e d r i v e u n i t i s t u r n e d O N , t h e p o w e r i n d i c a t o rL E D ( P O W E R )o n t h e f r o n t p a n e l o f t h e d r i v e r . r n i tl i g h t s u p . The robot must be returnedto origin as follows after power is t u r n e d O N . T h i s i s d o n e t o m a t c h t h e r o b o t ' s m e c h a n i c a lo r i g i n w i t h t h e c o n t r o l s y s t e m ' so r i g i n a n d i s r e q u i r e do n l y o n c e a f t e rt h e power is turned ON. Here is the motion of each axis: 1l J2, J3, and J4 axes move to their respectivemechanical ongrns. 2 ) T h e n , J 1 a n d J 5 a x e s m o v e t o t h e i r r e s p e c t i v em e c h a n i c a l ongins. B e a l e r t ,a t t h i s t i m e , t h a t t h e a r m c o u l d i n t e r f e r ew i t h t h e o b j e c t s s u r r o u n d i n gt h e r o b o t . l t m u s t t h e r e f o r eb e m o v e d a s a p p r o p r i a t e to a safe position using the teaching box before attempting to r e t u r n t h e r o b o t t o o r i g i n . T h e c o m m a n d e x e c u t i o ni n d i c a t o r L E D (EXECUTE) n the drive unit front panel stays lit during origin o setting and goes out as soon as it completes. Using the teaching box 1 ) T u r n O N t h e t e a c h i n q b o x O N / O F Fs w i t c h .

4.3 OriginSetting

2 ) P r e s s N S T l a n d E N T , s u c c e s s i v eiln t h a t o r d e r . y I
Using intelligentcommands through personal computer 1 ) T u r n O F F t h e t e a c h i n g b o x O N / O F Fs w i t c h . 2 ) E x e c u t et h e c o m m a n d " N T " i n d i r e c t e x e c u t i o n m o d e . L P R I N T" N T " ( C e n t r o n i c s ) "NT" (RS232C) P R I N T4 1 ,

2. OPERATION
5, POSITION SETTING PROCEDURE
T h i s c h a p t e r d e s c r i b e st h e p o s i t i o n s e t t i n g p r o c e d u r e f o l l o w i n g p the origin-setting roced re. u

5.1 Setting the Cartesian T h i s s e t t ' n g i s r n a d et o e f f e c ta s a c c u r a t ea x i s m o t i o n s a s p o s s i b l e Coordinate System a n d i s n o t n e c e s s a r y f t h e r o b o t i s o n l y m o v e d t h r o u g h a s e r i e so f i Reference Position t a u g h t p o i n t s . l f t h e c o m m a n d s i n t h e c a r t e s i a nc o o r d i n a t e

s y s t e m ,s u c h a s p a l l e tc o m m a n d s ,a r e t o b e u s e d ,h o w e v e r ,t h i s s e t t i n gm u s t b e m a d e p n o r t o t e a c h i n g O n c et h i s s e t t i n gi s m a d e . and is stored in EPROM,the setting procedure is no longer ( n e c e s s a r y . F o r m o r e d e t a i l s ,s e e C H A P T E R C A R T E S I A N O O R 4 C D I N A T ES Y S T E MR E F E F E N C P O S I T I O N E T T I N G A P P E N D I X . ) E S ,

5.2 Settingthe Tool Length T o d e f i n e p o s i t i o n su s i n g t h e M o v e m a s t e r ,t h e p o s i t i o no f t h e e n d

. o f h a n d m u s t f i r s t b e e s t a b l i s h e dT h i s p r o c e d u r ei s n o t n e c e s s a r y w h e n { h e o p t i o n a m o t o r o p e r a t e d a n d i s u s e d ,s i n c et h e p o s l t r o n h l pointabout l07mm away from the hand mounting represents a s u r f a c e ,w h i c h r s d e f a u l t e d t o w h e n t h e s y s t e m i s i n i t i a l i z e d . l f , h o w e v e r , t h e h a n d o t h e r t h a n t h e a b o v e t y p e i s u s e c io r i f a n a d d i t i o n a lt o o l i s a t t a c h e dt o t h e e n d o f t h e m o t o r - o p e r a t e d a n d . h the end position must newly be defined. This is because all p o s i t i o n d a t a i n t h e M o v e m a s t e r i s r e p r e s e n t e db y t h e " p o s i t i o n a n d a t t i t u d e " o f t h e e n d o f t h e h a n d i n t h e c a r t e s i a nc o o r d i n a t e "TL" s y s t e r n .T o s e t t h e t o o l l e n g t h ,u s e t h e c o m m a n d through the p e r s o n a lc o m p u t e r .A f t e r s e t t i n g t h e t o o l l e n g t h ,t e a c h t h e r o b o t "TL," through the desired positions.(See Command DESCRIPTION OF THE COMMANDS,) Exam ple:- Tool &!g!f. _2_0inr[ "TL LPRINT 200" (Centronics) ' PRINTf, 1, L 2 O O "{ R S 2 3 2 C )

NOTE . When positions are taught with a tool length other than the standard (107mm)set, be sure to ggulhg gg$glggJJ-elStj,'at the beginning of the program in which those taught positionsare used. Example:(Teaching) Position is set with a 200-mm 1 tool length. 1 {Programming} TL 200 2 NT 3 MO 1

2. OPERATION
5.3 Defining, Verifying, Here, let us actuallyoperatethe teaching box to define,verify, Changing, Deleting c h a n g e ,a n d d e l e t e p o s i t i o n s . and the Positions N o w , t u r n O N t h e t e a c h i n gb o x O N / O F F s w i t c h . ('1 Def ining positions ) Let us definethree differentpositionsas follows. jog 1) Press appropriate keyor keysto movethe end of the the arm to an appropriate position. 2) Suppose this is position"10." Now, hit the followingkeys successively:

Fg trl td lENfl
T h i s s e t s p o s i t i o n 1 0 . A t t h i s t i m e , t h e o p e n / c l o s ep o s i t i o n of the hand has also been defined. 3) ln the same way, define positions11 and 12 by repeating steps 1) and 2) above. (2) Verifying position s Let us verify if positions have been correctly defined. 1) To verify position 10, hit the following keys successively:

fmon'l tr tENil E
l f t h e p o s i t i o n h a s b e e n c o r r e c t l y d e f i n e d ,t h e e n d o f t h e arm moves to the point mentioned above. 2 ) I n t h e s a m e m a n n e r , v e r i f y p o s i t i o n s1 1 a n d 1 2 .

( 3 ) C h a n g i n g o s i t in s p o Let us change,or redefine, previously definedpositions 1) Movethe arm end to a position otherthan position10 and hit the following keys successively:

EtrEtENf
T h i s c l e a r st h e o l d p o s i t i o n d a t a a n d r e d e f i n e sp o s i t i o n 1 0 . 2) ln the same way, redefine positions 11 and 12.

2. OPERATION
(4) Deletingpositions You may even wish to deletesome posjtions. '1) To deleteposition10,hit the followingkeyssuccessively:

EtrtrN]
T h i sc l e a r s o s i t i o n 0 m a k i n g t a v a i l a b lfe r n e w d e | n r _ p 1 i o tion. 2) To verifythat position hasbeenproperly l0 deleted, rhe hit following keys successivery:

trbvl n tr ENf
lf the position datahasbeenproperly deleted, teachina the box statusindicator LEDshows ,,f ', which indicates tha-t the functioninvokedcannot be performed.

2. OPERATION
6. PROGRAM This chapterdescribes the procedures requiredto generatea GENERATION programin the personal AND EXECUTION computermode by usingthe positions previously definedand to executeit. The description that follows assumes the teachingbox ON/OFF switch is in the OFF position. 6.1 Generating and We will heregenerate modelprogramin the personal a computer Transferring Program mode describedearlier.Now, why don't we write a simple a p r o g r a mu s i n gt h r e ep o s i t i o n sn u m b e r e d 0 , 1 1 ,a n d 1 2 ) ? h e 1 T { followingliststhe programsequence, wherethe numbersat the programline numbers. beginning represent Movemaster the For details the commands, DESCRIPTION THECOMMANDS. of see OF program Movemaster
1 ON T 125P7 14 tll0 10, O 1 6 t \ , 1 0 1 ,C 1 1 8 t v t O1 2 , C 20 Tt 30 22 Gr 14
O r i gi n s e t t i n g ( n e s t i n g ) . Set speed at 7. lMove to position 10 with hand opened. Move to position 11 with hand closed. Move to position 12 with hand closed. Stop for 3 seconds. Jump to line number 14.

With the Centronicsinterface,execute the following BASIC program transfer aboveprogram the driveunit.Notethat to the to l the numbers t the beginning howthe BASICinenumbers. a s BASICprogram
" 1 O O P R I N T1 0 N T " L " 1 ' , 1L P R I N T 1 2 S P 7 " 0 1 1 2 0L P R T N"T 4 M O 1 0 ,O " "T 6 M O 1 1 ,C " 1 3 0L P R T N 1 " 1 4 0L P R I N T1 8 M O 1 2 ,C " 1 5 0 L P R T N" 2 0 r 3 0 " T " 1 6 0L P R I N T2 2 C T 1 4 " 1 7 0E N D RUN OK

; E n d B A S I Cp r o g r a m . ; R u n B A S I C p r o gr a m .

program. For the RS232C interface, execute followingBASIC the Fordetails the settings be made,seeCHAPTER INTERFACE of to 2 (RS232C). WITH THE PERSONAL COM]PUTER APPENDIX

2, OPERATION
M 1 O O P E N" C O M I : 9 6 0 0 E , 7 , 2 " A S 4 1 ; F o r l v l i t s u b i s h i U L T l 1 6 . , O 1 1 0P R I N T 1 , " 1 0 N T " * 1 2 0 P R I N T* 1 , " 1 2 S P 1 " 1 3 0 P R I N T4 1 , " 1 4 M O 1 0 " 1 4 0 P R I N T+ 1 , " 1 6M O 1 1 " 1 5 0 P R I N Tn I , " 1 8 M O 1 2 ' 1 6 0 P R I N TF \ , " 2 0 r l 3 0 " 1 7 0 P R I N T* 1 , " 2 2 G T 1 4 " 1 8 0E N D ; End BASICprogram. r R U NJ ; R u n B A S I Cp r o g a m . OK

T h e s e s e q u e n c e so f o p e r a t i o n sc a u s e t h e p r o g r a m t o b e t r a n s f e r red to the drive unit internal memory RAM,

the 5.2 Executing Program L e t u s t h e n e x e c u t e t h e g e n e r a t e d p r o g r a r n u s i n g t h e f o l l o w i n g

procedure.

6.2.1 Step execution

The generated program may be executed, line by line. by operating the teaching box keys for verification. Here is the p r o c e du r e . 1 ) T u r n O N t h e t e a c h i n g b o x O N / O F Fs w i t c h . 2 ) T o e x e c u t et h e p r o g r a m s t a r t i n g w i t h l i n e n u m b e r 1 0 , h i t t h e f o l l o w i n g k e y s s u c c e s s i v e l yi n t h a t o r d e r .

tslEFl tr t-Nil tr
The command "NT" on line number 10 is executed.

"NT" has beenexecuted, teaching the 3) Afterthe command programline number (in box LEDshowsthe subsequent To this case,"0012"1. executeline number 12, key in:

tSrEPltEt.lrl
This cau sesthe command" S P 7 "o n l i n en u m b e r1 2 t o b e uted, exec line by line.Notethat 4) Repeat step3) to verifythe program, no entry of line number is necessary. programcan be computermode,the generated 6.2.2 Starting program In the personal the computer.Here is the procedure. initiatedby the personal switch. 1) Turn OFFthe teachingbox ON/OFF

2. OPERATION
2) Execute command"RN" to directlyrun the program. the " L P R I N TR N " ( C e n t r o c s in ) P R I N Tl t 1 , " R N " { R S 2 3 2 C ) W h i l et h e p r o g r a m s r u n n i n gt,h e c u r r e n l i n e n u m b e rr s i t shown on the teachingbox LED. 6.2.3 Stopping/restarting The programcurrently runningcan be stoppedand restarted by the program operating certain switches the front controlpanelof the drive on unit.
Stopping : Pressthe ISTOP; switch, and the robot stops after c o m p l e t i n g e x e c u t i n gt h e c u r r e n t l i n e n u m b e r . T h i s means that, if the robot is executing a move command when the switch is pressed,it will complete reaching the destination point. At this time, the t e a c h i n gb o x L E Ds h o w s t h e l i n e n u m b e r i n w h i c h t h e robot was stoDoed. R e s t a r t i n g : P r e s st h e switch.This causes program the to restart f r o m t h e l i n e n u m b e rf o l l o w i n g h e o n e t sroppeo.
, E=-;]

TurningON the teaching box ON/OFF switchwhilethe programis beinghalted enables operation the from the teaching box.Besure, however, to turn the switch OFF before pressing ti e [Si[Ril switchto restart program. the Notealsothat no commandcan be executedfrom the personalcomputer even in the personal computermode while the programis being halted.To execute commands,performthe following resetting operation. 6.2.4 Stopping/resetting the program The program currentlyrunning can be stoppedand reset by operating certain switches the front controlpanelof the drive on unit. When reset,the program returnsto its beginning.lf the " p r o g r a m s t e r m i n a t e b y t h e c o m m a n d E D , "i t e n d sn o r m a l l y . i d
S t o p p i n g : P r e s st h e I S T O P s w i t c h .T h e o p e r a t i o ni s t h e s a m e a s described before
. f ^=::-t

Resetting : Pressthe _B_LS_ll switch afterthe STOP switch has

been pressed,and the program is reset. T o r e s t a r t t h e p r o g r a m f o l l o w i n g t h e r e s e t t i n go p e r a t i o n i n t h e p e r s o n a lc o m p u t e r m o d e , t h e c o m m a n d " R N " m u s t b e u s e d . A t t h i s t i m e , p r e s s i n gt h e I S i [ R i l s * i t c h d o e s n o t s t a r t t h e p r o g r a m . N o t e a l s o t h a t t h e g e n e r a l - p u r p o s el / O o u t p u t s a r e n o t r e s e t .

2. OPERATION
7. wRlrlNG THE The programand positiondatawrittenin the drive unit memory PROGRAM/POSITION RAM can be storedin the EPROIVI. followinqdescribes The the DATAlN EPROM proced re. u (PERSONAL COMPUTER MODE) 7.1 Inserting Erased EPRoMInserta new EPROMor one erasedby the EpRoM eraser(the ;ure of the correct installation directionof the EPROM:the Indentation must be positioned the left. on
We shall now write the contentsof the drive unit RAM into the EPROI\4 . Using the teaching box 1 ) T u r n O N t h e t e a c h i n g b o x O N / O F Fw i t c h .

;"# :i,ffi :ff,:: y:f :[ T:i3:#i: [::::3, T,T i:" :: "':l

7.2 Writing Datainto EPROM

2) Press WRTj and []!1,] , successivety that order. in qsllg t!191!fS9!1_!9 ! nr through the persona|computer

1 ) T u r n O F Ft h e t e a c h i n g o x O N / O F F w i t c h . b s 2) Execute the command "WR" in direct execution mode. "WR" (Centronics) LPRINT P R I N Tf 1 , " W R " ( R S 2 3 2 C )

y"'ii""'::i:';fi ?;:"Ti:iil;y;'J;'i:191'.'"? ?,:H;lffi

) u t i n a b o u t 1 0 0 s e c o n d sa f t e r t h e d a t a h a s b e e n w r i t t e n c o r r e c t l y . D o n o t r e m o v e t h e E P R O Mf r o m t h e s o c k e tu n t i l t h e L E D g o e s o u t . S h o u l d t h e d a t a b e w r i t t e n i n c o r r e c t l y( d u e t o a n E p R O Mf a i l u r e o r w r i t e e r r o r ) , i t c a u s e se r r o r m o d e l l . l f t h e e r r o r c o n d i t i o n o c c u r . reset the condition and trv another EPROM. 7 . 3 P r e c a u t i o n so r S t o r a g e B e s u r e t o a f f i x a n u l t r a v i o l e tr a y s s h i e l d i n g s e a l o n t o t h e g l a s s f of EPROM w i n d o w o f t h e E P R O Mi n t o w h i c h d a t a h a s b e e n w r i t t e n t o e n s u r e d a t a i n t e g r i t y .W h e n t h e E P R O Mi s t o b e s t o r e d o f f t h e s o c k e t ,t a k e n e c e s s a r yp r e v e n t i v e m e a s u r e s a g a i n s t e l e c t r o s t a t i cc h a r g e .

8. OPERATION USINGTHE This chapter describes procedure operate the to the robot in the EPROM DATA driveunit modeusingthe program and position datawrittenin the EPROM. The procedure given in the following startswith the condition beforeturning power ON. 8.1 Insertingthe EPRoM Insert EPROM, whichthe programand position the into datahave beenwritten,into the usersocket the driveunit. Makesureof on the correctinstallation direction the EpROM, of the indentation being positioned the left on

8.2 Settingthe SideSetting Beforeturningpower ON, makethe followingswitch settings by Switches referring 2.1.2Functions side settingswitchesand LEDs. to of S T 1 . . . . . . U p p e rp o s i t i o n D r i v eu n i t m o d e ) ( ST2 " .. Upper position(EPROM data to be transferreo ro RAM) 8.3 TurningPowerON Turn ON the power switch on the rear panelof the drive unit. Then,the EPROM data is transferred the drive unit memory to RAM according the switchsettingmade in the preceding to step.

8.4 Executing Program Now, let us executethe program transferred RAM rn rne the to following p roced re. u 8.4.1 Step execution
The transferred program may be executed, line by line, by o p e r a t i n g t h e t e a c h i n g b o x k e y s f o r v e r i f i c a t i o n .D e t a i l e d p r o c e _ d u r e i s t h e s a m e a s t h a t f o r t h e p e r s o n a lc o m p u t e r m o d e . ( S e e 6 . 2 . 1 S t e p e x e c u t i o n) .

8.4.2 Startingthe program I n t h e d r i v e u n i t m o d e , t h e t r a n s f e r r e dp r o g r a m m a y b e i n i t i a t e d

b y o p e r a t i n ga c e r t a i ns w i t c h o n t h e d r i v e u n i t f r o n t c o n t r o l p a n e t . H e r e i s t h e p r o c e du r e , 1 ) T u r n O F F t h e t e a c h i n g b o x O N / O F Fs w i t c h .

2) Presstf'e lSiFnf'l switch on rhe front controtpanet.

The teaching box LED shows the current line number beino executed.

2. OPERATION
8.4.3 Stopping/restarting The programcurrently runningcan be stoppedand restarted by the program operating certain switches the front controlpanelof the drive on unit.The procedure the sameas that for the personal is computer mode. {See 6.2.3Stopping/resta the program.) rting 8.4.4 Stopping/resetting the program The program currentlyrunning can be stopped and reset bV operating certain switches the front controlpanelof the drive on unit. When reset,the program returnsto its beginning.lf the " p r o g r a m s t e r m i n a t e b y t h e c o m m a n d E D . "i t e n d sn o r m a r r v . i d Stopping : Press I STOP switch. the The operation the sameas I is described before. Resetting : Press lTSE-il switch afterthe the switch has been pressed, and the proqram rs reset. Pressingt h e s w i t c h f o l l o w i n g r e s e t t r n g c a L r s e st h e programt o b e e x e c u t e ds t a r t i n g w i t h t h e f i r s t l i n e n u m b e r . N o t e that the g e n e r a l - p u r p o s el / O o u t p u t s a r e n o t r e s e t .

2. OPERATION
9. OPERATION USINGTHE In the driveunit mode,the programis run by operating front the EXTERNALSIGNALS controlswitches the drive unit as we haveseen.This chaoter of outlines the procedureto effect these operationsusing the external signallineswith an l/O card(typeA16 or 816)inserted in position.For more details,see CHAPTER INTERFACE 3 WITH EXTERNAL EOUIPMENT, I/O APPENDIX. 9.1 Settingthe Switches Makethe followingswitchsettings referring 2.1.2Functions by to of side settingswitchesand LEDs. ST1 " " SW1 Upper position(Driveunit mode) (Type416 or 816 l/O Bits3 and 5 in upperposition card selected; externalsignalsenabled)

When power is turnedON with the aboveswitchsettings made, the external signals enabled the execution the program for are of in the drive unit mode.In thesesettings, personal the computer, and drive unit front controlswitches are all disabled, exceptthe emergency stop switch. 9.2 Executing Program the 9.2.1 Starting program The program is initiatedby a STARTsignal input. the 9.2.2 Stopping/restarting Stopping : The program is stoppedby a STOPsignal input. the program Restarting The programis restarted a STARTsignal input : by followingthe STOPsignal. 9.2.3 Stopping/resetting the program Stopping : The program is stoppedby a STOPsignaI input. Resetting The program is reset by : followingthe STOPsignal. RESETsignaI input

2. OPERATION
10. ERRORCONDITIONST h i s c h a p t e r d e s c r i b e sv a r i o u s e r r o r c o n d i t i o n sw h i c h m a y o c c u r
d u r i n g t h e o p e r a t i o no f t h e M o v e m a s t e r i, n c l u d i n gt h e w a r n i n g i n d i c a t o r s , o n d i t i o n sw h e n t h e e r r o r s o c c u r , p o s s i b l ec a u s e s ,a n d c r e m e d i a l a c t i o n p r o c e d ur e s .

10.1 ErrorMode I

Error mode I is concerned mainly with hardware errors. The c a u s eo f t h e e r r o r m a y b e k n o w n b y t h e l i t L E D i n s i d et h e s i o e o o o r o f t h e d r i v e u n i t . ( S e e 2 . 1 . 2F u n c t i o n so f s i d e s e t t i n q s w i t c h e s a n d LEDs.) (Warning indicators) T h e e r r o r i n d i c a t o rL E D ( r e d ) o n t h e d r i v e u n i t f r o n t p a n e l f l a s h e s O F F a n d O N a t 0 . 5 - s e c o n d n t e r v a l s . h e b u z z e r ,i f s e t t o O N , a l s o i T s o u n d si n p h a s ew i t h t h e O N t i m ; n g o f t h e L E D .l F t y p e A ' 1 6 r 8 1 6 o l / O c a r d i s b e i n g u s e d ,a n e r r o r s i g n a l i s o u t p u t f r o m t h e d e d i c a t e d signal line of external l/O equipment connector. (Condition) C u r r e n tt o m o t o r s f o r a l l a x e s ( i n c l u d i n gt h e h a n d ) i s i m m e d i a t e l y c u t o f f { s e r v o O F F )a n d b r a k e sa r e a p p l ; e dt o J 2 a n d J 3 a x e s .A s a result,the robot is brought to an immediate stop. (Possiblecauses) ' E x c e s s i v e e r v o s y s t e m e r r o r s .M o r e p r e c i s e l y , ( 1) L E D l O N s c a u s e sa n c l u d e x c e s s i v el o a d , e n c o d e r s i g n a l e failure, and robot crashing into an obstacle. O p e n o r d i s c o n n e c t e ds i g n a l c a b l e b e t w e e n 12) LED2ON the robot and drive unit. ( 3 ) L E D 3O N Drive unit emergency stop input, More prec i s e l y ,w h e n t h e e m e r g e n c ys t o p s w i t c h o n t h e d r i v e u n i t f r o n t p a n e l i s p r e s s e do r w h e n t h e r e is an input to the external emergency stop i n p u t t e r m i n a l ( N / C c o n t a c t )o n t h e d r i v e u n i t r e a r p an el . ( 4 ) L E D 4 O N " . . T e a c h i n g b o x e m e r g e n c ys t o p i n p u t . M o r e specifically, hen the emergency stop pushw b u t t o n s w i t c h o n t h e t e a c h i n gb o x i s p r e s s e d , when the teaching box connectorcomes off w h i l e t h e t e a c h i n gb o x i s i n u s e , o r w h e n t h e t e a c h i n gb o x c o n n e c t o r i s p l u g g e d w h e n p o w er is turned ON. ( 5 ) L E D 5O N B a c k u p b a t t e r yf a i l u r e .T h i s e r r o r o c c u r s o n l y w h e n t h e b a t t e r yc h e c kf a c i l i t yi s e n a b l e d ( b i t 2 o f S W 1 i n s i d et h e d r i v e u n i t s i d e d o o r i n O N p o si t i on ) . ( R e m e d i a la c t i o n ) Turn power OFF, and then eliminate the cause of the error o c c u r r e d .W h e n r e s t a r t i n gt h e r o b o t , m a k e s u r e t h a t t h e r o b o t h a s been returnedto origin with the arm moved to a safe position.

2. OPERATION
10.2 ErrorMode II Error mode ]I is concernedmostly with softwareerrors. No indicator provided errormode ll to letthe operator is for knowthe c a u s eo f t h e e r r o r . ( W a r n i n g n di c a t os) r i Theerrorindicator LED(red) the driveunitfrontpanellightsup on steadily. The buzzer, setto ON,alsosounds if continuously.type lf A16 or 816 l/O card is beingused,an errorsignalis outputfrom the dedicated signalline of the external equipment l/O connector j u s t a s i n e r r o rm o d e I . (Condition) The systementersthe mode waitingfor error reset.lf the error occurs while a programis running, the programstopsat the line numberon whichthe erroroccurs, line numberbeinoshown the on the teachinobox LED. (Possible uses ca ) (1) Commandtransfererror by the personalcomputer.More specifically, undefined an command,input format error, or transmtssron ror. er ( 2 ) Commandis beingunexecutable. More precisely, entry of an parameter exceeding specified the rangeor move command position. to an undefined ( 3 ) EPROM write error.Morespecifically, EPROM the unerased or E P R O M ai l ur e , f
( R e m e d i a l a c t i o n) Perform either of the following resettingoperations. Using drive unit switch

Pressthe

switch.

l U s i n gi n t e l l i g e n to m m a n d sh r o u g ht h e p e r s o n ac o m p u t e ( i n c t r personal computermode) Turn OFFthe teachingbox ON/OFF the switch and execute command "RS" in direct executionmode. " L P R I N TR S " { C e n t r o n i c s ) P R I N Tf 1 , " R S " ( R S 2 3 2 C ) Using dedicated signal line of l/O connector T u r n O N t h e R E S E Tn p u t s i g n a l . i The error indicator LEDgoesout as soon as the aboveresetting procedure beencompleted. program, it hasbeenbeing has The if is executed, reset and it will be started from the firstlinenumberif restarted. Notethat general-purpose outputsare not resetby l/O this resetting operation.

l. sPEctFlcATt0l{s
2.0PtRAT|01{

3. DESCRIPTIIIN CIIMMANDS tlFTHE

4. iIAINTENANCE AN0 ll{SPECTl0l{ 5. APPTNDICTS

(DESCRIPTION THE COMMANDS} CONTENTS OF ............'.3-1 . . . . .. . . . . 3 - 2

1. COMMANDOVERV|EW........ 2. DESCRfPTIONOFEACHCOMMAND................

2 . 1 Position/Motion Control Instructions"""" "" "'

" "" " " "" " ".'' 3-3 "" Movingto a position numberone smaller" " "" " "" "' 3-3 DP(Decrement Position) .Moving a distance in DW (Draw) specified the cartesian coordinate " "..".'3-4 """ system.. " . . . T e a c h i n g t h e c u r r e n t p o s i t"i"o n " " " " " " " " " . " . ' 3 - 5 H E( H e r e ) ...... posiHO(Home) Setting the cartesian coordinate systemreference . . . . . . . . 3.- 6 . t i o n. . . . . . . . . . . . . . . . . " "" l P( l n c r e m e n to s i t i o n ) " " M o v i n g t o a p o s i t i o n n u m b e r o n e g r e a t e r " " " " " " 3 - 7 P " "" MA (MoveApproach) "" Movingto a specified incremental dimension "" " "' 3-8 ....'..Movingthroughintermediate (MoveContinuous) pointscontinuously.'........ MC 3-9 " M J ( M o v e J o i n t ) " " " " " T u r n i n g a c h o i n ta s p e c i f i ea n g l e " " " " " " " " " ' 3 - 1 1 " e d i positionby articulated interpolaMO (Move)....... Movingto a specified """ tion""""""" 3-12 " 3-13 (MovePosition) MP Movingto a position whosecoordinates specified are position linearinterpolation...' by MS (MoveStraight) Movingto a specified 3-14 (MoveTool) MT Moving an incremental distance specified the tool in "" " """"'3-16 direction " R e t u r n i n g t h e r o b o t t o o r"i g i n """'3-17 NT(Nest) OG (Origin) Moving to the cartesiancoordinatesystem reference "" """"" "'3-18 oosition "" " "" Defining number columnand row grid points a for PA (Pallet Assign) the of pallet "" " "" specified 3-19 " "" 'Clearing specified " " "' position PC(Position Clear)"" a 3-20 ......... Defining coordinates a specified (Position position "" " " 3-21 the of PD Define) """" "" Assigning positionto PL(Position Load) the positiondata of a specified ied 3-22 another specif position " Calculating coordinates a grid pointon a specified PT(Pallet) the of Da " " " "" " llet 3-23 """ Exchanging coordinates a positionfor those of (Position PX Exchange) the of 3-27 anotner"""" "' " " " " " " 3-28 e SF(Shift)........ S h i f t i n t h ec o o r d i n a t e s a s p e c i f dp o s i t i o n g of 'Setting the operatingvelocityand acceleration/decelSP(Speed) "" "" 3-29 eration timd " """ " 3-30 ..... . . periodof time Tl (Timer) Halting motionfor a specified the " "" " "" " " 3-31 "" Setting tool length (Tool) TL the " """"""" 2.2 Program Control Instructions 3-32 " "" Loading """' 3-32 (Compare register CP Counter) counter dataintothe comparison by DA (Disable Act) Disabling interrupt an external the signal" " "" "" 3-33 "" DC(Decrement 1 counter "" 3-34 Counte.)"" Subtracting from a valuein a specified """"" "" "3-35 " e")" " " " pa r DL(DeleteLin D e l e t i nags p e c i f i e d r t o f a p r o g a m

Enabling interrupt an external the by signal. . .. .. .. .. 3-36 " E n d i n gh e p r o g a m "" "" " 3-38 r t Causing jump to occurif the contents the comparia of " " ' . . . . . . . . . . . . . . .3 - 3 9 . r l d s o nr e g i s t ee q u a a s p e c i f i ev a l u e " " " - . . . . . .. . 3 - 4 0 G S( G oS u b ) E x e c u t i na s p e c i f i es u b r o u t i n e g d ' C a u s i n g j u m p t o o c c u r t o s p e c i f i eldn en u m b e r . . . "' 3 - 4 1 GT(GoTo) a a i l C ( l n c r e m e n to u t e r . . . . . . A d d i n g t o t h e v a l u en a s p e c i f i ec o u n t e r ' . " . . . . . . ...... 3 - 4 2 C n ) l i d LG (lf Larger) Causing jump to occurif the contents the comparia of . . s o nr e g i s t ea r eg r e a t etrh a na s p e c i f i ev a 1 u e . . . . . . . . . .3.-.4 3 r d jump to occurif the contents the compari(lf Not Equal) NE Causing a of do value son register not equala specified . . D e l e t i na l l p r o g r a m a n dp o s i t i o n a t a " " " " " " " " ' J - 4 C g s NW(New) d "" NX (Next) Specifying range a loopin a program the of 3-46 "' 3-47 . ".' Specifying numberof repeated RC(RepeatCycle) the cycles a loop" of .. .Executing specified of program part RN (Run) 3-48 a (Return) " program after completinga RT Returningto the main subroutine 3-49 "r ) " " " L o a d i n g v a l u e n a s p e c i f i ec o u t e r" " " " " " " " " ' J - 3 U i d n SC{SetCounte a SM (lf Smaller)"" " " " " Causing jump to occurif the contents the comparia of thana specified value " "" " 3-51 son register smaller are " "'3-52 2.5 H a n d o n t r oIln s t r u c t i o n s . . . . . C " "" "'3-52 " G C ( G r i p C l o s"e ) " " " " C l o s i n t h e h a n dg r i p " " " g " " " " " D e f i n i n g t h e o p e n / c l o s e s t a t e o f t h e h a" d " " " " 3 - 5 3 " n" GF(GripFlag)"" " """""""3-54 "" Openingthe nd rip a g G O( G r i p p e n ) " O w P ti e G P( G r i p r e s s u r e ) . " . . . ' . . . . ' . . D e f i nhn gg r i p p i n gf o r c e / t i m e h e n t h e h a n d i s " " " 3-55 closed and opened 3-56 2 . 4 l/OControl Instructions " ( l n p u t i r e c t ) " " " " " F e t c h i na n e x t e r n a l s i g n a "" " " " ' 3-56 lD D g l " "" " " 5 - 3 | " Fetching externalsignal an synchronously lN (lnput) " "" Setting outputstate a specified " "" " """ " 3-58 (Output bit Bit) " " the of OB ' "" " " 'Outputting data 3-59 Direct) specified OD (Output " specified datasynchronously " """ " " ' 5 - O U OT (Output)" ' Outputting of on TB (Test Bit)" " " " " " "" Causing jump to occurdepending the condition a J-O I bit " ' a specified externalsignal 2.5 3-62 RS232C Readlnstructions Reading datain a specified the counter" "" "" "" " " 5-O Z CR(Counter Read) " " " " Reading datain the external inputport " " 3-63 Read) " " the DR(Data " " " " " R e a d i ntg es t a t u s f t h ee r r o r" " " " " ' r 3-64 E R( E r r o R e a d ) . ' . h o (LineRead) "" " "" " Reading program a specified number"" " ' 3-65 line LR the on position 3-67 PR(Position Read)" " "" " Reading coordinates a specified the of (Where) position "" " ' 3-68 WH Reading coordinates the current the of Miscellaneous "" RS(Reset) Resetting program and error condition " "" ""' 3-69 the .r ) . . . . . . . . " " " T r a n s f e r r i n g R O M a t a o R A M " " " " " ' . 3-70 EP d t T R( T r a n s f e . w r i t i n gR A Md a t ai n t oE P R o M . . . . . . (write) 3-71 wR '(Comment) " " "" " " " Writing commen" " "" " "" " " 5-tz a t

EA (Enable ' Act) ED(End) EO(lf Equ6l)

2.6

3. DESCRIPTIONTHECOMMANDS OF
1. COMMANDOVERVIEW This chaptergives an overviewof a multitudeof commands providedfor the Movemaster classified as accordingto their functions. details eachcommand, CHAPTERDESCRIPFor of see 2 T I O N O F E A C HC O M M A N D . (24 ( 1 ) Position/motion control instructions instructions) These commands are concernedwith the positionsand motionsof the robot.They include thosedefining, replacing, positiondata as well as those assigning, and calculating the effecting the articulated and linear interpolations and continuous-path motions.Also includedare the speed-setting, origin setting,and palletizing commands. (19 12) Programcontrol instructions instructions) These commandscontrol the flow of the program.They includethose concerning the subroutines, repetitive loops, jl a n d c o n d i t i o n au m p s .A l s o i n c l u d e d r e t h e c o u n t e r p e r a a o tion and the declarations interrupt of operation meansof by externalsignals. ( 3 ) Hand control instructions instructions) 14 T h e s e c o m m a n d sc o n t r o lt h e h a n d . C o m m a n d s r e a l s o a available the motor-operated for hand (option)that set the grippingforce and open/close time of the grip. (6 \ 4 1l/O control instructions instructions) Thesecommands concerned are with the inputand outDutof datathroughthe general-purpose port.Eothfor the inputs l/O and outputs,the data can be exchanged synchronously or asynchronously processing possible bits or parallel. and is in
( 5 ) RS232C (6 read instructions instructions)

Thesecommandsallow the personal computerto read data from the robot'smemory.The data that can be read include the position data,programdata,counterdata,external input data. error mode, and currentposition.
( 6 ) Miscellaneous instructions) (4

Grouped into this categoryare the error reset commano, read/write commands the userprogramand position of data, and the commandgoverningwriting of comments.

3. DESCRIPTIONTHECOMMANDS OF
2. DESCRIPTION EACH The followingpagesexplain OF eachcommandin the formatshown COMMAND below.Note that those commandsmarkedwith X can only be executeddirectly by the personalcomputer and cannot be programmed.

IFunction I IlnputFormatl

of Givesa briefdescription the function invokedbv the command. of Shows the arrangement the com( ) indicating command entry, the the mand parameter and [ ] indicating parameter that can be omitted. Shows a typicalcommandentry. the detailedfunctionor funcExplains by and tionsto be invoked the command gives some precautions use. for

ISampleInputl (Explanation I

Program Isample )

' Gives a typical program with exact

meanings of each line and/or some footnotes.

3. DESCRIPTIONTHECOMMANDS OF
2.1 Position/Motion Control Instructions

DP (Decrement Position)
IFunction I Moves the robotto a predefined position with a position number smaller thanthe currentone. I InputFormatl
DP

Isample Input) DP IExplanation I (1) This commandcauses the robotto moveto a predefined position with a position number smallerthan, and closestto, the currentone. (Seecommand lp.) (2) lf there is no predefined position with a position numbersmaller than the current one, error mode II is caused. Isample Program I "MO 3" 10 LPRINT ''MO 4" 20 LPRINT "IV]O5" 30 LPRINT "DP" 40 LPRINT

Move to lvloveto Move to Move to

positio 3. n position4. position5. position4.

3. DESCRIPTIONTHECOMMANDS OF

DW (Draw)
(Function I Moves the end of the hano ro a positionaway from the currenr one coveringthe distancespecified the X-, y-, and Z-axisdirections. in (lnput Formatl DW [ (Travel distance X) ], [ (Travel in distance y) ], I (Travel in distance Z) I in (sample tnput) D W 1 0 . 5 , 2 0 . 5-,3 0 . 5 IExplanation I (1) The leastinput increment the distance travelis o.1mm.(e.g.specify for of 20.1for 20.1mm.)

t2) The attitudeof the hand,including open/close stateof the gripper, not change do
beforeand afterthe movement. Errormode II is causedif the distance travel of exceeds the robot's operational space.

( 3 ) The defaultdistance travel is 0. of (4) sincethe motionis based articulated on interpolation, combined the motionof the end of the hand generates arc when a longer distance travel is involved. an of

{s) The position of

the end of hand is determinedby the tool length currently (see commandTL.) established.

ISample Program I "DW 20,0,0" 10 LPRINT "DW 0,20,0" 20 LPRTNT "DW -20,0,0" 30 LPRINT "DW 40 LPRINT 0,_20,0"

point Start

X In the aboveexample, the end of the hand movesthroughthe four cornersof a squareto reachthe start point finally.

3. DESCRIPTIONTHECOMMANDS OF

HE (Here)
IFunction I Defines coordinates the current the positionby assigning positionnumberto it. of a I Input Format]
HE ( Positio number) n

Where, 1 5 Positionnumber 5 629 ISample Inputl HE5 (Explanation I (1) The coordinates the current position is calculated of based on the currently established length(seecommand tool rL). In the initialcondition, tool lengthis the 107 mm, a point 107 mm away from the centerof the hand mountingsurface toward the end of the hand. positions. one defined tzJ lf a singlenumberis assigned two different to the lasttakes precedence with the former creareo. positionof the hand is also stored as the positiondata. { 3 ) The open/close (4) Execution this command of when any of the axesof the robotis positioned nearthe boundary its operational of spacemay causeerror mode II. In suchcases, avoid such attitudeof the robot.
( 5 ) Errormode II is caused thiscommandis executed if before robotreturns the the to o n gI n .

IsamptePrograml M 1 OL P R I N"T O 1 0 " "DW 1O,O,O" 20 LPRINT 3 0 L P R I N" H E 1 1 ' T

Move to position10. Move 1Ommin *X direction. ldentifyabove positionas position11.

3. DESCRIPTIONTHECOMMANDS OF

H O (Ho m e)
IFunction) positionin the cartesian Establishes reference the coordinate system. I Input Format I HO

ISample InputI HO (Explanation I (in position X-,Y-.and Z-axis establishes reference the and pitch/roll {1) Thiscommand in angles) the cartesian All subsequent coordinate system. motionsare basedon this reference coordinates. details. CHAPTER CARTESIAN see 4 {For COORDINATE SYSTEMREFERENCE POSITION SETTING, APPENDIX.) (2) This commandmust be executed repeatthe roboticmotion through a series to pointspreviously taughtafterthe robot has beendisassembled reassembled and for mechanical adjustments. (3) Thiscommandcannotbe executed when bit 4 of SW'l located inside the sidedoor the drive unit is in the lower position(OFF). of Isample Programl " 1 OL P R I N T H O "

3. DESCRIPTION THECOMMANDS OF

lP (lncrementPosition)
IFunctionl Moves position the robotto a predefined with a position greater number than the
currentone. Ilnput Format) IP

ISample InputI IP IExplanation I (1) This commandcauses position the robotto move to a predefined with a position n u m b e rg r e a t e i ' t h a n , n d c l o s e s t o , t h e c u r r e n to n e . ( S e ec o m m a n dD P . ) a (2) lf there is no predefined position with a positionnumbergreater than the current one, error mode 1I is caused. I Sample Program I " 1 0 L P R I N TI V I O " 5 " 2 0 L P R I N TM O 4 " " 3 0 L P R I N TM O 3 " " 40 LPRINTIP"

; ; ; ;

Move to Move to Move to Move to

position5. position4. position3. position4.

3. DESCRIPTIONTHECOMMANDS OF

MA (Move Approach)
( F u n c t i o nI M o v e s t h e e n d o f t h e h a n d f r o m t h e c u r r e n tp o s i t i o nt o a p o s i t i o na w a y f r o m a s p e c i f i e d position in increments as specifiedfor another position.

Ilnput Formatl
n M A ( P o s i t i o n u m b e r( a ) ) , ( P o s i t i o n u m b e r( b ) ) [ , ( O o r C ) ] n Where, 1 5 Positionnumber (a), (b) < 629 Isample Input) MA2.3.C (Explanation l (1) This commandcauses end of the handto movefrom the currentposition a the to (a) (b).lt does position for away from position in increments specified position as not changethe coordinates positions(a) and (b). (See commandSF.) of (Each coordinateof position (b) is temporary added to the corresponding coordinate position(a).) of (2) lf the open/close (O: the stateofthe handhasbeenspecified open;C: closed), robot movesafterexecuting handcontrolinstruction. it has not beenspecified, the lf the hand state in position(a) remainsvalid. (3) lf the calculated incremental dimensions exceedthe robot's operational space, error mode II is causedbeforethe robot moves. (a) (4) Error mode II is also causedif positions and (b) have not been definedyet. (5) The positionof the end of the hand is determined the tool lengthcurrently by established. commandTL. {see ) ISample Program ) "HE1" 10 LPRINT "PD 5, 0, 0, 30, 0, 0" 20 LPRTNT " 30 LPRINTMA 1, 5, O' N In the aboveexample, the end of the hand is movedwith the hand openedfrom position to a position 30-mmincrements direction. values The 1 in only in the Z-axis of coordinates positions1 and 5 do not change. of

3. DESCRIPTION THECOMMANDS OF

MC (Move Continuous)
(Function ) Movesthe robotcontinuously throughthe predefined pointsbetween intermediate the positionnumbers. two specified (lnput Format) M C ( P o s i t i o n u m b e r{ a ) ) , ( P o s i t i o n u m b e r( b ) ) n n

Where,1 5 Position number(a),(b) < 629 ( ( P o s i t i o n u m b e r a ) - P o s i t i on u m b e r b ) < 9 9 IsampleInput) MC 101, 00 2

(Explanation ) causes robotto moveat a givenspeed the {1) Thiscommand from the currentposition via position to position movingcontinuously pastthe predefined {a) intermedi{b), ate points betweenpositions{a) and (b). (2) Depending whetherposition on number(a)is greater than position number(b),or vice versa,the robot moves through the intermediate points in descending or ascending orderof the position number. The robotdecelerates it reaches end as the posrrio n.
( 3 ) T h e o p e n / c l o s es t a t e o f t h e h a n d b e f o r e t h e r o b o t s t a r t s m o v i n g r e m a i n s v a l i d t h r o u g h o u t t h e e n t i r e m o v e m e n t a n d t h e o p e n / c l o s ed e f i n i t i o n s a t i n t e r m e d i a t e points have no bearing on it.

t4l

S i n c e t h e r o b o t d o e s n o t d e c e l e r a t ed u r i n g i t s m o v i n g t h r o u g h t h e i n t e r m e d i a t e p o i n t s , a v o i d m o v e m e n t p a t h t h a t i n v o l v e sa g r e a t c h a n g e i n o r i e n t a t i o no f a n y o f t h e a x e s o f m o t i o n ; o t h e r w i s e ,t h e r e s u l t a n to s c i l l a t i o n s d v e r s e l ya f f e c tt h e r o b o t a m e c h a n i c a l .( T h e m a x i m u m s p e e d o f t r a v e l u s i n g c o m m a n d M C i s e q u i v a l e n tt o SP4.)

( 5 ) E r r o r m o d e I I i s c a u s e di f t h e s p e c i f i e dp o s i t i o n s{ a ) a n d ( b ) h a v e n o t b e e n d e f i n e d ,
t h e p a t h c o n n e c t i n gt h e p r e d e f i n e di n t e r m e d i a t ep o i n t s d e f i e s p h y s i c a lm o v e m e n t o f t h e r o b o t , o r i f t h e d i f f e r e n c eb e t w e e n t h e p o s i t i o n n u m b e r s ( a ) a n d ( b ) e x c e e d s oo

ISample Programl " 1 0 L P R I N TM A 1 " "MO 2" 20 LPRINT " 30 LPRINTSP 3" t\l01 " 40 LPRINTMC 5, 15"

Posrtion 2

Posirion5

P o s i t i o n6

MC5,
Positio n 1

3. DESCRIPTIONTHECOMMANDS OF
X In the aboveexamDle, numbers10 and 20 cause robotto moveto Dositions line the 1 and 2, respectively, line number40 causes and the robotto move continuously points6, 8, and 10 between throughthe predefined positions and 15 intermediate 5 p untilreaching osition 5. 1

3. DESCRIPTION THECOMMANDS OF

MJ X (Move Joint)
IFunction I Turns each joint the specified angle from the currentposition. I Input Formatl t M J [ ( W a i s t u r n i n g n g l e )] , I ( S h o u l d e r r n i n g n g l e )l , [ ( E l b o w u r n i n g n g l e ) tu t a a a ( P i t c h n g l e )l , [ ( R o l l a n g l e )] a l, {

ISample Input) MJ 10,20,-30, 40, -50 (Explanation I ( 1 ) T h e l e a s ti n p u t i n c r e m e no f t h e t u r n i n ga n g l ei s 0 . ' 1 ' . t (2) The open/close stateof the handdoesnot change beforeand afterthe movement. before the axismotionif the turningangleentryexceeds Errormove II is caused the robot's operational space. ( 3 ) The defaultturning angle is 0. ( 4 ) The positiveand negativedirections each axis of motion are as follows. of

S ho u l d e r

Elbow

rist

Wrist roll )

Isample Program ) "MJ 10 LPRINT + 9 0 , O , O ,O , 0 " " 2 0 L P R I N TM J O , - 3 0 , 0 , 0 , 0 " "MJ 0, 0, 0, +20, 0 " 30 LPRTNT
'10 X I n t h e a b o v e e x a m p l e ,l i n e n u m b e r c a u s e st h e w a i s t t o s w e e p g 0 ' i n t h e * d i r e c t i o n ,l i n e n u m b e r 2 0 c a u s e st h e s h o u l d e rt o s w i v e l 3 0 ' i n t h e - d i r e c t i o n ,a n d line number 30 causesthe wrist to bend 20" in the * direction.

3, DESCRIPTIONTHECOMMANDS OF

MO (Move)
IFunction I
Moves the end of the hand to a specifiedposition. I Input Formatl

MO (Position umber) [, (O or C) ] n Where, '1 5 Positionnumber 5 629 Isample Input) MO2,C IExplanation I (1) This commandcausesthe end of the hand to move to the coordinates the of position articulated specified by interpolation. position the end of the handls The of determinedby the tool lengthcurrentlyestablished. (See commandTL.) (2) lf the open/close (O: stateof the handhasbeenspecified open;C: closed), end the of the hand movesafterexecuting hand controlinstruction. it has not been the lf specified, positionis executed. the definitionof the specified (3) Error mode II is causedif the specified positionhas not been predefined the or movementexceeds the robot's operational soace. (sample Program) "SP 5" 10 LPRINT "MO 20, C" 20 LPRINT "MO 30, 30 LPRINT O"

; Set speedat 5. ; Move to oosition20 with hand closed. ; Move to position30 with hand open.

3. DESCRIPTION THECOMMANDS OF

MPX (Move Position)

IFunction I Moves end of the handto a position the (position angle) whose coordinates and are specified. Ilnput Format)
MP [ (X-axis coordinate) [ (Y-axis coordinate) [ (Z-axis coordinate) [ (pitch l, ], ], a n g l e )l , [ ( R o l l a n g l e )] (sample Inputl MP 0, 380. 300, -70. -40 I Explanation ) (1) The leastinput increment the coordinate (e.g.specify of valuesis 0.1mmor 0.'1". 2 0 . 1f o r 2 0 . 1 m m . ) (21 Errormode II is caused the specified if coordinates exceed robot'soperational the sDace. {3) The defaultcoordinate value is 0. (4) The open/close stateof the hand does not changebeforeand afterthe movement. (5) The positionof the end of the hand is determined the tool lengthcurrently by (see commandTL.) established. ISample Program) "PD 1, 0, 380, 300, -70, -40" 10 LPRTNT " 20 LPRINTMO 1" 30 LPRINT"MP 0, 380, 280, -70, -40" X In the aboveexample, the end of the hand is first movedto position1 and then moved20mmdown in Z-axis direction linenumber the open/close by 30, state the of handremaining nchanged. u

3. DESCRIPTIONTHECOMMANDS OF

MS (Move Straight)
(Function I
Moves the robot to a specified positionnumber through the specified number of points o n a s t r a i g h t i n e . intermediate l Ilnput Format) M S ( P o s i t i o n u m b e r ) , ( N o . o f i n t e r m e d i a tp o i n t s ) [ , ( O o r C ) ] n e Where, 1 5 Positionnumber 5 629 1 < No. of rntermediate points < 99 ISample Input] MS2,5,C (Explanation ) pointsbetween currentposltion {1) The numberof intermediate the and the specified position mberis calculated equally nu by dividing distance traveland position the of (thenumberof divisions angle(pitch/roll angle) between two positions the equaling the numberof intermediate pointsplus '1 Acceleration deceleration and duringthe ). movementare omitted. points,the smoother intermediate {2) The more the numberof specified the straight line for the movementpath,but the more time required calculation for beforethe robot starts moving (99 intermediate points requiresabout 2.4 seconds). rs lt thereforerecommended points be specified that the number of intermediate according the distance travel and the requiredpath accuracy. to of ( 3 ) l f a n y o f t h e i n t e r m e d i a t ep o i n t s s p e c i f i e de x c e e d st h e r o b o t ' s o p e r a t i o n a ls p a c e ,
the robot stops in mid-motion and error mode ]I is caused. ( 4 ) l f t h e o p e n / c l o s e t a t eo f t h e h an d h a s b e e n s p e c i f i e d( O : o p e n ; C : c l o s e d) , t h e r o b o t s m o v e s a f t e r e x e c u t i n gt h e h a n d c o n t r o l i n s t r u c t i o n .l f i t h a s n o t b e e n s p e c i f i e d , h e t definition of the soecified oosition is executed.

(5) Error mode II is causedif the specified positionhas not been predefined.
( 6 ) T h e p o s i t i o n s o f t h e i n t e r m e d i a t ep o i n t s a r e c a l c u l a t e db a s e d o n t h e t o o l l e n g t h c u r r e n t l y e s t a b l i s h e d .( S e e c o m m a n d T L . )

(7) Certain positions the robotmay cause of oscillations. suchcases, In keep speed the low.

3. DESCRIPTIONTHECOMMANDS OF
Isample Programl " 10 LPRINTHE 2" " 20 LPRINTMO 3" "MS 2, 3, C" 30 LPRINT "MO 3" 40 LPRINT " 50 LPRINTMS 2, 6, C" x In the aboveexample, the robotto move to position by 3 line number20 causes it 2 30 interpolation linenumber causes to moveto position through and articulated pointswith the hand closed.Line number50 causes the robot to 3 intermediate move to oosition2 throuoh 6 intermediate ooints.

Intermediate point

Position ( L i n e n u m b e r 3 0 , 3 i n t e r m e d i a t ep o i n t s )

( L i n en u m b e r5 0 , 6 i n t e r m e d i a tp o i n t s ) e

Position2

OF 3. DESCRIPTIONTHECOMMANDS

MT (Move Tool)
(Function I position a position away froma specified to Moves endof thehand the fromthecurrent position increments specified the tool direction. in in as Ilnput Formatl
MT ( Position number), [ (Traveldistance)] [, (O or C) ]

Where, 1 5 Positionnumber 5 629 Isample Input) MT 5. +70. O IExplanation I for of of 11)The leastinput increment the distance travelis 0.1mm.(e.9.specify150.5 15 0 . 5 m .) m (*), the end of the hand advances (2) When the distance travelentered positive is of of When the distance travel is in distance the tool direction. along the specified (The (-), the end retracts in distance the tool direction. alongthe specified negative defaultdistanceis 0.) (O: (3) lf the open/close the stateof the handhas beenspecified open;C: closed), end lf the of the hand movesafterexecuting hand controlinstruction. it has not been positionis executed. the definitionof the specified specified, (4) Error mode II is causedbeforethe end of the hand starts moving when the if lt space. is alsocaused the specified the destination exceeds robot'soperational space. positionhas not been predefined is out of the operational or (5) The positionof the end of the hand is determined the tool lengthcurrently by (See commandTL.) established. (sample Program) " 1 0 L P R I N TH E 1 " "IVIT1, +30, C" 20 LPRINT position the current as the line number20 defines reference X In the aboveexample, 30mm, from the current position;as a result,the end of the hand is advanced positionin the tool direction, with the hand closed.

3. DESCRIPTIONTHECOMMANDS OF

NT (Nest)
(Function I Returns the robot to mechanical origin. Ilnput Formatl NT

ISample InputI NT I Explanation I (1) This commandcausesthe robot to returnto origin,which must be performed immediately afterthe poweris turnedON.Execution this commandis necessary of before any move command can be executed.Origin setting is performed automatically the limit switches by provided eachaxis. and phase-Z encoders of in (2) Originsettingof J2, J3, and J4 axesis first executed, which is followedby origrn settingof J1 and J5 axes.lf the arm can interfere with the objects surrounding the robot,usethe teachingbox to move it to a safelocationbeforeattemptingto return the robot to origin. (3) Caremust be takento prevent personal injuryif the handholdsa workpiece, the as hand opens as soon as the origin settingoperationis initiated. (4) Do not touch the limit switches and robot body until origin settingcompletes. Isample Program ) "NT" 10 LPRINT " 20 LPRINTMO 10"

origin setting. ; Execute ; Moveto oosition 0. 1

3. DESCRIPTIONTHECOMMANDS OF

OG (Ori gin)
IFunction ) positionin the cartesian coordinate system. Moves the robot to the reference Ilnput Formatl

(sampleInput I
ULr

I IExplanation (1) This command causesthe robot to move to the cartesian coordinate syqem position or in reference by established the HOcommand by keying I P.S and 0 on REFER4 COORDINATE SYSTEM the teachingbox. (SeeCHAPTER CARTESIAN APPENDIX.) ENCEPOSITION SETTING, positionis yet to be defined. this commandcauses the robotto a {2) lf the reference positionas determined tentativedata stored in the system ROM. by (3) Execution this commandprior to origin setting resultsin error mode II. of ISample Program ) "NT" 1 OL P R I N T " 20 LPRINTOG"

; Returnthe robot to origin ;Move to referenceposition in the cartesian coordinate system.

3. DESCRIPTIONTHECOMMANDS OF

PA (PalletAssign)
IFunction I for and row directions a specified in Defines number grid points the column the of
Da llet number. Ilnput Format) PA (Palletnumber) , (No. of columngrid points) , (No. of row grid points)

W h e r e , 3 P a l l e n u m b e r5 9 1 t 1 < No. of column grid points < 255 1 < No. of row orid ooints S 255 ISample InputI PA 3. 20. 30 IExplanation I (1) This command must be executedbeforethe pallet calculation command {see commandPT) is executed. ( 2 ) T h en u m b e r f g r i d p o i n t s i s e q u i v a l e n t t o t h a ho fa c t u a l o r k p i e c e sr r a n g eo n w a d tt e o (3 X 5),the numbers of with a palletholding15workpieces For the pallet. example, column and row grid points are 3 and 5, respectively. (3) Thecolumnand row directions determined the directions the terminating by of are (Seecommand PT.) positions, respectively. Isample Programl " 1 0 L P R I N TP A 5 , 2 0 , 3 0 " " 2 0 L P R I N TS C 5 1 , 1 5 " "SC 52, 25" 30 LPRINT "PT 5" 40 LPRINT " 5 0 L P R I N TM O 5 " pallet5 as the pallethaving20 X 30 X In the aboveexample, line number10 defines grid points. the of Linenumbers 30,and 40 then identify coordinates one of the 20, grid points (15. 25) as position5 and line number 50 moves the robot to that oosition.

3. DESCRIPTIONTHECOMMANDS OF

PCX (PositionClear)
(Function I Clearsthe positiondata of specified positionnumber or numbers. I Input Format I P C ( P o s i t i o n u m b e r1 a ) ) [ , ( P o s i t i o n u m b e r( b ) ) ] n n Where, 'l < Positionnumber (a), (b) < 629 (SampleInput) PC5,8 I Explanation I ( 1 ) T h i sc o m m a n d l e a r s l l p o s i t i o d a t a r o mp o s i t i o na )u p t o a n di n c l u d i n p o s i t i o n ( c a n f g (b). (2) lf position(b) is omitted,the positiondata of only position(a) is cleared. (3) Be careful, cartesian the coordinate position systemreference datais cleared the if position (zero) defined, numberis omittedor 0 is except when bit 4 of sw1 located insidethe side door of the drive unit is in the lower position(OFF). (See CHAPTER CARTESIAN 4 COORDINATE SYSTEMREFERENCE POS|T|ON S E T T I N G ,P P E N D I X . ) A ISample Program I "MO 10" 10 LPRINT " 2 0 L P R I N TM O 1 2 " " 3 0 L P R I N TM O 1 5 " " 4 0 L P R I N TP C 1 2 " "DP" 50 LPRINT

; ; ; ; ;

M o v et o p o s i t i o n 0 . 1 M o v et o p o s i t i o n 2 . 1 M o v et o p o s i t i o n 5 . 1 C l e a rp o s i t i o n 2 . 1 Ivloveto position10.

3. DESCRIPTIONTHECOMMANDS OF

PDX (PositionDefine)
IFunction I (position Defines coordinates the position and angle) a specified of number. Ilnput Format)
PD (Position number) , [ (X-axis coordinate) [ (Y-axis coordinate) [ (Z-axis ], ], c o o r d i n a t el), { ( P i t c ha n g l e )l , [ < R o l l a n g l e )] Where, 1 S Positionnumber S 629 (sample Inputl PD 10, 0, 380, 300 -70, -40 I Explanation I (1) The leastinputincrement the coordinates 0.1mmor 0.1'.(e.g.specify of is 20.1for 20.1mm.) (2) No erroroccurs evenwhen the defined coordinates exceed robot'soperational the space. Thisallowsyou to definea position representing incremental an movement when the command is used in combinationwith the other command. (See commandSF. MA) (3) The defaultcoordinate 0. is (4) The open/close state of the hand is definedby the grip flag command.(See c o m m a n dG F . ) (5) Thiscommand can definea robotposition only when the coordinates the end of of the hand as deterrnined the tool commandare located by aheadZ-axis(i.e., the directionthe robot faces). (sample Programl " 1 O O P R I N TG F 1 " L "PD 10, 0, 380, 300, -70, -40" 110 LPRTNT "PD 20, O, 0, 20, A, O" 120 LPRTNT " 1 3 0 L P R I N TS F 1 0 ,2 0 " " 1 4 0 L P R I N TM O 1 0 " X In the aboveexample, position at whichhandis closed, line number110defines 10, position Linenumber130then redefines position while line number120defines 20. 10 as position10 beingshifted20mm in Z-axis determined position Line as by 20. number 140 moves the robot to the new position10.

3. DESCRIPTIONTHECOMMANDS OF

PL (PositionLoad)
IFunctionl
Assignsthe coordinates a specified positionnumberto anotherspecified of position number, (lnput Formatl P L ( P o s i t i o n u m b e r{ a ) ) , ( P o s i t i o n u m b e r{ b ) ) n n W h e r e ,1 5 P o s i t i o n u m b e r( a ) ,( b ) 5 6 2 9 n ISample Inputl PL5,7 I Explanation ) (1) After this commandhas been executed, coordinates position(a) becomes the of (b),the old position coordinates (a) equivalent thoseof position to beingcleared. (2) After the commandhas beenexecuted, position the hand at position(b) is the of assigned that at position(a). to (3) Error mode II is causedif position(b) is yet to be defined. Isampte Program I " 10 LPRINTHE 2" " 20 LPRINTPL 3, 2" X In the aboveexample, afterthe currentcoordinates and hand positionhavebeen definedas position2, the positiondata of position2 is copiedto position3.

3. DESCRIPTIONTHECOMMANDS OF

PT (Pallet)
IFunction I
calculates coordinates a grid pointon a specified the palletnumberand identifies of the coordinates the positionnumber corresponding the specified as to pallet number. I Input Format I
P T ( P a l l e t n um b e r )

Where, 'l < Palletnumber 5 9 ISample Inputl PT3 IExplanation I (1) This commandcalculates coordinates a grid point on a specified the of pallet numberand identifies coordinates the position mbercorresponding the the as nu to palletnumber. specified The palletdefinition command(pA)must be executed for the palletto be usedbeforeexecuting this command, Afterthe pT commandhas beenexecuted, position the datapreviously defined the targetposition for number is clea red. (2) ln orderfor this commandto be executed, palletpositions (gridpointsat four the corners the pallet) of mustbe properly defined whichidentify particular palletand a (columnand row) be properly that specify particular the palletcounters set grid a point on the pallet.Following a listingof a combination palletpositions is of ano counterscorresponding each pallet number. to
( P a l l e t1)

Palletreference position Palletcolumn terminating position Palletrow terminating position Palletcorner positionoppositeto reference P a l l e t o l u m nc o u n t e r c Palletrow counter PT1 position Palletreference position P a l l e t o l u m nt e r m i n a t i n g o s i t i o n c p Palletrow terminating position Palletcorner positionoppositeto reference P a l l e t o l u m nc o u n t e r c Palletrow counter PT2 position

Position'10 position'l1 Position12 Position13 Counter 1 1 Counter12 position'l Position20 Position 1 2 Position22 Positjon23 Counter l 2 Counler22 Position2

( P a l l e2 ) t

OF 3. DESCRIPTIONTHECOMMANDS
( P a l l e t3 )

position Palletreference p P a l l e t o l u m nt e r m i n a t i n g o s i t i o n c position Pa llet row terminating Palletcorner positionoppositeto reference Palletcolumn counter Palletrow counter PT3 position position Palletreference p P a l l e t o l u m nt e r m i n a t i n g o s i t i o n c position Palletrow terminating Palletcorner positionoppositeto reference Palletcolumn counter Palletrow counter PT4 position position Palletreference p P a l l e t o l u m nt e r m i n a t i n g o s i t i o n c position Palletrow terminating Palletcorner positionoppositeto reference Palletcolumn counter Palletrow counter PTs position position Palletreference position Palletcolumn terminating position Palletrow terminating Palletcorner positionoppositeto reference Palletcolumn counter Palletrow cou nter n PT6 positio

Position30 Position 1 3 Position32 Position33 Counter31 Counter32 Position3 Position40 Position41 Position 42 Position 43 Counter4'1 Counter42 Position4 Position50 Position51 Position52 Position53 Counter51
LOUnTer 52

{ P a l l e t4 )

{Pallet5)

Position5 Position60 Position6'l Position62 Position63

LOUnrer b I

( P a l l e t6 )

Counter62 Position 6

3. DESCRIPTIONTHECOMMANDS OF
( P a l l e t7 )

position Palletreference position terminating Palletcolumn position Palletrow terminating Palletcorner positionoppositeto reference Palletcolumn counter Palletrow counter PT7 position position Palletreference p terminatingosition Pallet olumn c position Palletrow terminating Palletcorner positionoppositeto reference Palletcolumn counter Palletrow counter PT8 position position Palletreference position Palletcolumn terminating row terminatingposition Pallet Palletcorner positionoppositeto reference Palletcolumn counter Palletrow counter PTg position

Position 70 Position71 Position72 Position73 Counter71 Counter72 Position7 Position80 Position 1 8 Position82 Position83 Counter81 Counter82 Position 8 Position90 Position91 Position92 Position93 Counter91 Counter92 Position9

( P a l l e t8 )

( P a l l e t9 )

lf the pallet positions(four corner points of the pallet)and pallet countersare properly of defined, therefore, execution commandPT allowsthe coordinates a of to grid pointto be definedas the positionnumberequivalent the palletnumber. (3) Error mode II is caused the palletpositions if havenot beendefined and the pallet countershave not been set or have been set to have valuesexceeding those defined by command PA. An error does not occur, however,even when the coordinates obtainedfor the grid point exceedthe robot'soperational space.
{ 4 ) T h e o p e n / c l o s es t a t e o f t h e h a n d a t t h e t a r g e t g r i d p o i n t i s t h e s a m e a s t h a t i n t h e pallet referenceposition. ( 5 ) W h e n e x e c u t i n gt h e P T c o m m a n d , t h e t o o l l e n g t h o f t h e h a n d t o b e u s e d m u s t b e p r o p e r l yd e f i n e db y c o m m a n d T L . T h e r o b o t m u s t a l s c b e t a u g h t t h r o u g h t h e p a l l e t positions (four corners) using the predefinedcorrect tool length.

3, DESCRIPTIONTHECOMMANDS OF
ISample Program I you have a palleton which a total of 24 workpieces arranged, in the Suppose are 4 columndirection and 6 in the row direction. Now, let us havethe svstemcompute the (2, coordinates ofthe workpiece placed the grid position 4),i.e,, second in grid in the the column direction and the fourth grid in the row direction, and get the robot hand to reachthat position.
P o s i t i o n7 l W o r k p i e c e p l a c e d i n t h e g r i d p o s i t i o n ( 2 , 4 ) P o s i t i o n7 3

h\ \7

=
? o

C
A y.:)

c c o o ol
.)

\-r,

.l

Pallet 7

C C

a
C

(,

a)
.)

o
/n \-:{
P o s i t i o n7 2

Position 70 (Reference osition) p

Row direction 6 pcs.)

"rL 200" LPRINT "PA 7, 4, 6" 1 OL P R I N T " 20 LPRINT s c 7 1 ,2 " " 30 LPRINT s c 1 2 ,4 " " 40 LPRINT P r 7 " " 50 LPRINT M O 7 "
Procedu re ( l ) W e n o w h a v e p a l l e t7 . 200mm) Define tool length{inthiscase, the corresponding the handin use.Then, to positions 71, 72, and 73 at four cornersof the pallet. guidethe arm through 70, ( 2 ) E x e c u t eh e p a l l e td e f i n i t i o c o m m a n dI P A7 , 4 , 6 ) t o d e f i n e h e n u m b e ro f g r i d t n t p o i n t si n t h e c o l u m na n d r o w d i r e c t i o n s . i n en u m b e r1 0 ) (L (3) Defineparameter for counter7'l (column) 2 and parameter for counter lrow\. 4 72 Theseparameters correspond the targetgrid point.(Linenumbers20 and 30) to (4) Now, executethe pallet calculation command (PT7). This allowsthe coordinates the targetgrid pointto be calculated they are of and identified position The handcan now be movedto that position MO7.(Line as 7. by numbers40 and 50)

3, DESCRIPTIONTHECOMMANDS OF

PX (PositionExchange)
IFunction I
Exchanges the coordinates a specifiedposition number for those of another of positionnumber. specified (lnput Format I P X ( P o s i t i o n u m b e r( a ) ) , ( P o s i t i o n u m b e r( b ) ) n n

W h e r e ,1 5 P o s i t i o n u m b e r( a ) ,( b ) < 6 2 9 n ISample Inputl P X2 , 3 (Explanation ) (1) After this command has been executed, the coordinates position (a) are of exchanged the coordinates position(b). for of state of the hand at position(a) is also exchanged that at {2) The open/close for ( position b). (3) Error mode II is causedif positions(a) and (b) have not been predefined. (SampteProgram ) "HE 2" 10 LPRINT 2 0 L P R T N" M J 2 0 , 3 0 , 0 , 0 , 0 " T "GO" 30 LPRINT " 4 0 L P R I N TH E 3 " ''PX 2, 50 LPRINT 3" X In the aboveexample, coordinates hand open/close the and stateof position are 2 exchanged those of position3. for

3. DESCRIPTIONTHECOMMANDS OF

sF (shift)
IFunction ) positionnumberin increments ShiftS the coordinates a specified representing of the positionnumberand redefines new coordinates. coordinates anotherspecified of the Ilnput Format) n n S F ( P o s i t i o n u m b e r( a ) ) , ( P o s i t i o n u m b e r( b ) )

W h e r e ,1 5 P o s i t i o n u m b e r( a ) ,( b ) < 6 2 9 n ISample lnput) sF 10,'100 I Explanation ) (1) Each coordinate position(b) added the correspond coordinate position of is to ing of
(4 , .

(2) Error mode 11 is causedif positions(a) and/or (b) have not been predefined. (3) This commanddoes not effectany roboticmotion. I ISample Program "PD 5, 0, 0, 30,0, 0" 10 LPRTNT " 20 LPRINTHE 1" .I,5" " 30 LPRINTSF " 40 LPRINTMO 1" x In the aboveexample, Z-coordinate 30mm is added the corresponding to coordinate position1 and the new coordinates defined position Then,line number 1. of are as 10 causesthe robot to move to that point.

3. DESCRIPTIONTHECOMMANDS OF

SP (Speed)
(Functionl Sets the operating velocityand acceleratio n/deceleration time for the robot. (lnput Format) S P ( S p e e dl e v e l ), [ ( H o r L ) ] Where,0 < Speed level 5 9 ISample Inputl SP7,H IExplanation ) (1) This commandsetsthe operating velocityand the acceleration/deceleration time upon startingand stopping.The velocityis variablein 10 steps,9 being the maximum speed and 0 the minimum. Acceleration/deceleration may be time selected from among H or L. The acceleration time is 0.35seconds H and 0.5 for seconds L, while deceleration for time is 0.4 seconds H and 0.6 seconds L. for for WhenH is selected, acceleration deceleration constant the and are from SP0to SPg. When L is selected. acceleration deceleration the and timesareconstant from SP0 to SPg.

(21W h e n t w o

o r m o r e a x e s o f m o t i o n a r e i n v o l v e d ,t h i s c o m m a n d s e t s t h e o p e r a t i n g velocity of the joint having the greatest number of motor pulses.

( 3 ) W h e n t h e v e l o c i t y a n d a c c e l e r a t i o n / d e c e l e r a t i oin e a r e s e t , t h e a c c e l e r a t i o n n d t m a
. d e c e l e r a t i o n i s t a n c er e q u i r e df o r m o v e m e n t i s p r e d e t e r m i n e dT h i s m e a n st h a t t h e d set speed may not be reached if the distanceof travel is small. ( 4 ) E r r o r m o d e I m a y b e c a u s e di f a h i g h s p e e d a n d H t i m e a r e s e t t o e f f e c ta b a c k w a r d m o t i o n o r w h e n t h e r o b o t ' s l o a d c a p a c i t yi s l a r g e . l n s u c h c a s e s ,s e t a l o w s p e e d and L time. ( 5 ) A s p e e d a n d a c c e l e r a t i o n / d e c e l e r a t i oin e , o n c e s e t , r e m a i n v a l i d u n t i l n e w o n e s t m "SP are set. In the initial condition, setting is 4, L". (The last acceleratior't/ d e c e l e r a t i o nt i m e r e m a i n s v a l i d w h e n i t i s o m i t t e d . ) (6) lf the speed parameter is omitted, it defaultsto 0.

Isample Program I " 1 OL P R I N T S P 3 " " 20 LPRINTMO 10" "SP 6, L" 30 LPRINT " 40 LPRINTMO 12" " 50 LPRINTMO 15"

Set speed at 3. '10. Move to position Set speed at 6 and time Move to position 12. Move to position 15.

3. DESCRIPTIONTHECOMMANDS OF

Tl (Timer)
I Function ) period of time. Haltsthe motion for a specified I Input FormatI T l ( T i m e rc o u n t e r )

Where,0 S Timer counter 5 32767 ISample Inputl

rt 20
I Explanation ] (1) Thiscommandcauses robotto halt its motionfor the followingperiodof time: the specified timer countervalue X 0.1 seconds(max. 3,276.7 seconds). (2) The commandcan be usedto introduce time delaybeforeand afterthe hand rs a openedand closedfor grippinga workpiece.
{3) The default value is 0.

Isample Program I " 1 0 L P R I N TM O 1 , O " "TI 5" 20 LPRINT " 30 LPRINTGC" "TI 5" 40 LPRINT " 50 LPRINTMO 2, C"

Move to position1 (with hand open). Set timer at 0.5 sec. Closehand (to grip workpiece). Set timer at 0.5 sec. Move to position2 (with hand closed).

3. DESCRIPTIONTHECOMMANDS OF

TL (Tool)
IFunction I
E s t a b l i s h e sh e d i s t a n c eb e t w e e n t h e h a n d m o u n t i n g s u r f a c ea n d t h e e n d o f t h e h a n d . t Ilnput Formatl

TL [ (Tool length) ]

Where. 5 Tool length< *300.0 (mm) 0 Isamplelnputl

TL 145 IExplanation ) {'1 The least input incrementof the tool length is 0.1mm. (e.g.specify200.5for ) 200.5m ) m. onceestablished, remains {2) Thetool length, validuntila new one is defined. When a tool lengthis changed, the currentpositionis also changedaccordingly, which, however, does not involveany roboticmotion.(lnitial settingof the tool lengthis 'l07mm.) (3) The defaultvalue is 0. by {4) Sincethe pointdefined this commandis the basis calculation the current for of jogging, and commandsinvolvingthe cartesian position,cartesian coordinate system, accurate the tool lengthmust be established according the tool (hand) to being used. (5) Whenevera program is to run, be sure to set the same tool length as that established during teachingat the beginningof the program. Isample Program ) "TL 120" 1O LPRINT " 2 0 L P R I N TH E 1 " " 3 0 L P R I N TT L 1 O O " " 4 0 L P R I N TM O 1 " X In the aboveexample, number30 changes tool lengthandthen linenumber line the 40 causesthe end of the hand to advance20mm in the tool direction.

3. DESCRIPTIONTHECOMMANDS OF
control 2.2 Program lnstructions

CP (CompareCounter)
I Function I
L o a d st h e v a l u e i n a specified counterinto the internalccmparisonregister. Ilnput Formatl n CP (Counter umber)

Where. < 1

C o u n t e n u m b e r5 9 9 r

(sampleInputl CP 20
I I Explanation jump instruction EO,NE, (see (1) Thiscommandmustbe executed before conditional a whosenumberis specified LG,and SM) is to be executed the valuein the counter if jump instructions is usedas the condition the jump.Theseconditional for causea jump to occur when certainconditions are met involvingcomparison with the contentsof the internalregisterloadedby the CP command. (2) Evenwhen the value of the specified of counterchanges afterthe execution the lf register not affected. the conditional are the contents the internal of command, jump is specified with the counter comparison under the conditionspecifying the countervalue has this command must be executed after value.therefore. chanqed. (commands and lN) usethe sameinternal (3) The inputcontrolinstructions register, lD register lostwhen an inputcontrol are meaning that the old contents the internal of instruction executed. is (4) Thecontents ofthe counter-related canbe changed readby means or ofthe counter (See commandsSC, lC, DC, and CR.) instructions. ISample Program I "100tc 21" 10 LPRINT " 2 0 L P R I N T 1 1 OC P 2 1 " "120 EA 255,500" 30 LPRTNT "130 GT 100" 40 LPRTNT " 5 0 L P R I N T5 0 0 S C 2 1 , 0 " 6 0 L P R T N" 5 1 0 G T 1 0 0 " T by 2'1 X In the aboveexample, line number100causes counter to be incremented 1. with the value255 the contents the counter of Linenumbers110and 120compare jumpsto linenumber500, the whereby counter the program and,if they equal255, (resetto 0). lf thev do not equal 255, line number 'l30 causesthe is initialized programto return to line number 100.

3. DESCRIPTION THECOMMANDS OF

DA {DisableAct}
IFunction I Disables interrupt a signalthroughthe specified of the external the by bit input terminal. Ilnput Formatl
DA (Bit number)

W h e r e ,0 S B i t n u m b e r< 7 ( 1 5 ) F i g u r ei n ( ) i s f o r t y p e 4 1 6 o r 8 1 6 l / O c a r d . Isample Input) DA3 I Explanation I (1) Thiscommandclears interrupt the enabled stateof the bit defined the interrupt by (see commandEA). enableinstruction (2) Oncethis commandhas beenexecuted, interrupt no occursevenwhen a signalis input to the specified while the robot is in motion.Note, however, bit that the execution this command of doesnot affect interrupt the enabled condition other of otts. (3) To inhibitrepeated interrupts a singlesignal, by eitherlow or high,this command must be executed the beginning a line numberto whichthe programjumps at of after the interruDt has occurred. Isample Program) See command EA.

3, DESCRIPTIONTHECOMMANDS OF

DC (Decrement Counter)
lFunctionl Subtracts from the value in a specified l counter. nput Formatl DC (Counter umber) n

Where, 5 1 [SampleInput] DC 35 IExplanation]

C o u n t e n u m b e r5 9 9 r

(1) Error mode II is causedif the countervalue becomesless than -32767. (2) The commandcan be usedto countthe numberof workpieces job sequences and and to set the number of grid points in the pallet. (3) The contents of the counter can be changed,compared,or read by the (See commandsSC, lC, CP, and CR.) counter-related instructions. [SampleProgram] " 10 LPRINTSC 21, 15" " 20 LPRINTDC 21" X I n t h ea b o v e x a m p l e , n en u m b e r 0s e t s a l u e1 5i n c o u n t e2 1a n dl i n en u m b e r 0 e li 1 v r 2 causesthe counterto be decremented 1. by

3. DESCRIPTIONTHECOMMANDS OF

DLX (DeleteLine)
I Function ) Deletes the contentsof a specified line number or numbers. (lnput Formatl ( ( D L ' L i n e n u m b e r a ) ) l , ( L i n en u m b e r b ) ) l Where, 1 5 Line number (a), (b) < 2048 (sample Input) DL 200, 300 (Explanation ) ( 1 ) T h i sc o m m a n d e l e t e s l l c o n t e n t f r o m l i n en u m b e r a )u p t o a n d i n c l u d i n gi n e d a s l { (b). number (2) lf line number (b) is omitted,the contents line number (a) only are deleted. of (sample Program) 1 0 L P R T N" 1 0 0 M O 1 0 " T "110MO 12" 20 LPRINT 3 0 L P R T N" 1 2 0 M O 1 5 " T 4 0 L P R T N" 1 3 0 M O 1 7 " T "140 MO 20" 50 LPRINT " 6 0 L P R I N TD L 1 3 0 "

l ; D e l e t e i n e n u m b e r1 3 0 .

3. DESCRIPTIONTHECOMMANDS OF

EA (EnableAct)
IFunction I Enables interrupt a signalthrough specified of theexternal the by the bit input terminal, jumpswhen interrupt and specifies number whichthe program line to occurs. Ilnput Formatl
EA (+ or -) ( B i t n u m b e r ), ( L i n e n u m b e r )

W h e r e ,0 S B i t n u m b e r< 7 ( 1 5 ) 1 S Line nulnber < 2048 F i g u r ei n ( ) i s f o r t y p e 4 1 6 o r 8 1 6 l / O c a r d . ISample Inputl EA +7, 1024 (Explanation ) (1) Thiscommandcauses interrupt an external an by inputsignalto be serviced while the robot is in motion,When the specified signal is input while the robot is in motion after this command has been executed, the robot is brought to an immediate stop and the programjumpsto the specified line number. Avoid using the command whilethe robotis movingat highspeed, mechanical as failure could result.iSet speed below SP5) (2) The program jumpswhen the specified inputbit is ON if the parameter hasbeen * specified, and when the input bit is OFFif the parameter has been specifieo. (3) Two or more bits may be specified one time. lf thereare more than one inputs at received, the bit with a greaterbit number takes precedence. the 14) Oncethis commandis executed, interrupt enabled condition retained is until (DA), program end instruction(ED).or reset the interruptdisable instruction (RS) is executed. instruction (5) This commandis not honoredduringjoggingby meansof the teaching box and while the robot is in motion as a resultof the move .iointinstruction (MJ) or nest instruction {NT). ISample Program ) 1 0 L P R T N" 1 0 0 E A + 5 , 6 0 0 " T 2 0 L P R T N" 1 1 0 V t O 1 " T 30 LPRINT" 120 ED" "600 DA 5" 40 LPRINT 5 0 L P R T N" 6 ' 1 0M O 2 " T 6 0 L P R T N" 6 2 0 G T 1 1 0 " T

3. DESCRIPTION THECOMMANDS OF
X In the aboveexample, linenumber100declares interrupt an causing program the to jump to line number600when bit 5 turnsON and linenumber110movesthe robot to position1. When the specified signalis inputduringthis motion,therefore, the robot is broughtto a halt and then the programjumpsto line number600,where the interrupt disabled. is Linenumber610then movesthe robotto position and 2 p r o g r a mo j u m pt o l i n en u m b e r 1 0 T h er o b o ti s t h e n l i n en u m b e r 2 0c a u s e t h e 6 t 1 . s moved to position1 agaan.

point

--Signal input

W h e n n o s i g n a li s i n p u t /42n,, ,/ -\-,/ Position1

3. DESCRIPTIONTHECOMMANDS OF

E D (En d )
IFunction) E n d st h e p r o g r a m . Ilnput Format] ED

ISample Inputl ED IExplanation I ( 1 ) T h i s c o m m a n dm a r k st h e e n d o f a p r o g r a m . (2) lt is required the end of a programunless at the programcommands are directly executed from the personal computer. however, {Thecommandis not required, w h e n t h e p r o g r a mf o r m s a c l o s e dl o o p . ) Isample Program) " 10 LPRINT1OO P 3" S 1 2 0 L P R T N"T 1 0 M O 3 " " 30 LPRINT120MO 5" " 4 0 L P R I N T 1 3 0E D "

'

qar

cnaa.l

.t

; Move to position3. ; Move to position5. ; End the program.

EO (l f Equal)
IFunctionl
C a u s e sa j u m p t o o c c u r i f t h e c o n t e n t s o f t h e i n t e r n a l r e g i s t e re q u a l a s p e c i f i e dv a l u e wnen compareo. (lnput Format)

E O ( C o m p a r e d a l u e ) , ( J u m p i n gl i n e n u m b e r ) v < Where, -32767 5 Compared value (decimal) +32767 < or &8001 5 Compared value {hexadecimal) &7FFF '1< J u m p i n gl i n e n u m b e r5 2 0 4 8 ISample Input) EA 128, 1024;or EO &80, 1024 (Explanation I (1) Thiscommand causes jump to occurconditionally meansof an external a by input data or the contentsof the internalcounter. (2) lf the contents the internal of comparison register equalthe compared value(i.e., when the conditionis met), the programjumps to the specified line number; otherwise when the condition not met),the program is continues sequence. in {i.e., comparison register executing input 13)A valuecan be loadedintothe internal by the (seelD and lN) for an external instruction input dataor by executing compare the (seeCP) the counter counter instruction for data.lt is therefore necessary execute to previously either of these commandsso that a conditional iump can occur. value may be definedeitherin decimalor hexadecimal. 14)The compared When a hexadecimal number is used, be sure to append "&" at the beginningof the number. Isample Program) " 1 OL P R I N T 1 O O D " I 1 2 0 L P R T N"T 1 0E O 1 0 0 ,1 3 0 " "120 ED" 30 LPRINT 4 0 L P R T N" 1 3 0 M O 7 " T

Fetchdata from externalinput portJ u m pt o l i ne n um b e r1 3 0i f t h e i np u td a t ae q u a l s 100. Endthe programif abovecondition not met. is Move to position7.

3. DESCRIPTIONTHECOMMANDS OF

GS (Go Sub)
(Function I Permits instruction the to whichstarts sequence jump to the subroutine with a specified l i n e n u mb e r . Ilnput Formatl G S ( L i n e n um b e r )

W h e r e ,1 S ISample Inputl GS 1024 IExplanation I

L i n e n u m b e r5 2 0 4 8

(1) Thiscommandpermits instruction the sequence jump to a specified number. to line The commandRT is usedto returnsubsequently the main programafter the to subroutine has been completed. (2) Subroutines writtenand storedseparately are from the mainprogramand must oe terminatedby the command RT. (3) To call subroutines incorporated othersubroutines called"nesting."U p t o 9 in is nestinglevelsare possible. ISample Program) " 1 0 L P R I N T2 0 G S 1 O O " I "90 ED" 2OO LPRINT 1 2 1 0 L P R T N"T 0 0 M O 1 1 " "110MO 12" 220LPRINT " 230 LPRINT 120 MO 13" " 240 LPRINT 130 RT"

End the program. M o v et o p o s i t i o n 1 . 1 Move to position12. Move to position13. End the subroutine.

Subroutine

3. DESCRIPTION THECOMMANDS OF

GT (Go To)
IFunctionl Permits program the sequence jump to a specified number nconditiona to line u lry. Ilnput Format]
G T ( L i n e n um b e r )

W h e r e ,1 5 Isample Inputl Gr 1024 I Explanation I

L i n e n u m b e r= 2 0 4 8

(1) This commandcauses programsequence jump to a specified the to line number. (2) lf the specified line number is not available, first line numberfollowingthe the specified one is executed. Isample Program I " 1 0 L P R I N T2 0 M O 1 " " 20 LPRINT30 GT 1OO" 2 0 0 L P R T N" 1 0 0 M O 1 2 " T 1 2 r 0 L P R T N"T 1 0 M O 1 5

l\4ove position1. to Jump to line number 100 u ncond itionally, Move to position12. Move to position 15.

3. DESCRIPTIONTHECOMMANDS OF

lC (lncrementCounter)
(Function I Adds 1 to the value in a specified counter. Ilnput Formatl lC (Counter umber) n

W h e r e ,1 : ! (SampleInputI
t\- zc

C o u n t e r u m b e rS 9 9 n

I Explanation I (1) Error mode II is causedif the countervalue becomesgreaterthan 32767. (2) The commandcan be usedto countthe numberof workpieces job sequences and and to set the number of grid points in the pallet. (3) The contents of the counter can be changed,compared,or read by the (SeecommandsSC, DC, CP, and CR.) counter-related instructions. Isample Program ) "T C 2 1 , 1 5 " S 10 LPRTN " 2 0 L P R I N T I C 2 1" X I nt h ea b o v e x a m p l e , n en u m b e r 0s e t s a l u e1 5i n c o u n t e2 1 a n dl i n en u m b e r 0 e li 1 v r 2 causesthe counterto be incremented 1. by

3. DESCRIPTION THECOMMANDS OF

LG (lf Larger)
IFunction) a Causes jump to occur if the contentsof the internalregisterare greaterthan a specified value when compared. Ilnput Formatl L G ( C o m p a r e d a l u e ) , ( J u m p i n gl i n e n u m b e r ) v < Where, -32767 5 Compared value (decimal) +3T167 < or &8001 S Compared value {hexadecimal) &7FFF 1 < J u m p i n gl i n e n u m b e r5 2 0 4 8 (SampleInputI LG 12a, 1024;or LG &80, 1024 IExplanation I causes jump to occurconditionally meansof an external a by input {1) Thiscommand data or the contentsof the internalcounter. register greaterthan the compared is of comparison 12) lf the contents the internal line value 1i.e., when the condltionis met),the programjumps to the specified (i.e., in is not met),the programcontinues number;otherwise when the condition seouence. comparison register executing input by the {3) A valuecan be loadedintothe internal instruction inputdataor by executing compare the {seelD and lN)for an external (see for instruction CP) the counter to counter data.lt is therefore necessary execute previously either of these commandsso that a conditional .jumpcan occur. (4) The comparedvalue may be definedeitherin decimalor hexadecimal. When a "&" at the beginningof the hexadecimal number is used, be sure to append number. (sample Programl " 1 OL P R I N T 1 O O D " I 2 0 L P R T N" 1 1 0 L G 1 0 0 ,1 3 0 " T "120 ED" 30 LPRINT 4 0 L P R T N" 1 3 0 M O 7 " T

Fetchdata from externalinput port. J u m p t o l i n e n u m b e r1 3 0 i f t h e i n p u t d a t a i s greaterthan 100. is Endthe programif abovecondition not met. Move to position7.

OF 3. DESCRIPTIONTHECOMMANDS

NE (lf Not Equal)

(Function I do register not equala specified of Causes jump to occurif the contents the internal a v a l u ew h e n c o m p a r e d . Ilnput Format) v N E ( C o m p a r e d a l u e ), ( J u m p i n gl i n e n u m b e r ) < \Nhere.-32767 S Compared value (decimal) +32767 < (hexadecimal) &7FFF value or &8001 5 Compared 1 5 J u m p i n gl i n e n u m b e r5 2 0 4 8 Isample Inputl NE 128, 1024:or NE &80, 1024 I IExplanation input by (1) Thiscommandcauses jump to occurconditionally meansof an external a data or the contentsof the internalcounter. value do register not equalthe compared comparison of t2l lf the contents the internal (i.e., line number; is when the condition met),the programjumpsto the specified (i.e., in continues sequence. is when the condition not met),the program otherwise sequence.

the by register executing input ( 3 ) A valuecan be loadedintothe internal comparison the (seelD and lN) for an external by executing compare inputdataor instruction (seeCP)for the counter data.lt is thereforenecessa to execute ry counter instruction previously either of these commandsso that a conditional .iumpcan occur. When a ( 4 ) The compared value may be definedeitherin decimalor hexadecimal. "&" at the beginningof the number is used, be sure to append hexadecimal numDer.

) Isample Program "1OOD" I 1 OL P R I N T " 1 1 0 N E 1 0 0 ,1 3 0 " 20 LPRINT "120 ED" 30 LPRINT "130 MO 7" 40 LPRINT

Fetchdata f rom externalinput port. J u m p t o l i n en u m b e r1 3 0if the input data does not equal 100. is End the programif abovecondition not met. Move to position7.

3. DESCRIPTION THECOMMANDS OF

NWx (New)
IFunction) Deletes program and positiondata. all Ilnput Format) NW

Isample InputI

(Explanation ) (1) Thiscommand deletes programs all and position datastoredin the driveunit RAM. (2) The command does not. however,delete the referencepositiondata in the cartesian coordinate system. ISample Program ) "NW" 10 LPRINT

; Deleteall programsand positiondata.

3. DESCRIPTIONTHECOMMANDS OF

NX (Next)
I Function I Specifies rangeof a loop in a program the executed the command by RC. Ilnput Format)
NX

ISample Inputl NX I Explanation I (1) Thiscommand, usedin combination with the RCcommand, specifies rangeof a the loop in a program executedby the RC command. (2) Error mode II is causedif there is no mating RC commandspecified. (SampleProgram) See command RC.

3, DESCRIPTIONTHECOMMANDS OF

RC (RepeatCycle)
IFunctionl
R e p e a t st h e l o o p s p e c i f i e d b y t h e c o m m a n d N X a s p e c i f i e d n u m b e r o f t i m e s . Ilnput Fo]matl

RC 'No. of repeatedycles) c
'l

Where,

5 No, of repeatedcycles < 32767

Isample Input) RC 32 I Explanation ) (1) Thiscommand,used combination in with the NX command, causes loopspecified a by the NX command be executed specif numberof timesandcauses line ied to a the number following NX to be subsequently executed. (2) To incorporate anotherloop (between and NX) into the existing RC loop (between "nesting."Up to 9 nestinglevelsare possible. RC and NX) is called ISample Program) " 1 0 L P R I N T2 0 M O 1 " " 20 LPRINT30 RC3" "40 30 LPRINT " 40 LPRINT50 "60 50 LPRINT " 60 LPRINT70 "80 70 LPRINT MO 2" MO 3" MO 4" NX" MO 5"

Move to position 1. Repeat loop delimited by NX three times. Move to position 2. )

^ rvrove posrron J. ro Move to position4. Delimithe loop. Move to position5. l

i l

Loop

3, DESCRIPTIONTHECOMMANDS OF

RNX (Run)
(Function I part of instructions a program. Executes specified a in (lnput Format)
R N | ( S t a r t i n g i n e n u m b e r )1 [ , < E n d i n gi n e n u m b e r )] l l Where, 1 5 Starting/ending number 5 2048 line Isample Inputl RN 20, 300 I Explanation ) (1) This commandcauses the programto run starting with a specified startingline n u m b e ra n d e n d i n gw i t h t h e l i n e n u m b e ro n e a h e a da s p e c i f i e d n d i n g l i n e e number. (2) lf the program is to continue,restartwith the ending line number. (3) lf the teaching box is connected, line numberbeingexecuted shown on its the is LEDdisplay. an endingline numberis specified, programstopswith that line lf the n u m b e rs h o w n o n t h e L E D . (4) lf the starting linenumberis omitted, program the starts with the firstline number. ISample Program) 1 0 L P R T N" 1 0 0 M O 1 0 " T " 20 LPRINT110 MO 12" "120 GC" 30 LPRINT " 40 LPRINT130 MO 17" " 50 LPRINT 140 ED" "RN 100" 60 LPRINT

with line number100. ; Runthe programstarting

3, DESCRIPTIONTHECOMMANDS OF

RT (Return)
(Function I Completes subroutine returns the main program. a and to I InputFormatl
RT

(sample Inputl RT IExplanation ) (1) Thiscommand completes subroutine the called the GS command by and returns to the main program. (2) Error mode II is causedif the mating GS command is not specified. Isample Program ) S e e c o m m a n dG S .

OF 3. DESCRIPTIONTHECOMMANDS

SC (Set Counter)
) IFunction counter. value in a specified Loadsa specified Ilnput Formatl SC (Counternumber) , [ (Value) ]

n W h e r e ,1 5 C o u n t e r u m b e r< 9 9 -32767 < Value {decimal) +32767 < < (hexadecimal) &7FFF or &8001 5 Value Isample Inputl sc 15,123 (Explanation I 11)All countersare initiallyset to 0. (2) The commandcan be usedto countthe numberof workpieces job sequences and and to set the number of grid points in the pallet. (3) The defaultvalue is 0. (4) The contents of the counter can be changed,compared,or read by the (See commandslC, DC, CP, and CR.) instructions. counter-related (5) The value loadedin the counteris not changed the commandRS,NW, or ED. by I Isample Program "SC 21, 15" 1 OL P R I N T " 2 0 L P R I N TI C 2 1 " 2 v r li 1 X l n t h ea b o v e x a m p l e , n en u m b e r 0s e t s a l u e1 5i n c o u n t e2 1 a n dl i n en u m b e r 0 e by causesthe counterto be incremented 1.

3. DESCRIPTIONTHECOMMANDS OF

SM (lf Smaller)
IFunction I Causes jump to occurif the contents the internal a of register smaller are than a specified valuewhen compa red. Ilnput Format]
SM ( C o m p a r e dv al ue )

( J u m p i n gl i n e n u m b e r )

Where, -3Z161 5 Compared < value (decimal) +32767 (hexadecimal) &7FFF < or &8001 5 Compared value < J u m p i n gl i n e n u m b e r5 2 0 4 8 1 Isample Input) SM 128, 1024;or SM &80, 1024 (Explanation I (1) Thiscommand causes jump to occurconditionally meansof an external a by inpur data or the contentsof the internalreqister. of {2) lf the contents the internal comparison register smallerthan the compared is value (i.e.,when the conditionis met),the programjumps to the specified line (i.e., number;otherwise when the condition not met),the programcontinues is in seq uence. (3) A valuecan be loadedinto the internal comparison register executing input by the (seelD and lN) for an external instruction inputdataor by executing compare the (see for counterinstruction CP) the counterdata.lt is therefore necessa to execute ry previously either of these commandsso that a conditional iumo can occur. (4) The comparedvalue may be definedeitherin decimalor hexadecimal. When a hexadecimal number is used, be sure to append "&" at the beginningof the number. Isample Program) " 1 OL P R I N T 1 O O D " I "110SM 100, 20 LPRTNT 130" "120 ED" 30 LPRINT " 40 LPRINT 130 MO 7"

Fetchdata from externalinput port. J u m p t o l i n e n u m b e r1 3 0 i f t h e i n p u t d a t a i s smallerhan 100. t Endthe programif abovecondition not met. is Move to position7.

3. DESCRIPTIONTHECOMMANDS OF
2.3 HandControl Instructions

GC (Grip Close)
IFunction I
Closesthe grip of the hand. Ilnput Formatl

Isample Input)

I Explanation I (1) Motor-operated nd. ha The commandcausesthe grip of the hand to be closedby the grippingforce grippingforce" is only valid waveformdefinedby the commandGP. "Retained if among the command GP parameters the commandGC is used repeatedly. (2) Pneu matically-operated hand: to valveto be energized closethe hand (or to The commandcauses solenoid the attractthe workpiece). (3) A certainperiod of time is requiredbeforethe motion of the robot becomes to This may makeit necessary to stabilized its handcloses hold the workpiece. as The Tl introduce time delayusingthe command beforeand afterthis command. a "starting gripping by time of this commandis determined the parameter execution force retention time" for the GP command.(SeecommandGP.) Isample Program) 1 0 L P R T N" 1 0 0 M O 1 0 , O " T " 1 1 0T l 5 " 20 LPRTNT "12O GC" 30 LPRINT " 4 0 L P R I N T 1 3 0T l 5 " T 5 0 L P R T N" 1 4 0 M O 1 5 , C "

Move to position10 (with hand open). Set 0.5-sec. timer. Closehand (to hold workpiece). timer. Set 0.5-sec. Move to position15 (with hand closed).

3. DESCRIPTIONTHECOMMANDS OF

G F (Gri p F lag)
lFunction ) with the state of the grip of the hand (usedin conjunction Defines the open/close c o m m a n dP D ) . (lnput Format)
GF (Switch)

Where,switch: 0 or 1 ISample Inputl

L]T I

I Explanation I (1) Thiscommanddefines openor closestateofthe handgrip usedin conjunction the position of with the command PD which definesthe coordinates a specified (2) The grip stateis openwhen the switchis setto 0 and closed when the switchis 1. The switch is set to 0 (grip opened)when power is turned ON. (3) The switch setting,once made, remainsvalid until it is newly set. (sample Program) See command PD.

3. DESCRIPTIONTHECOMMANDS OF

GO (Grip Open)
I Function ) O p e n st h e g r i p o f t h e h a n d . Ilnput Format)

IsampleInput) GO
IExplanation ] ( 1 ) M o t o r - o p e r a t e dh a n d : The command causesthe grip of the hand to be opened by the gripping force waveform defined by the command Gp. ,,Retained ripping force,.is only valld g among the command Gp parametersif the command Go is used re'eatedrv. ( 2 ) P n e um a t i c al l y - o p e r a t e d h a n d : T h e c o m m a n d c a u s e st h e s o r e n o i dv a r v e t o b e e n e r g i z e dt o o p e n t h e h a n d ( o r t o r e l e a s et h e w o r k p i e c e . ) (3) A certain period of time is required before the motion of the robot becomes s t a b i l i z e d s i t s h a n d o p e n st o r e l e a s e h e w o r k p i e c e . h i s m a y m a k e i t n e c e s s a r y o a t T t i n t r o d u c ea t i m e d e l a y u s i n g t h e c o m m a n d l b e f o r e a n d a f t e r t h i s c o m m a n d . T h e e x e c u t i o nt i m e o f t h i s c o m m a n d i s d e t e r m i n e db y t h e p a r a m e t e r, , s t a r t i n g r i p p i n g g force retention time" for the Gp command. (See command Gp.)

(sample Programl " 1 0 L P R I N T1 0 0 M O 1 0 ,C " 2 0 L P R T N" 1 1 0 T t 5 " T ",120GO" 30 LPRINT 4 0 L P R T N" 1 3 0 T t 5 " T 5 0 L P R T N" 1 4 0 M O 1 5 , O " T Move to position10 (with hand closed). Set 0.5-sec. timer. Open hand (to release workpiece). Set 0.s-sec. timer. Move to position15 (with hand open).

3. DESCRIPTION OF

GP (Grip Pressure)
(Function I Defines grippingforceto be applied the when the motor-operated hand is closeoand opened. (lnput Formatl g G P ( S t a r t i n g r i p p i n go r c e ) f force retentiontime)
( R e t a i n e dg r i p p i n g f o r c e )

(Starting gripping

W h e r e , 0 < Starting/retained i p p i n g o r c e 5 1 5 gr f

0 < Startingg rippingforce retention time < 99

Stading gripping force Close R e t a i n e dg f l p p i n g force Grippingforce Time Startinggripping retentron time

Open

ISample Input] G P 1 5 .7 . 5 IExplanation ] (1) This commandsetsthe grippingforce of the motor-operated hand (option)as it c h a n g e s i t h t i m e . ( S e ec o m m a n d s O a n d G C . ) w G (2) The startingand retained grippingforcesare 15 at their maximumand 0 at their minimum. The starting gripping forceretention time is the parameter X0.1 seconos (max.9.9 seconds). Define the parameters optimumfor the workpiece be heto. to The parameter setting,once made, remainsvalid until a new settingis made. ( 3 ) T h e i n i t i a ls e t t i n g s h e n t h e p o w e r i s t u r n e dO N a r e , , G p 1 0 , 1 0 , 3 . " w (4) Parameters, starting and retained gripping forces, invalid the pneumaticallyare for operatedhand. (5) The robot motion stops during the startinggrippingforce retention time.
I s a m p l e P r o g r a m) "GP 10 LPRINT 10,6,10" "GC" 20 LPRINT

re. ; Set grip pressu Closehand in above settings. ;

3. DESCRIPTIONTHECOMMANDS OF
2.4 l/O ControlInstructions

lD (lnput Direct)
IFunction ) from the input port Fetches externalsignal unconditionally an Ilnput Formatl ID

(sample Inputl ID IExplanation I (1) This commandcauses signal{parallel data)from external a equipment such as a programmable to from the input port. controller be fetchedunconditionally (2) The datafetched loadedintothe internal is register comparison and is subsequent(SeecommandsEO, NE, LG, SM, and TB.) ly used for comparison and bit test. (3) For detailed descriptionof connections, see CHAPTER INTERFACE 3 WITH EXTERNAL EOUIPMENT, I/O APPENDIX. Isample Program ) " 1 O OD " 1 OL P R I N T I " ' 1 0 E O 1 0 0 ,1 3 0 " 20 LPRTNT 1 30 LPRINT" 120 ED" 4 0 L P R T N" 1 3 0 M O 7 " T

Fetchdata from externalinput port. 1 J u m pt o l i n en u m b e r 3 0i f t h e i n p u td a t ae q u a l s 100. End the programif abovecondition not met. is Move to position7.

3. DESCRIPTION THECOMMANDS OF

lN (l n p u t)
IFunction) Fetches external an signalsynchronously from the inputport (using the controlsignal l i ne s) . Ilnput Formatl IN

DATA (IN) BLISY(OUT) s T B -( r N )

U F
-

Type A8, 416 l/O

DATA (IN)

BUSY (OUT) STB(IN)

Type 88, 816 l/O

_n_

Isample Inputl IN (Explanation l (1) This commandcauses signal(parallel a data)from external equipment such as a programmable controller be fetched to synchronously from the input port.At this time, the controlsignallines (STBand BUSYsignalsor STB and BUSYsignals) must be previously connected the externalequipmentto (2) The datafetched loadedintothe internal register and is subsequentis comparison ly used for comparison and bit test. (SeecommandsEO, NE, LG, SM, and TB.) (3) For detailed descriptionof connections, see CHAPTER INTERFACE 3 WITH EXTERNAL EOUIPMENT, YO APPENDIX, Isample Programl " 1 OL P R I N T 1 O O N " I 2 0 L P R T N" 1 1 0 E O 1 0 0 ,1 3 0 " T "120 ED" 30 LPRINT 4 0 L P R T N" 1 3 0 M O 7 " T

Fetchdata from externalinput port. Jump to linenumber130if the inputdataequals 100. Endthe programif abovecondition not met. is Move to position7.

3. DESCRIPTIONTHECOMMANDS OF

OB (Output Bit)
(Function I Sets the output state of a specified through an externaloutput port. bit (lnput Formatl OB (+ or -) (Bit number)

< W h e r e0 5 B i t n u m b e r 7 { 1 5 ) , ( ) is for type416 or 816 l/O card. Figure in (sampleInputl

o B+ 1
IExplanation I (1) Set* to turn ON the specified and - to turn OFF specified Append + bit the bit. the or * sign in front of the bit number. (2) All bits otherthan the specified one are not affected this command. by The output stateof the specified is retained bit untila new setting madeby the command is OB, OD, or OT. (3) lf no bit number is specified, defaultsto bit 0. it Isample Programl 10 LPRINT"OD & FF" 20 LPRINT"OB -0"

(&FF). ; Output data in hexadecimal

X In the aboveexample, number10setsall external (bits0 to 7)to ON and line line bits number 20 sets bit 0 to oFF.

3. DESCRIPTION THECOMMANDS OF

OD (Output Direct)
IFunction I Outputs specified data unconditionally through the outputport. Ilnput Fo]matl
OD (Output data)

Where, 0 (-327671 5 Output data (decimal) < 255 l+32767l. < &0 {&8001)S Output data (hexadecimal) &FF (&7FFF) Figurein ( ) is for type A16 or 816 l/O card. lsample Inputl oD7 I Explanation ) (1) Thiscommand causes signal(parallel a data)to be outputunconditionally through the outputportto external The equipment suchas a programmable controller. data output to externalequipmentis retained. (2) The output data is definedeitherin decimalor hexadecimal. data definedrn For hexadecimal, sure to append "&" at the beginning. be (3) For detailed descriptionof connections, WITH see CHAPTER INTERFACE 3 EXTERNAL EOUIPMENT, YO APPENDIX, (SamplePrograml "OD &FF" 10 LPRINT

output port bits (8 bits)to ON. ; Set all external

3. DESCRIPTIONTHECOMMANDS OF

OT (Output)
IFunction I Outputs specified synchronously data port(using control through output the the signal
l i ne s) .

Ilnput Formatl
OT (Output data)

Where, 0 l-32767]. < Output data (decimal) < 255 (+327671 < &0 (&8001)< Output data thexadecimal) &FF (&7FFF) F i g u r ei n ( ) i s f o r t y p e 4 1 6 o r 8 1 6 l / O c a r d .
DATA (OUT}

nov(our)

Type 48, 416 l/O

A C K( r N )

DATA (OUT) R D Y( O U T ) Type88,816 l/O

nCr lrr.r t tnput) ISampte

or7
IExplanation I (1) This commandcauses signal(parallel a data)to be outputsynchronously through the output port to external equipment suchas a programmable controller. this At time,the controlsignallines(RDY and ACKsignals RDYand ACKsignals) or must be previously connected the external to equipment. The data output to external equipment is reta ined. (2) The output data is definedeitherin decimalor hexadecimal. data definedin For hexadecimal, sure to append "&" at the beginning. be (3) For detailed descriptionof connections, see CHAPTER INTERFACE 3 WITH EXTERNAL EOUIPMENT. YO APPENDIX. ISamptePrograml "OT &FF" 10 LPRINT

output port bits (8 bits)to ON. ; Set all external

3. DESCRIPTION THECOMMANDS OF

TB (Test Bit)
(Function ) Causes jump (or no jump)to occurby meansof the contents a specified in the a of bit internalregister. Ilnput Formatl TB (+ or -) ( B i t n u m b e r ), ( J u m p i n gl i n e n u m b e r )

< W h e r e0 5 B i t n u m b e r 7 ( 1 5 ) , < J u m p i n g i n en u m b e r 2 0 4 8 1 l 5 F i g u r en ( ) i s f o r t y p e4 1 6 o r 8 1 6 l / O c a r d . i IsampleInput) TB +7, 1024 I Explanation I (1) Thiscommand input causes jumpto occur a conditionally means an external by of
data or the contentsof the internalcounter. (2) The programjumps to the specified bit line numberif the specified in the internal or register ON when the parameter hasbeendefined is OFFwhen is * comparison (i.e.,if the conditionis not met),the parameter has been defined.Otherwise programcontinuesin sequence. (3) A valuecan be loadedintothe internal register executing input by the comparison (seelD and lN)for an external instruction input dataor by executing compare the (see to instruction CP)for the counter data.lt is therefore necessary execute counter jump can occur. previously either of these commandsso that a conditional Isample Program I " 1 O OD " 1 OL P R I N T I " 1 1 0T B 20 LPRINT

+1, 130"

"120 ED" 30 LPRINT "130 MO 7" 40 LPRINT

Fetchdata from externalinput port. Jump to line number 130 if the first bit of the i n p u td a t a i s O N . Endthe programif abovecondition not met. is Move to oosition7.

3. DESCRIPTIONTHECOMMANDS OF
2.5 RS232C Read lnstructions

CR (CounterRead)
IFunction I (using Reads contents a specified the RS232C). of counter llnput Formatl
CR (Counternumber)

Where, 1 = Counternumber 5 99 ISample Inputl CR 75 (Explanation I (1) This commandcauses the contents a specified of counterto be outputfrom the RS232Cport. (2) The output format is ASCIIcode decimalnumbers. (3) The terminator output data is carriage of return(CR,Hex.0D).lf the data is to be personal received a by therefore, is necessary handle entiredata it to computer, the streamup to hex.0D.The BASIC to equivalent this is the LINEINPUT# statement. (4) lf an undefinedcounteris read,the initial value 0 is returned. (sample Programl 1 0 O P E N" C O M 1 : 9 6 0 0 ,E , 7 , 2 " A S f r 1 N 2 0 I N P U T" C O U N T E R O . : " ; N D 3 0 I N P U T" C O U N T E R A T A : " ; D 50 60 70 80 P R | N T # 1 " C R " + S T R $( N ) , L I N EI N P U T + 1 A $ , PR|NTA$ END R U NI N C O U N T E R O . : ? 1 0J C O U N T E R . D A T A :? 2 s 5I 255

", 4 0p R r N r # 1s c " + s r R $( N )+ " , " + s r R $( D )

X In the aboveexample, which Mitsubishi in line number10 MULTll6 is employed, opensthe RS232C communication and linenumbers and 30 enterthe desired file 20 counternumber and data. Line number40 usesthe commandSC to definethe counternumber and data and line number 50 transmitsthe commandCR and counter number. Linenumber60then uses LINEINPUT# statement storethe to the received data in A$ and line number70 outputs the contents the dataon to the of displayscreen.

3. DESCRIPTION THECOMMANDS OF

DR (Data Read)
I Function ) Readsthe contentsof the internalregister(usingRS232C). (lnput Format) DR

Isampte Inputl DR I Explanation I (1) This commandcauses the contents the internalregister be outputfrom the of to port. lf executed RS232C followingan input instruction, commandallowsthe the data of the externalinput port to be read from the RS232C port. (2) The outputformatis ASCII codehexadecimal numbers appended with "&H" at the beginning. (3) The terminator outputdata is carriage of return(CR,Hex.0D).lf the data is to be received a personal by computer, therefore, is necessary handle entiredata it to the stream to hex.0D.The BASIC up equivalent this is the LINEINPUT+ statement. to Isample Program) 1 0 O P E N" C O M ' ]: 9 6 0 0 E , 7 , 2 " A S # 1 , f 1 20 PRTNT , "tD" 3 0 P R I N T f1 , " D R " 4 0 L I N EI N P U T # , A $ 1 PRINT"INPUTDATA : " ; A$ 50 60 END R U NI INPUTDATA : &HFF X In the aboveexample, which Mitsubishi in MULTll6 is employed, line number10 opensthe RS232C communication and line number20 loadsthe data of the file inputport intothe internal register usingthe directinputcommandlD.Linenumber 30 then transmitsthe commandDR. Line number40 next usesthe LINEINPUT statement storethe received the to datain A$ and line number50 outputs contents of the data to the displayscreen.

3. DESCRIPTIONTHECOMMANDS OF

E R x (Err orRead)
I Function ) Readsthe statusof the error (usingRS232C). (lnput Formatl ER

ISample Inputl ER (Explanation l (1) Thiscommandcauses status the error,as it may or may not be occurring the of in the robot, to be output from the RS232Cport. (2) The corresponding data is output using ASCIIcode: 0 when there is no error occurring;1 in error mode I ; and, 2 in error mode II. (3) The datacan be readnot only in the normalcondition alsoin error mode I or but (4) The terminator output data is carriage of return(CR,Hex.0D).lf the data is to be received a personal by computer, therefore, is necessary handle entiredata it to the streamup to hex.0D.The BASIC equivalent this is the LINEINpUT+ statement. to (5) This commandis effective when usedto checkfor the occurrence error before of transferring data streamfrom a personal a computerto the robot. Isample Program ) " C O M 1 : 9 6 0 0 ,E , 7 , 2 " A S + 1 10 OPEN 20 PRINT1, "MO 1" # 3 0 G O S U B1 O O 40 PRINT# , "MO 2" 1 5 0 G O S U B1 O O i 1 O O R I N T # 1",E R " P 1 1 0 L I N EI N P U T # , A $ 1 1 2 0 l F A $ : " 0 " T H E NR E T U R N " 1 3 0P R I N T E R R O R C C U R S " O ! 1 4 0E N D X I n t h e a b o v ee x a m p l ei,n w h i c hM i t s u b i s h i U L T l l 6i s e m p l o y e dl , n en u m b e r1 0 M i opens the RS232C communication and line numbersfrom 20 and onwaro file transfercommandsto the robot. Note that subroutine 100 is calledeachtime a command is transferred, checkfor the occurrence error. to of

3. DESCRIPTION THECOMMANDS OF

LRX (L i n e Readl
(Function ) Readsthe program on a specified line number (usingRS232C). Ilnput Formatl LR (Linenumber)

Where, 5 1 Isample Input) LR512 IExplanation I

L i n en u m b e r5 2 0 4 8

(1) Thiscommand causes contents the program a specified numberto be the of on line port. output from the RS232C (2) The data is output using ASCIIcode. (3) The terminator output data is carriage of return{CR,Hex.0D).lf the data is to be received a personal by computer, therefore, is necessary handle entire it to the data streamup to hex.0D.The BASIC equivalent this is the LINEINPUT# statement. to (4) When an undefinedline number is read, only ODHis returned. enteredin hex.are converted {5) The parameters into decimal equivalents which are "OD & FF" is output, (Example: into "OD 255.") converted Isample Program I " C O M 1: 9 6 0 0 ,E , 7 , 2 " A S # 1 10 OPEN " T 2 0 I N P U TS T A R L I N E : " ; S " E N D L I N E: " E 30 INPUT t 40 FOR I:S TO E " 5 0 P R | N T # 1 , L R " + S T R ${ r ) 6 0 L I N EI N P U T + 1A $ , 70 rF A$ :" " rHEN 90 80PR|NTl;:PRINTA$ 90 NEXT l O OE N D R U NI STARTLINE:?lj : E N DL I N E ? 8 l 1 N T 2MO'1 4 D W + 1 0 . 0 ,+ 2 0 . 0 , - 3 0 . 0

6 rvro2

8ED

3, DESCRIPTIONTHECOMMANDS OF
X I n t h e a b o v ee x a m p l ei,n w h i c hM i t s u b i s h i U L T l l 6i s e m p l o y e dl , n en u m b e r1 0 M i opens the RS232c communication and linenumbers and 30 enterthe starting file 20 and endingline numbers a complete for listingof programs between two lines. the Linenumber50 transmits commandLR and the line numbersrepresented a the by character string. Linenumber60 then uses the LINElNpur # statement storethe to received datain A$ and line number70 verifies presence the data.lf thereis the of data,linenumber80 causes contents be shownon the display its to screen together with the corresponding numbers. thereis no data,the program line lf jumpsto line number 90 and reexecutes line numbers40 and onward.

3. DESCRIPTIONTHECOMMANDS OF

PR (PositionRead)
IFunction I Reads coordinates a specified the (usingRS232C). position of (lnput Formatl
PR (Position umber) n

Where, 1 5 Positionnumber S 629 ISample Input) PR5 I Explanation ) (1) Thiscommand causes coordinates a specified position be outputfrom tne the of to port. RS232C 12)The data is output using the ASCII code as shown below. The least outpur i n c r e m e nits 0 . 1 m mo r 0 . 1 " . Outputformat:X-axis coordinate, Y-axis coordinate, pitchangle, Z-axis coordinate, r o l l a n g l e0 D ( H e x . ) (3) The delimiterof the data is a comma (,: Hex.2C) and the terminator carriage is return(CR, Hex.0D). the datais to be received a personal lf by computer, therefore, it is necessary handle entiredatastream to hex.0D. to the up The BASIC equivalent to this is the LINE INPUT + statement. ( 4 ) W h e n a n u n d e f i n e d o s i t i o n s r e a d ,0 ' s a r e r e t u r n e d 0 , 0 , 0 , 0 , 0 ) . p ( i ISample Programl 1 0 O P E N" C O M 1 : 9 6 0 0 ,E , 7 , 2 " A S # 1 " 2 0 I N P U T P O S I T I O N .: " ; P NO 3 0 P R I N T f I , " P R " + S T R $( P ) 4 0 L I N EI N P U T # 1A $ , 50 PRINT $ A 60 END R U NJ P O S I T I O N O . : ? 1 sl +10.0, +380.0, +300.0. -70.0. -40.0 X I n t h e a b o v ee x a m p l ei,n w h i c hM i t s u b i s h i U L T l l 6i s e m p l o y e dl , n en u m b e r' 1 0 M i opens the RS232C communication and line number 20 entersthe position file numberwhosecoordinates to be read.Linenumber30 transmits commano are the PRandthe position number. Linenumber40 then uses LIN INPUT# statement the E to storethe received datain A$ and linenumber50 outputs contents the dara the of to the d isplavscreen.

3. DESCRIPTIONTHECOMMANDS OF

WH (Where)
IFunction I
R e a d s t h e c o o r d i n a t e s o f t h e current position(using RS232C).

I InputFo]matl WH
(SampleInput) WH IExplanation ) (1) This commandcausesthe coordinates the currentpositionof the end of the of hand,as determined the tool lengthcurrently (by by established commandTL),to be output from the RS232C port.

12) The data is output using the ASCII code as shown below. The least output
i n c r e m e nits 0 . 1 m mo r 0 . 1 ' . Outputformat:X-axis coordinate, Y-axis coordinate, Z-axis pitchangle, coordinate, r o l l a n g l e0 D ( H e x . ) ( 3 ) The delimiterof the data is a comma (,: Hex.2C) and the terminatoris carriage return(CR, Hex.0D).lf the datais to be received a personal by computer, therefore, it is necessary handle entiredatastream to hex.0D.The BASIC to the up equivalent to this is the LINE INPUT # statement. ISample Program I " C O M 1 : 9 6 0 0 ,E , 7 , 2 " A S # 1 10 OPEN 2 0 P R I N T # 1", W H " , 3 0 L I N EI N P U T # 1A S " T :" 40 PRINT CURRENPOSITION ; A$ 50 END R U NI : cURRENT POS|T|ON +10.0, +380.0, +300.0, -70.0, -40.0 X In the aboveexample, which Mitsubishi in MULTll6 is employed, line number10 opensthe RS232C communication and line number20 transmits command file the WH. Line number30 then usesthe LINEINPUT# statement storethe received to datain A$ and linenumber outputs contents 40 the ofthe datato the displav screen.

3. DESCRIPTION THECOMMANDS OF
2.6 Miscellaneous

RSX (Reset)
I Function ) Resets the program and error condition. (lnput Format) RS

lSample Input) RS (Explanation I (1) This command resetsthe programcausingit to returnto its beginning. (2) The commandalso resets error conditionin error mode II causing an the error indicator LED{ERBOR) go off. Note,however, to that errormode I cannotbe reset by this command.To reset error mode I, turn power OFF. Isample Programl " 1 OL P R I N T R S "

3. DESCRIPTIONTHECOMMANDS OF

TRX (Transfer)
(Function I Transfers the programand positiondata stored in EPROM the drive unit RAM. to Ilnput Formatl TR

ISample Inputl TR IExplanation I (1) Thiscommand causes contents the installed the usersocket in inside ofthe EPROM the driveunit sidedoorto be transferred the RAM.Oncethe commandhasbeen to executed, the old programand positiondata stored in RAM are all cleared. (2) The commandexecution indicator LEDlEXECUTE) lightsup instantaneously when the data is being transferred. (3) When bit 4 of SW1 located insidethe driveunit side door is in the upperposition (ON), command position the alsocauses cartesian the coordinate systemreference datain EPROM be readinto RAM.Thistransfer datadoesnot takeplace to of when bit 4 is in the lower position(OFF) the positiondata in RAM remainsvalid. and ISample Program] " 1 OL P R I N T T R "

3. DESCRIPTION THECOMMANDS OF

WRX (Write)
I Function ] programand positiondata into EPROM. Writes the generated (lnput Formatl

WR
(sample Input) WR (Explanation I (1) This commandcauses the programand positiondata generated the drive unit in RAMto be writtenintothe EPROM installed the usersocket in inside driveunrr the side door. The destination EPROMmust have previouslybeen erasedbefore executing the command. (2) Whilethe datais beingwritteninto the EPROM, commandexecution the indicator LED{EXECUTE) the driveunitfront panelstayslit. lt goesout as soonas all data on has been written (whichtakes about 100 seconds). (3) Errormode II is caused the EPROM not beenerased a writeerroroccurs. if has or (sample Programl " 1 OL P R I N T W R "

OF 3. DESCRIPTIONTHECOMMANDS

' (Gomment)
I IFunction to Allowsthe programmer write a comment. Ilnput Format)
' characters] of consisting up to 7 alphanumeric lstring of information

Isample Input) , MELCO I IExplanation (1) This commandallowsthe programmer write a commentconsisting up to 7 of to followingthe ' (apostrophe). characters alphanumeric program to mark (2) Usethis command writethe nameand dateon the generated or to the programas the Commentsare helpfulin later understanding a subroutine. command LR is used. (3) The system ignorescommentsas it processes instructions. its 7, exceeds the whole excessis ignored. {4) lf the number of characters (sample Programl "1 'DATE" 1 OL P R I N T "2 'a70821" 20 LPRINT "3 30 LPRINT NT" "4 40 LPRINT MO 1" line numbers1 and 2 write the datewhen the programwas X In the aboveexample, (21 August 1987). written

L SPECTFtCAT|0l{S 2.0PtRAT|0t{ 3. oESCRtPTt0il c0lt|MAilDS 0r T|lt

4. MAINTENANCE AND INSPECTIIIN

5. APPEIIDICES

(MAINTENANCE CONTENTS AND INSPECTION)

1.

3. ........4-8 C o n s t r u c t i o nt h e R o b o t . ... of . . . . . . . .. . . . . . 4 - 1 0 R e m o v a l oh eC o v e r s . . tf . . . . . .. . . . .............4-12 R e p l a c e m e ntth eM o t o r r u s h of B ..........4-12 3 . 3 . ' 1 h e c k i na n dr e p l a c i ntg ew a i s t r i v e o t o rb r u s h e s . . C g h d m 3.3.2 heckingandreplacingtheshoulder/elbowdrivemotorbrushes.................-.4-15 C .. .. .4-16 3 . 3 . 3R e p l a c i n g ew r i s tp i t c h r i v e o t o r ' . . . . . th d m . . . . . . . . . . . . . . . . . . 4.-.1 . . . .8 3 , 3 . 4R e p l a c i n g t h e w r i s t r o l l d r i v e m o t o r . . . . . . . . . . . . . ......-..-.4-20 3 . 4 A d j u s t m e a n dR e p l a c e m e n tt h e T i m i n B e l t . . . . . . . . . . . . . . . nt of g . .....4-2O 3.4.'1 Replacement frequency. 3 . 4 . 2C h e c k i n g , j u s t i n g ,n dr e p l a c i ntg es h o u l d e r d r i v e t i m i b e | t . . . . . . . . . . . . - . . 4.-.2.1 ad a h ng . . 3.4.3 hecking,adjusting,andreplacingtheelbowdrivetimingbelt......................4-24 C 3 . 4 . 4C h e c k i n g , j u s t i n g ,n dr e p l a c i ntg ew r i s tp i t c h r i v e i m i n g b e l r . - - . - . . . . . . . . --. 2.7 ad a h d t 4 . . ............. . . . . . . . . . . .- 3 0 3 . 5 R e p l a c e m eo ftt h eC u r l e d a b l e s n C 4 .......... ..... 4-32 3.6 lnspection, Adjustment, Replacement the Brakes and of 3 . 6 . 1C h e c k i n g , j u s t i n g ,n dr e p l a c i ntg es h o u l d eb r a k e . ' . . . . . . . . . .... . . . . . . . . . . . . . . - 3 2 ad a h r . 4 . .. . . .... 4-34 3.6.2 Checking, adjusting, replacing elbowbrake and the 3.1 3.2 3.3

4.1 4.2 4.3

4. MAINTENANCE AND INSPECTION

1. MAINTENANCEAND The maintenance inspection procedures and recommended the in INSPECTION SCHEDULEfollowingpagesare mandatory ensurebest possible performto ance of the robot for an extendedperiod of time. Be sure to performthe daily as well as periodicinspection procedures. periodicinspection procedure The must be performed indepenprocedure. dent of the daily inspection
I n s p e c t i o nS c h e d u l e

Differentinspectionitems are covered in differentinspection procedures:'1-month, 3-month, 6-month, and 1-year. The correspondinginspection itemsare addedeach500 hoursof operation in the recommended inspection schedule.

'l-month inspection I monthinspeclion 1 - m o n t i n s p e c t i o n 3 monthinspection h 1 - m o n t ih s p e c t i o n n 1 rnonthinspection o? o 'l-month lnspection 3-month inspection 6 monthinspection i l - m o n t hn s p e c t i o n 1-rnonth inspection 1-rnonth inspection 3-month inspection 1-month inspection 1 monthinspect r'l io 1-month inspection 3-month inspection 6-month inspection

New inspection items are added every 500 hours of operation.

1'year inspection

. I n s p e c t i o n c h du l e g u i d e l i n e s e 'l-shift: 8 h o u r s / d a y X 2 0 d a y sX 3 m o n t h s : A p p r o x . 500 hours 1 0 h o u r s / d a y X 2 0 d a y sX 3 m o n t h s : A p p r o x . 600 hours 2 - sh i f t : 'l '1 5 hou rs/day X 2 0 d a y sX 3 m o n t h s : A p p r o x . ,000hours

4. MAINTENANCE AND INSPECTION

2. INSPECTION ITEMS 2.1 DailyInspection procedure The daily inspection must be performed beforeeach day'soperation, with the 24-hour even operation. Table4.2.1lists the daily inspection items and p rocedu res.
Inspectionltem (Procedurel
Remedial Action

Step
Before power turn'ON

Verifv fhe folrowrng len's 1 to 3 bpfore lLrnrng powe. ON.

Check that the power cable is properly connected. (Vislral)

Connect properly. C o n n e c tp r o p e r l y .

2. 3.

Check that the cable is connected properly between the robot and drive unit. (Visual)

E n s u r et h a t t h e r o b o t a n d d r i v e u n i t a r e f r e e o { c r a c k i n g n d c o n t a m i n a n t s . Replace take necessary a or l M a k es u r e t h e y a r e c l e a r o f o b s t a c l e( f o r o r i g i n s e t t i n g ) .( V i s u a l ) action.

Power tu rn-ON
4.

T L r r np o w e r O N b e r n g a l l e n l r v e l o p o s s i b l e r o b o t m o t i o n .

E n s u r e h e r o b o t d o e s n o t m a l t u n c t i o o r d e v e l o p n u s u a n o i s ew h e n t n u l p o w e r i s t u r n e dO N . ( V i s u a l ) N O T E rN o t e t h e s o u n d o f J 2 a n d J 3 a x i s b r a k e s e i n o r e l e a s e d . b Operation
Returnthe .obot to origin and run your program.

Take necessary action according to 2.3 Troubleshooting.

5.

E n s u r et h e p o i n t o f a x i s m o t i o n i s p r o p e r l ya l i g n e d . t i t i s o u t o f a l i g n m e n t , Take necessary action I check for followings. according to 2.3 Troubleshootrng. 1) Installation olts left loose (Use a tool to retighten.) b Retighten. 2) Hand mounting bolts left loose (Use a tool to retighten.) Retighten. 3) Jigs out of alignment(Visuali Correct position. 4) lf the problem persists, use procedures shown in 2.3 Troubleshooting.

6.

E n s u r e h e r e i s n o u n u s u a ln o i s eo r v i b r a t i o n(. V i s u a l ) t

Take necessary action according to 2.3 Troubleshooting.

fable 4.2.'l Daily Inspection ltems

lf no trouble Verify correct operationof peripherals and start automatic ooeration.

lftrouble

procedureaccording 2.3 TroubPerformtroubleshooting to leshooting.

4. MAINTENANCE AND INSPECTION

2.2 Periodic lnspection items and procedures each aI Table 4.2.2 lists the inspection nspectionfrequency.Part of the inspectionand adjustment procedures detailed in is procedures well as partsreplacement as PROCEDURES. AND INSPECTION ]. MAINTENANCE
Inspection Proceduie and Remedial Action

Step

Inspectionltem

cross-Reference Paragraph

1 - m o n t hi n s p e c t i o n
1 C h e c kl o s e e i f h a n d r n o u n t i n gb o l t s are left loose. Check bolts and screws, both visible a n d i n v i s i b l e ,f o r l o o s e n e s s . Use a wrench to check for looseness and retighten as necessary. Use a wrench and screwdriver to check for looseness and retighten as necessary.

2.

3.

da J Checkcablesfo r scratches, mages, I lsolateand eliminatethe cause. i h la a n d c o n t a m i n a n t l E x t e r n aa n d i n - R e p l a cte e c a b l e f e x c e s s i v edY m s. l aged. t e r n a le x p o s e d a b l e s ) . c

3.5
Contact our service Division for replacement of cables other t h a n t h e c u r l e dc a b l e .

3-month inspectaon
'11 C h e c kt i m i n g b e l t f o r e a c h a x i s ( J 2 , J3, and J4). Check teeth for wear.

t C h e c ka n d a d j u s ta c c o r d i n go t h e g procedures iven in 3. MAINTEN N A N C EA N D I N S P E C T I OP R O C E ' D UR E S . worn, replace lf teethare excessively with a new belt.
Check and adjust according to th procedures given in 3. IMAINTEN A N C E A N D I NS P E C T I O NP R O C E D URE S . R e p l a c e h e b r a k el i n i n g i f e x c e s s i v e t ly damaged. R e p l a c et h e b r u s h i f l h e w e d r e x ceedsthe limit.

3.4.3 3.4.4

12

C h e c kJ 2 - a n d J 3 a x i s b r a k e l i n i n g s for correct gap. Check also for wear and foreign matter trapped.

3.6.2

13

C h e c l J 1 , J 2 - , a n d J 3 . a x i sD C s e r v o m o t o r b r u s h e s{ o r w e a r .

3.3.1 3.3.2

6 month inspection

C h e c kt h e o r i g i n l i m i l s w i t c h r o l l e r s and dogs for wear.

M a k e a v i s u a l c h e c k a n d r e p l a c ea s neceSsary.

Contact our Service Division for replacement and adjustment.

Table 4.2.2 Periodic Inspection ltems (Continue)

4. MAINTENANCE AND INSPECTION

InspectionProcedure and RemedialAction
Closs-Reference Paragraph

Step

Inspectionltem

1 - y e a ri n s p e c t i o n

C o n t a c t o u r S e r v i c e D i v i s i o n f o r ' l - y e a r i n s p e c t , o na s p a r t o l i t s i t e m s i s h i g h l y technical.

Replace J1 , J2-, aod J3-ars DC servomotorDrusnes.

R e p l a c t h e b r u s h ; fi t h a sn o t b e e n e replaced ithinthe pasl one year. w For procedure, see 3. MAINTE. N A N C EA N D I N S P E C T I OP R O C E N DURES, S e e3 . M A I N T E N A N C E D I N S P E C AN T I O NP R O C E D U R E S . R e p l a c eh e t i m i n gb e l t i f i t h a s n o . t beenreplaced ithin the pastone w year.For procedure, 3. MAINTE see N A \ C E A N D I N S P E C T I OP R O C E N D UR E S .
B e p l a c ea s n e c e s s a r y .

3.3.2

R e p l a L e 4 a n d J s - a x i sD C s e ' v o m o J tors.

3.3.4 3.4.3 3.4.4

53

R e p l a c eJ 2 - , J 3 , a n d J 4 - a x i st i m i n g belts.

54

C h e c kJ 3 - a x i sd r i v e l i n k f o r b e n d a n d roller bearings on both ends lor excessrve play. D i s a s s e m b l ea n d c h a n g e g r e a s e i n the harmon;( drive reductioogear for eachaxis.

55

D i s a s s e m b l eh e h a r m o n i c d r i v e r e ' t duction gear and check teeth for wear and damages.Then, change or apply grease. B e p l a c e m i c r o b e a r i n g su s e d i n J 2 , J3, and J4 axes.

C o n t a c to u r S e r v i c e Division.

56
5-7

R e p l a c e i c r o b e a r i n g so r e a c h a x i s . m f

Replace curled cables(for the robot and hand).

Replace the cablesif they have nol been replacedwithin the past one year.For procedure, 3. lvlAlNTEsee N A N C EA N D I N S P E C T I OP R O C E , N DURES,
Replace the cable if it has not been replaced within the past one year. Contact our Service Division.

58 59

Replacecables used in bent sections inside the robot.

Checkorigin limit switchesfor cor- Adjust as necessary. rect operation (positionalreference wath respectto Z phase of the encooer,. Table 4.2.2 Periodic Inspection ltems

4. MAINTENANCE AND INSPECTION

2.3 Troubleshooting procedures Table 4.2.3 lists troubleshooting that may be used should the systemdevelopany malfunction upon power-upor durino roboticoDeration.
Remedy
Connect properly. R e p l a c et h e b l o w n f u s e . Use correct line voltage. Verity correct command. Connect cables properly. Verify that the emergency stop switch is not being activated. Keep the robot clear ot obstacles. lf the brakes are leit applied, adjust brake gaps. (See 3.6.)

Symptom Power does turn ON. not 'l)

Possible Cause Power cord lett unplugged from the outlet 2) Blown fuse 3) Wrong sourcevoltage

Robot is not acti' vated.

1 ) E R R O R E D i s e i t h e rO N o r t l a s h i n g . L

2 ) R o b o t a r m i n c o n t a c tw i t h m e c h a n i c a l stoppers r peripherals o 3) Brakesnot released 4 ) M o t o r p o w e r c a b l el e f t u n p l u g g e d

Robot cannot return Io oflgtn. 1 ) R e t L r n i n gt o o r i g i n n o t i n v o \ e d . 2 ) R e t u r n i n gt o o r i g i n i s n o t t e r m i n a t e d .

Verify correct command and teaching box key operation. Verify correct ON/OFF operation of the limit switches. Encoder Z phase is possibly out of adjustment; contact our Service Divisron. Turn OFF switch. Verify correct input format of the com mand. (See 10.2 Efiot Mode Il, OPERA-

P r o g r a mc a n n o t b e written from the personal com puter.

1 ) Teaching box selectswitch in ON position 2) E R R O RL E D O N

TroN.)
3) Drive unit mode 4) Reset switch not pressed after stop switch has been pressed during execution ot a program. 5 ) P e r s o n a ic o m p u t e r c o n n e c t i o nc a b l e l e f t disconnected.

Select personal computer mode. (Place drive unit STl in the lower position.) Press reset switch.

C o n n e c tc a b l e p r o p e r l y .

Robotstopsduring rts operation.

1 ) E R R O RL E D f l a s h i n g

C o n n e c t c o n n e c t i o nc a b l e s p r o p e r l y , o r
ra^lr^e hr^LAn.rhlo

2) Line voltage drop 3) Power failure includinginstantaneous 4) Emergency stop switch pressed inadvertently 5 ) l M o t o rd e v e l o p i n gu n u s L r a s m e l l l 6 ) D r i v i n g p a r t s d e v e l o p i n gu n u s u a l n o i s e or vibration Poor repeatability 1) Unusual noise developing 2) Robot not securedin position 3) Screws in drive transmitting system left loose 4) Timing belt slack off 5 ) U n u s u a l r e t ur n - t o - o i gi n o p e r a t i o n r 6) Hand attaching screws left loose

Check for excessive robot load. Check for possible contact of arm wrth m e c h a n i c as t o p p e r sa n d p e r i p h e r a l sl.f i t l ''Poor c h e c k so k a y , g o t o repeatability." Use the specified voltage range. R e s t a r tt h e r o b o t b e g i n n i n gw i t h o r i g i n setting. T u r n p o w e r O F F ,t h e n O N . N o w s t a r t t h e r o b o t b e g i n n i n gw i t h o r i g i n s e t t i n g . R e p l a c eb u r n t m o t o r . Go to 'Unusual norseor vibratron

Remove noise source. Securerobot in position. Tighten screws securely. Adjust timing belt tension.(See 3.4.) "Robot cannot return Go back to to " o r i gi n . Tighten screws securely.

Table 4.2.3 Troubleshooting Chart {Continue)

4. MAINTENANCE AND INSPECTION

Possible Cause 1) Robot mounting screws left loose 2 ) B r a k e s e i n ga p p l i e d b l c d g 3 ) H a r m o n id r i v e e v e l o p i nu n u s u an o r s e
Hand cannot be opened or closed.

Symptom U n u s u a ln o i s e o r vibration

Remedy
Tighten screws securely. lf brakes are left applied, adjust brake gaps. (See 3.6.) H a r m o n i cd r i v e m a y b e d a m a g e d .C o n t a c t o u r S e r v i c eD i v i s i o n . Select hand select switch to either AC or DC depending on the type o{ drive o{ the hand being used. Correct parameter. R e m o v e c o v e r a n d m a n u a l l yt u r n t i m i n g pulley insideto checkto see il it turns smoothly. l{ it binds, the hand has reached its service life.

1) Hand selectswitch in wrong position 2) Wrong parameterdefined for GP comm an d 3) Hand reachingits servicelife

Chart Table 4.2,3Troubleshooting

AND INSPECTION 4, MAINTENANCE

3. MAINTENANCEAND INSPECTION PROCEDURES The following parts must be replacedevery 2,000 hours of (lt recomEX fMovemaster RV-M1operation- is manufacturer's ndrs ent replacement necessa and more mendation operatingcondition.) ing on the procedures these of the contain replacement The followingpages parts at the parts to aid the service personnelin replacing to carefully makeyourselves the site.Read procedures customer's f a m i l i a l i zw i t h t h e m . e work may be done by our ServiceCenterat The replacement exDense. customer's partsnot covered the following in Neverattemptto disassemble pages. every 2,000hours of operation: Partsrequiringreplacement 1. 2. 3. 4. DC servomotorbrush (for waist, shoulder,and elbow) DC servomotor{for wrist pitch and roll) elbow, and wrist pitch Timing belt (for shoulder, ) (for power and signal) Curledcable

. The model and quantityof these parts are containedin 4. AND INSPECTION, MAINTENANCE PARTS, SERVICE WARNING procedures when performedmay result The replacement origin.The positiondata must mechanical in misaligned therefore be reviewed after the procedures have been performed.

4. MAINTENANCE AND INSPECTION

3.1 Construction the of Robot Fig.4.3.1 showsthe construction schematic the Movemaster of EX RV-M . 1 ( 1 ) W a i s t( J 1 a x i s )s w e e p . The waist (J1 axis) is driven by J 1 axis motor (J-r and gear(2,' harmonic drive reduction located insidethe base. . J'1 axis limit switch r:31 installed top of the base. is on {2) Shoulder{J2 axis) swivel . The shoulder(J2 axis) is driven by the J2- and J3-axis compositeharmonic drive reductiongear i6.)which is locatedat the shoulderjoint and rotatedby the J2-axis timing belt 15 from J2-axismotor i4r installed insidethe shoulder cover. . lnstalled the inputshaftof the harmonic on drivereductaon gear iO is the electromagnetic brakei7)that prevents the shoulder{rom swivelingdown by its own weight when power is turned OFF. . The J2-axislimit switchi8-l instalied the side of the is on upper arm insidethe shouldercover. (3) Elbow {J3 axis) extension . JustaswithJ2 axis,rotation the J3-axis of motor(91 located insidethe shouldercover is transmitted via the J3-axis timing belt f,o) the J2- and J3-axis to composite harmonic gear .6.r. drive reduction . Botation the J3-axis of outputshaftof the harmonic drive gear(0 is transmitted the J3-axis reduction via drivelinkto the elbow shaft,which resultsin the forearmextending. . As in J2 axis,the electromagnetic brakeis installed the on gear (6). input shaft of the harmonicdrive reduction . TheJ3-axis limitswitchis installed the sideof the upper on a r m i n s i d et h e s h o u l d e c o v e r . r (4) Wrist pitch (J4 axis) . Rotationof the J4-axismotor locatedin the forearm is transmittedvia the J4-axis timing belt t5) to J4-axis gear (10;as a result,the wrist harmonicdrive reduction housingand end effectorare rotated. . The J4-axis limit switchi.ll is installed underthe forearm. (5) Wrist roll (J5 axis) . The hand mounting flangeis rotated the J5-axis by motor (i0and JS-axis gear(-9, harmonic drivereduction which are both mountedon a same shaft insidethe wrist housing. . The J5-axis limit switch?0r installed is underthe forearm.

4. MAINTENANCE AND INSPECTION

J1-axisharmonic a2-,
d r i v e r e d u c t i o nq e a r

il' J2-axisbrake J2-axistim

i4.,J2-axismotor

arE)
Js-axis motor h J2- and J3-axis
compositeharmonic

J4-axis timinq belt

J3-axis output shaft

J3-axis brake Hand mounting flange uPPerarm Shou lder cover

J 3 - a x i sd r i v e l i n k

J3 axis limit swrtch \

J J1 axis limit switch

W r i s th o u s i n g

i
(E)
(lu J5-axls limit switch J2-axis limit switch

l1JJ4-axis limit switch

,r

Base

O J s - a x i s h a r m o n i c d r i v e r e d u c t i o ng e a r J1-axismotor

l
Fig. 4.3.1 Robot Construction Schematic

4. MAINTENANCE AND INSPECTION

removethe coversas 3.2 Removal oftheCovers (1) Whenever the robot is to be serviced, shown in Fig. 4.3.2. (2) Table4.3.1Iiststhe namesof the covers. Table4.3.2givesa screws. completelistingof attaching (3) Some covers may be hard to remove dependingon the position of the robot. In such cases,move the robot as appropriate that the coverscan be removedeasily. so the order of removal the covers,reverse {4) To replace
Key Cover Name
Base side cover

oty
2
1 1 1 1

tr
T;-l 1 z l
fJ L:]

U p p e rs h o u l d e c over r
L o w e r s h o u l d e r cover

tr
fJ

upper arm cover

Forearm cover

t!l

Pulleycover
Cable cover

tr
Key
(a) (b)

Table 4.3.1 Cover Names Screw Name

P h i l l i o sp a n h e a d m a c h i n e s c r e w l v l 3 X 1 4 Hexaqon socket head bolt M3 X 12 Hexagon socket head bolt lvl3 X 14 P h i l l i p sf l a t h e a d m a c h r n e s c r e w l M 3 y 6 P h i l l i p so v a l h e a d m a c h i n e s c r e w M 3 X 6 P h i l l i o so v a l h e a d m a c h i n e s c r e w M 3 X 2 5 Table 4.3.2 Aftaching Screws 5

otv

(c)
(d) (e)

1f)

AND INSPECTION 4. MAINTENANCE

@ .Q (e)

(u)@@ {u)@@ .-....-.

@@ @@@ I

t f ,0
L 0
Fig. 4.3.2 Removal of the Covers

R e n F d4d, d, G}
{b} l{aJ J

lcl

^ @.,

q ^ 1 ,i c.l J

4. MAINTENANCE AND INSPECTION

3.3 Replacement the of Motor Brush The RV-M1 robot uses the DC servomotorwith brush, which makes the replacement the brushat given intervals of necessarV. The DCservomotor with brushis usedin all axes;however, a for reason mechanical of construction, replace wholeservomotor the assemblyfor those used as the wrist pitch and roll drives. As a guideline,replace the motor brush every 2,000hours of o peration.

3.3.1 Checking and I ns p e c { t o n replacing waist the drive motot brushes ( 1 ) F i g . 4 . 3 . 3o u t l i n e st h e i n s p e c t i o na n d r e p l a c e m e n tp r o c e d u r e s

of the waist drive motor brushes.

\ 2 ) R e m o v et h e l e f t a n d r i g h t b a s e s i d e c o v e r s b y r e f e r r i n gt o 3 . 2
Removal of the Covers.

( 3 ) U s i n g a f l a t - b l a d e s c r e w d r i v e r ,t u r n t h e h e a d o f t h e b r u s h
h o l d e r c a p i l , c o un t e r c l o c k w i s e o r e m o v e t h e b r u s h h o l d e r t cap f,r. There are two brush holder caps at right and left. \ 4 ) F i g . 4 . 3 . 4s h o w s t h e s h a p e o f t h e b r u s h a n d t h e b r u s h w e a r l i m i t l e n g t h .C h e c kt h e b r u s h f o r w e a r a n d r e p l a c ei t b e f o r et h e wear limit is reached. ( 5 ) l f t h e b r u s h i s d a m a g e d . r e p l a c ei t w i t h a n e w o n e r e g a r d l e s s of the length of the brush,

( 6 ) C h e c kt h e b r u s h o n e l o c a t i o na t a t i m e . W h e n i t i s r e i n s t a l l e d ,
make sure of the correct installed position and direction.
ti.

Replacement

(1) Followingthe procedure given above,remove all brushes. (2) Usinga vacuumcleaner, removeall carbonparticles from the brush holder Docket. (3) Carbonparticle residual can be a causeof loss of insulation and rectification failurebetween grounding points.Be sureto remove all particles. (4) Installthe new brushes. (5) Afterthe new brushes havebeeninstalled, move eachaxisof motionits maximumstroke the maximumspeedor run the at robot for 30 minutesusing user program. NOTES: 1) Before installing new brush,makesurethe brushis freefrom a g r e a s eo i l , a n d m o i s t u r e . , Neverhandle brushes with grease-stained handsor place them in locations subjectto contamination with greaseand oil.

4. MAINTENANCE AND INSPECTION

2) When removing the carbonparticles, neversubject the motor to grease,oil, and moisture. 3) The brush holder cap Q is providedwith a O-ring.Do not attemptto removethe O-ringfrom the cap. 4) Tighten brush holder cap (f to 4 kgf.cm.

4. MAINTENANCE AND INSPECTION

O Brush holder cap

the Waist Drive Motor Brushes Fig. 4.3.3 Checkingand Replacing

O B r u s hh o l d e rc a p

Wear limit line

Fig. 4.3.4 Brush Shspe

4. MAINTENANCE AND INSPECTION

3.3.2 Checking and replacing the shoulder/elbowdrive motor brushes

Fig.4.3.5 Checking and Replacing the Shoulder/Elbow Drive Motor Brushes

Inspection ( 1 )Fig.4.3.5 procedures outlines inspection the and replacement of the shoulderand elbow drive motor brushes. (2) Remove uppershoulder the coverby referring 3.2Removal to of the Covers. (3) Followingsteps {3) to (6), A. lnspection, given under 3.3.1 Checking and replacing waistdrive motor brushes, the check the brushes. B. Replacement ( 1 ) F o l l o w i n g t e p s( 1 )t o ( 5 ) ,B . R e p l a c e m e n ti,v e nu n d e r3 . 3 . 1 s g Checking replacing waistdrivemotorbrushes, and the replace the brushes.

AND INSPECTION 4. MAINTENANCE

3.3.3 Replacing he wrist t pitch drive motor A. Beplacement ( 1 ) F i g .4 . 3 . 6 u t l i n e s h e r e p l a c e m e np r o c e d u r e f t h e w r i s t p i t c h o t t o drive motor. { 2 i R e m o v et h e f o r e a r m c o v e r a n d p u l l e y c o v e r b y r e f e r r i n gt o 3 . 2 Removal of the Covers. ( 3 ) T h e w r i s t p i t c h d r i v e m o t o r . . l - i s i n s t a l l e di n t h e F o r e a r m . ? , ( 4 ) T h e J 4 - a x i se n c o d e r c o n n e c t o r 3 ( c o n n e c t o r a m e : E N C 4 ) n ( c o n n e c t o rn a m e : M 4 ) a n d J 4 - a x i sm o t o r p o w e r c o n n e c t o r1 4 . a r e c o n n e c t e dt o t h e m o t o r i n s i d e t h e f o r e a r m . R e m o v et h e s e wires from the motor. ( 5 ) R e m o v et h e w r i s t p i t c h d r i v e t i m i n g b e l t . . ! , .( F o r p r o c e d u r e , s e e 3 . 4 . 4 C h e c k i n g ,a d j u s t i n g , a n d r e p l a c i n g t h e w r i s t p i t c h . drive timing belt) ( 6 ) R e m o v et h e h e x a g o ns o c k e th e a d s e t s c r e w 7 . t h a t s e c u r e st h e t i m i n g p u l l e y 1 6 .t o t h e m o t o r s h a f t a n d r e m o v e t h e t i m i n g p u l l e y . 6 ,f r o m t h e m o t o r s h a f t . (7) Remove the tvro motor mounting screws i8.r hat securethe t motor ,1. to forearm ?-,and remove the motor t; f rom the forearm.!.r. (8) To install a new motor, reversethe order of removal.

WARNING The replacementof the motor may result in misaligned mechanicalorigin. The position data must therefore be reviewed after the motor has been replaced.

4. MAINTENANCE AND INSPECTION

Motor power connectori {M4)

Wrist

drlve motor

Encoderconnector a3.j (ENC4)

||mtngbett

i8) lvlotormounting screw

Fig.4.3,6 Replacing the Wrist pitch Drive Motor

4. MAINTENANCE AND INSPECTION

the 3.3.4 Replacing wrist roll drive motor
A. Replacement ( 1 ) F i g . 4 . 3 . 7 o u t l i n e s t h e r e p l a c e m e n tp r o c e d u r eo f t h e w r i s t r o l l oflve moror. ( 2 ) R e m o v et h e f o r e a r m c o v e r b y r e f e r r i n gt o 3 . 2 B e m o v a l o f t h e Covers,

(11 (3) The J5-axisencoderconnector (connector name: ENC5) name: M5) motor powerconnector (connector and JS-axis l2l the these areconnected the motorinside fore arm.Remove to wires from the motor. (r 14) Removethe motor bracket from the wrist housingO by removingthe four motor bracketmountingscrewsQ.
( 5 ) Removethe six flange mountingscrews(6. to remove the

At flange (7) from the motor bracket44,1. this time, the (9-l flex-spline shaft(ti)and wave generator of the harmonrc geararealsoremoved drivereduction from the motorbracket. They remain installed the motor shaft. on (0 ( 6 ) Remove setscrews that secure wave generator to the the @) (9 the motor shaftand removethe wave generator from the moror. shaft 8 and steel in \ 7 ) Makesurethat the splines the flex-spline balls of the wave generator9 are free from contaminants. (8) Remove the two motor mountingscrewsii from the motor (4). bracket

(e) installa To
WARNING

new motor, reversethe order of removal.

The replacementof the motor may result in misaligned mechanicalorigin. The position data must therefore be reviewed after the motor has been replaced.

4. MAINTENANCE AND INSPECTION

5 Wristhousing

4,r lvlotorbracket

tt Encoderconnector

.-'t.-.---

.2) Motor power connector

N4otor bracketmounting screw

:Q-Flange mounting screw

ii Motor

Ftanqe

il0, Setscrew

shaft O Flex-spline

Fig.4.3.7 Replacing the Wrist Roll D.ive Motor

4. MAINTENANCE AND INSPECTION

3.4 Adiustmentand Replacement the of Timing Belt Timing belts are used as a drive-tra nsmittingelement in the IMovemaster RV-n/l1 shown in Fi9.4.3.1. EX as Unlikechainsand gears,the timing belt requires lubrication no and develops low noise.Belttension, however, very important the timing belt. is in Adjust the belt tension periodically and replacethe belt if necessary ensurelong belt life and preventnoise problem. to The timing belts used in RV-M1must be replaced every 2,000 hours of operationunder normal condition.More frequentreplacement however,necessary is, dependingon the operating condition. Usethe followingguidelines the replacement the for of belt. The timing belt must be replaced with a new one when: (1) The root or back of a tooth cracks. ( 2 ) T h e b e l t s w e l l sd u e t o o i l and greaseon it. (3) The teeth wear (up to half of the face width). (4) A belt tooth misengages with the matingpulleytooth due to excessrve wear. (5) The belt is cut off. NOTE:The timing belt wears in the initial run-in period as its roughedgesare reduced. Worn rubberparticles may be present inside the covers after the robot has been for operated about300 hours,which does not, however, indicatea faulty condition. In this case, wipe these particles the inner surfaces the covers.lf rubber off of particles are soon producedagain,replace the belt.

3.4.1 Replacement frequency

AND INSPECTION 4. MAINTENANCE

adiusting, A. Inspection 3.4.2 Checking, the and replacing procedure the shoulder of drivetiming (1) Fig. 4.3.8outlinesthe inspection shoulder drive timing belt. belt to (2) Remove uppershoulder coverby referring 3.2Removal the of the Covers. (3) Visually checkthe belt to makesurethat it does not develop any of the symptomsgiven in (1) to (5), 3.4.1 (4) Depress the belt at its centerwith a force of about 20 to 30gf and ensurethat it deflects2mm. See Fig. 4.3.9. B. Adlustment (1) Fig. 4.3.8 also outlines the adjustmentprocedureof the shoulderdrive timing belt. (2) Loosenthe four motor mountingscrews[D. (3) Whilefeeling tension the timingbelt@, movethe motor in the "a" and "b". Notethat t)in the directions shown by arrows usingthe four screwsin the slotsso the motor @ is secured they can be moved in the slots. " (4) Moving the motor in the directionshown by arrow a" shown by arrow tightensthe belt; moving it in the direction "b" slacksthe belt. "b", or the belt@ (5) Do not movethe motortoo far in direction comes off the timing pulleys@ and ). (6) After the belt tension has been adjusted,tighten motor A mountingscrews securely. loosemotor mountingscrew 0l resultsin the belt slackingoff. C. Replacement procedureof the (1) Fig. 4.3.8 also outlinesthe replacement timing belt. adjusting, (2) Removethe brakeby referring 3.6.1Checking, to the shoulderbrake. and replacing to 13) Removethe three mountingscrews.l0) removethe brake (z-1. mountingplate pointers the timing beltl on (4) Usinga marker, markalignment (0 thatthe beltteeth timingpulleys and (0, whileensuring and pulley teeth. See Fig. 4.3.10. are in correctmesh with the

4. MAINTENANCE AND INSPECTION

(5) Loosen and the four motor mountingscrews(!-,11 removethe timingbelt. (6) Mark the alignment pointerson the new timing belt. During keep the belt tightened. the procedure, (7) Mountthe new belt,gettingit around timingpulleys and the r (0. Make sure that the alignmentpointersare lined up. (8) Adjust the belt tensionby referring steps (3) to (6) in B. to REMARKS For more detailedtechnicaldata of the timing belt tension, see CHAPTER TIMING BELT TENSION.APPENDIX. 8

4. MAINTENANCE AND INSPECTION

: 4 rT i m i n g p u l l e y( o n m o t o r e n d ) (3, Motor a?.Timing belt

.1, Motor mountino screw

:-llMounting screw

.f&

. 5 r T i m i n g p u l l e y ( o n r e d u c t l o ng e a r e n d )

.2. Brakemou

Fig.4.3.8 Checking, Adiusting, and Replacing the Shoulder Drive Timing Belt

( o n r e d u c t i o ng e a r e n d ) nment pointer

'2, Timing

belt

4 T i m i n g p L r i l e y( o n m o t o r e n d )

Fig,4.3,9 Checking the Timing Belt tor P.oper Tension

Fig. 4.3.10 Marking the Timing Belt and Pulleys

4. MAINTENANCE AND INSPECTION

3 . 4 . 3 C h e c k i n g ,a d j u s t i n g , and replacing the e l b o w d r i v et i m i n g belt A. lnspection p t o { 1 ) F i g . 4 . 3 . l lo u t l i n e s h e i n s p e c t i o n r o c e d u r e f t h e e l b o w d r i v e timinq belt.

(2) Remove uppershoulder the coverby referring 3.2Removal to of the Covers. (3) Visually checkthe belt to makesurethat it does not develop any of the symptomsgiven in (1) to (5), 3.4.1 (4) Depress belt at its centerwith a forceof about20 to 30gf the and ensurethat it deflects 2mm. See Fig. 4.3.9. B. Adjustment ( 1 ) F i g 4 . 3 . 1 1 l s oo u t l i n e s t ha d j u s t m e n tr o c e d u ro f t h e e l b o w p e . a e drive timing belt. (2) Loosenthe four motor mountingscrews(1,'. (3) Whilefeeling tension the timingbelt[2), the In movethe motor (3,' the directions in shown by arrows"a" and "b". Note that the motor (3)is secured usingthe four screwsin the slotsso they can be moved in the slots. (4) Moving the motor in the directionshown by arrow "a" tightensthe belt; moving it in the direction shown by arrow "b" slacksthe belt. "b", or the belt {5) Do not movethe motortoo far in direction @ comes off the timing pulleysG-land 15r. {6) After the belt tension has been adjusted,tighten motor mountingscrews securely. loosemotor mountingscrew A ll) resultsin the belt slacking off. C. Replacement ( 1 ) F i g . 4 . 3 . 1 1 l s o o u t l i n e s h e r e p l a c e m e n tr o c e d u r e f t h e p a t o timingbelt. to adjusting, {2) Removethe brakeby referring 3.6.2Checking, a n d r e p l a c i nt h e e l b o wb r a k e . g (3) Remove the three mountingscrewsi6l to removethe brake p mounting late.7i, cables secured the brakemountingplate -7. are to {4) Be careful, Do not apply excessive force when removingthe mounting prare.

AND INSPECTION 4. MAINTENANCE

(5) Usinga marker, pointers the timing beltl2l markalignment on (4) pulleys and (51, thatthe beltteeth whileensuring andtiming pulley teeth.See Fig. 4.3.10. are in correctmesh with the (6) Duringadjustment the belttension, not allowthe beltto do of that the belt comes off the timing so excessively slackoff pulleys({ and (C. (7) Mark the alignment pointerson the new timing belt. During (See Fig. 4.3.10.) keep the belt tightened. the procedure, (8) Mountthe new belt,gettingit around timingpulleys4 and the 6). wate sure that the alignmentpointersare lined up. (9) Adjust the belt tensionby referring steps (3) to (6) in B. to REMARKS For more detailedtechnicaldata of the timing belt tension, 8 see CHAPTER TIMING BELTTENSION,APPENDIX.

4. MAINTENANCE AND INSPECTION

i 1 , l M o t o rm o u n t i n g s c r e w

:2 Timing belt

i4.iTiming pulley

'@%

{ o n m o t o re n d )

'@%
t9
5 | | m r n qp u e y ( o n r e d u c t i o ng e a r e n d ) (, Brake mou nting plate

i0) Mounting screw

Fig. 4.3.11 Checking, Adiusting, and Replacing the Elbow Drive Timing Belt

4. MAINTENANCE AND INSPECTION

3.4.4 Checking, adiusting. A. lnspection and replacing wrist the procedure the wrist pitch pitchdrivetiming belt (1) Fig.4.3.12 the of outlines inspection drive timinq belt. (2) Remove upperpulleycoverby referring 3.2 Removal to of the the Covers. (3) Visually checkthe belt to makesurethat it does not develop any of the symptomsgiven in 11)to (5), 3.4.1 (4) Depress belt at its centerwith a forceof about20 to 30gf the 2mm. See Fig. 4.3.9. and ensurethat it deflects B. Adjustment procedure the wrist of the alsooutlines adjustment 11)Fig.4.3.12 pitch drive timing belt. (2) Loosenthe two motor mountingscrews(D. (3) Whilefeeling tension the timing belt(2), movethe motor in the "a" and "b". Notethat shown by arrows @ in the directions usingthe two screwsin the slotsso the motor @ is secured they can be moved in the slots. (4) Moving the motor in the directionshown by artow " a" shown by arrow the belt; moving it in the direction tightens "b" slacksthe belt. "b", or the belt (5) Do not movethe motortoo far in direction @ comes off the timing pulleysl and ,r. (6) After the belt tension has been adjusted,tighten motor ij-l A mountingscrews securely. loosemotor mountingscrew resultsin the belt slacking off. C. Replacement (11 Fig. 4.3.12also outlinesthe replacement procedure the of timingbelt. (2) Usinga marker, pointers the timing belta2l on markalignment (5, whileensu ringthatthe beltteeth andtiming pulleys and G.r are in correctmesh with the pulley teeth. See Fig. 4.3.10. (3) Loosenthe two motor mountingscrews(D and removethe timing belt. ( 4 ) M a r kt h e a l i g n m e np o i n t e r s n t h e n e w t i m i n gb e l t .D u r i n g o t keep the belt tightened. the procedure,

AND INSPECTION 4, MAINTENANCE

( 5 ) Mountthe new belt,gettingit around timingpulleys and the G) i5). Make sure that the alignmentpointersare lined up. ( 6 ) Adjust the belt tensionby referring steps (3) to (6) in B. to REMARKS For more detailedtechnicaldata ot the timing belt tension, see CHAPTER TIMING BELTTENSION.APPENDIX. 8

AND INSPECTION 4. MAINTENANCE

il. lMotormounti Timing belt -2-t

'v'
+=+
b a

Trming pulley

the Wrist Pitch Dlive Timing Belt Adiusting,and Replacing Fig. 4.3,12Checking,

4. MAINTENANCE AND INSPECTION

3.5 Replacement the of Curled Cables connecting RV-M1base the The curledcables usedas the cables must normally replaced be every2,000 hoursof unit and arm unit gPeration Thesetwo cables fwo curledcables are used,powerand signal. must be replaced the same time. at A. Replacement (1) Fig. 4.3.13outlinesthe replacement procedureof the two curled cables. (2) Makesurethatthe powerswitchon the driveunit rearpanelis in the oFF position. the baseside coversand upperand lower shoulder 13) Remove to coversby referring 3.2 Removalof the Covers. (4) Unplug the three connectors(connectornames: "PW," "HND," and "CON3")which are pluggedinto positioninside the base 1..D. (5) Unplug the eight connectors{connectornames: "PW," " " H N D , "" M 2 , " " M 3 , " " E N C 2 , " E N C 3 , " E N C 4 , 5 , A N d" L S " ) which are pluggedinto positioninsidethe shouldercovers. (6) Each nameprinted is by on connector identified the connector the marklng eal. s (? (7) Remove two mountingscrews and pull off the terminal the plateQ) togetherwith the power curledcable[4] and signal curledcable (0 from the base (11. (8) Remove the plastic nuts Q),eachof which secures power the to curledcable@ and signalcurledcableO, respectively, the motor plate @. (9) Pull off the two cablesa4) and (5)from the motor plate (0. (10) To installnew cables,reverse the order of removal. WARNING When reconnectingthe connectors, be sure they are connected matchedpairsidentifiedby the sameconnecin tor name. A wrong connection can result in a serious trouble.

4. MAINTENANCE AND INSPECTION

Connectors: " E N C 2 , "" E N C 3 , "

7 Plastic ut n

nal curled cable

i-4.Power curled cable

2 M o u n t i n gs c r e w

J Iermtnatptate

Connectofl

"CON3"

lr Ease

Fig. 4.3,13Replacing the Curled Cables

AND INSPECTION 4. MAINTENANCE

brakes installed in 3.6 Inspection, Adtustment, The RV-M'lrobot has built-inelectromagnetic axes that preventthe and Replacement the the shoulderswivel and elbow extension of Inspect Brakes arm from droppingby its own weightwhen poweris OFF. by and the brakesat regularintervals followingthe inspection procedures given below. adjustment 3.6.1Checking, adiusting, A. Inspection and replacing the ('l) During normaloperation the robot, of check seeif any of to shoulder brake the the following symptomsdevelops. when power is turned ON. a. The brake is not released . This is probably due to an open brakecoil leadwrre or gap. lf the problempersrsts incorrect armatu re-to-coil replace brake. the evenafterthe gap hasbeenadlusted, while the arm is being rotated. b. The brakesqueaks . This is probably gap.Adjustthe gap as due to incorrect necessa ry. c. The arm drops when power is turned OFF. . T h i s i s p r o b a b l y u e t o a w o r n b r a k el i n i n go r o i l a n d d grease trappedinside. Clean replace brakelining. or the B. Adjustment ( 1 ) F i g .4 . 3 . 1 4 d e n t i f i etsh e s h o u l d e r r a k ep a r t s . i b (2) Makesurethat the powerswitchon the driveunit rearpanelis in the OFF position. (3) Remove the upperand lower shoulder coversby referring to 3.2 Removalof the Covers. (4) Loosen two setscrews At thistime, usecarenot to lose the i3). (1. plates Then,usinga feeler gauge, adjust gap the the copper (5)and coil :7,r 0.1 mm. to betweenthe armature (5) After the gap has been properlyadjusted, tighten the two At setscrews securely. this time,makesurethat the copper i3.l plate i11) installed between the setscrewi3l and shaft (8). is C. Replacement ( 1 ) F i g . . 3 . 1 5 u t l i n e t h e r e p l a c e m e p r o c e d u ro f t h e s h o u l d e r e 4 nt o s brake. (2) Makesurethat the powerswitchon the driveunit rearpanelis in the OFF position. (3) Remove to the upperand lower shoulder coversby referring 3.2 Removalof the Covers. (4) The brakeconnector {connector name: "PW") is plugged il) into positioninsidethe shouldercovers.

4. MAINTENANCE AND INSPECTION

( 5 ) Unplugthe shoulder Nos.1 and brakepin contacts (contact 12) housingin the connectori. See Fig. 2) from the receptacle 4.3.16. (3t. ( 6 ) Remove two setscrews At this time, use carenot to lose the the brake disk[4], armature the copperplates Then,remove O. ,1,and spring [6, from the shaft a0. (7) Removethe four mountingscrews(91 removethe coil -47) to (0). from the brake mounting plate (8) To installa new brake,reversethe order oi removal. (9) Adjust the gap by referring the procedure given in B. to (a (10) The pin contacts may be plugged intoeitherposition, 1 No. and No. 2.
i3. Setscrew

(O copper plate

Fig. 4.3.14 Shoulder Brake Parts ldentification

Fig.4.3.16 Removing the Pin Contacts

-\

L3.r Setscrew

.b

o.- \
q Brake disk F i g . 4 . 3 . 1 5 R e p l a c i n gt h e S h o u l d e r B r a k e

4. MAINTENANCE AND INSPECTION

3 . 6 . 2 C h e c k i n g ,a d i u s t i n g , a n d r e p l a c i n gt h e elbowbrake A. Inspection o { 1 ) D u r i n gt h e n o n n a lo p e r a t i o n f t h e r o b o t ,c h e c k t os e e i f a n y o f the following symptoms develops. a . T h e b r a k e i s n o t r e l e a s e dw h e n p o w e r i s t u r n e d O N . . T h i s i s p r o b a b l yd u e t o a n o p e n b r a k ec o i l o r l e a d w i r e o r i n c o r r e c ta r m a t ur e ' t o - c o i lg a p . l f t h e p r o b l e m p e r s i s t s e v e n a f t e r t h e g a p h a s b e e n a d j u s t e d ,r e p l a c et h e b r a k e . s b . T h e b r a k e s q r - r e a kw h i l e t h e a r m i s b e i n g r o t a t e d . . T h i s i s p r o b a b l yd u e t o i n c o r r e c g a p . A d j u s tt h e g a p a s t n e c e s s av . r c. The arm drops when power is turned OFF. . T h i s i s p r o b a b l yd u e t o a w o r n b r a k e l i n i n g o r o i l a n d t g r e a s e r a p p e di n s i d e . l e a no r r e p l a c e h e b r a k el i n i n g . t C B . A dj u s t m e n t ( 1 ) F i g . 4 . 3 , 1 7i d e n t i f i e s h e e l b o w b r a k e p a r t s . t (2) Makesurethat the power s\^/itch n the drive unit rearpanelis o i n t h e C F F p o si i i on . ( 3 ) R e m o v e t h e r p p e r a n d i o w e r s h o u l d e r c o v e r s b y r e f e r r i n gt o 3 . 2 R e m o v a lc f t h e C o v e r s . ( 4 ) L o o s e nt h e t w o s e t s c r e w s ' 3 : A t t h i s t i m e , u s e c a r e n o t t o l o s e . p l a t e s . 1 1 , . e n , u s i n g a f e e l e rg a u g e ,a d j u s tt h e g a p Th the copper b e t w e e nt h e a r m a t u r e 5 a n d c o i l . 7 t o 0 . 1 m m . ( 5 ) A f t e r t h e g a p h a s b e e n p r o p e r l y a d j u s t e d ,t i g h t e n t h e t w o A s e t s c r e w s1 3 s e c u r e l y . t t h i s t i m e , m a k e s u r e t h a t t h e c o p p e r p l a t e ' . 1 1i s i n s t a l l e d b e t w e e n t h e s e t s c r e w i . 3 'a n d s h a f t ( 8 ; . C. Replacement ( 1 ) F i g . 4 . 3 . i 7 a l s o o u t l i n e st h e r e p l a c e m e n t r o c e d u r eo f t h e p e l b o w b r ak e . {2) Makesurethat the power switch on the drive unit rearpanelis in the oFF position. { 3 ) R e m o v e t h e u p p e r a n d l o w e r s h o u l d e r c o v e r s b y r e f e r r i n gt o 3.2 Removal of the Covers. ( 4 ) T h e b r a k ec o n n e c t o r I ( c o n n e c t o r a m e : " P W " ) i s p l u g g e d n i n t o p o s i t i o n i n s i d e t h e s i t o u l d e rc o v e r s . ( 5 ) U n p l u g t h e e l b r : w b r a k e p i n c o n t a c t s: 2 . ( c o n t a c tN o s . 3 a n d 4 ) f r o m t h e r e c e p t a c i eh o u s i n g i n t h e c o n n e c t o r i 1 , . S e e F i g . 4.3.1 . 8 ( 6 ) R e m o v et h e 1 w o s e t s c r e w s. 3. A t t h i s t i n t e , u s e c a r e n o t t o l o s e a T t h e c o p p e r p l a t e s 1 1 . . h e n , r e m o v e t h e b r a k ed i s k ( 4 r , r m a t u r e .5, and spring 6l from the shaft .8..

AND INSPECTION 4. MAINTENANCE

(7) Removethe four mountingscrews-,1 removethe coil 0) to plate [0. from the brake mounting (8) To installa new brake,reversethe order of removal. (9) Adjust the gap by referring the procedure given in B. to (10) The pin contacts may be plugged intoeitherposition, 3 No. i2, and No, 4. WARNING The arm falls down when the brakesare removed.Be sure to securethe arm in position beforeattempting to adiust or replacethe brakes.

ll

Coil il-, Connector

7p
%@
M o un t i n g

--7
,/

i3- Setscrew

ll copper plate

screw i-0 Brakemounting plate

/ -@' d
i4) Brakedisk

Fig.4.3.17 Elbow Blake Parts ldentification

I Connector

F i g . 4 . 3 . 1 8 R e m o v i n gl h e P i n C o n t a c t s

AND INSPECTION 4. MAINTENANCE

3 . 6 . 2 C h e c k i n g ,a d j u s t i n g , a n d r e p l a c i n gt h e elbowbrake A. lnspection ( 1 ) D u r i n gt h e n o r m a l o p e r a t i o n f t h e r o b o t ,c h e c k t os e e i f a n y o f o the following syrnptoms develops. w a. The brakeis not released hen power is turned ON' . T h i s i s p r o b a b l yd u e t o a n o p e n b r a k ec o i l o r l e a d w i r e l o r i n c o r r e c ta r m a t ur e - t o - c o i g a p , l f t h e p r o b l e m p e r s i s t s e v e n a f t e r t h e g a p h a s b e e n a d j u s t e d .r e p l a c et h e b r a k e ' b. The brake squeakswhile the arm is being rotated . T h i s i s p r o b a b l y d u e t o i n c o r r e c tg a p . A d j u s t t h e g a p a s r n e c e s s ay . c. The arm drops when power is turned OFF. . T h i s l s p r o b a b l yd u e t o a w o r n b r a k e i i n i n g o r o i l a n d ' t C g r e a s e r a p p e di n s i d e . l e a no r r e p l a c e h e b r a k el i n i n g l B. Adjustment ( 1 ) F i g . 4 . 3 . 1 1r d e n t i f i 6 s h e e l b o w b r a k e p a r 1 s . t ( 2 ) M a k es u r et h a t t h e n o w e r s w i t c ho n t h e d r i v eu n i t r e a rp a n e ll s is the OFF irosition. { 3 ) R e r n o ' r et h e ' , r p p e ra n d l o w e r s i l o u l d e r c o v e r s b y r e f e r r i n gt o 3 . 2 R e m o v a io { t h o C c v e r s . ( 4 ) L o o s e nt h e t \ r ' o s e t s c r e w s 3 . A t t h i s t i m e , u s e c a r e n o t t o l o s e t h e c o p p e r p l a t e s l l . . T h e n , u s i ng a f e e l e rg a u g e ,a d j u s tt h e g a p '5 and coil .7 to 0.1mm. b e t w e e nt h e a r m a t u r e 1 5 ) A f t e r t h e g a p h a s b e e n p r o p e r l y a d j u s t e d ,t i g h t e n t h e t w o s e t s c r e w s ' 3 ' s e c u r " eAy .t h i s t i m e , m a k e s u r e t h a t t h e c o p p e r lt plate l1 is installed between the setscrew .3. and shaft ,' C. Replacement p ( 1 ) F i g . 4 . 3 . 1 7a l s o o u t l i n e st h e r e p l a c e m e n t r o c e d u r eo f t h e elbow brake. 1 2 ) M a k e s u r et h a t t h e p o w e r s w i t c h o n t h e d r i v e u n i t r e a r in the OFF position. p a n e li s

( 3 ) R e m o v e t h e u p p e r a n d i o w e r s h o u l d e r c o v e r s b y r e f e r r i n gt o 3 . 2 R e n r o v a lc f t h e C o v e r s . "PW") is plugged ( 4 ) T h e b r a k e c o n n e c t o r 1 ( c o n n e c t o rn a m e : c into position inside the sl.rouider overs . ( 5 ) U n p l u g t h e e l f r o w ' b r a k ep i n c o n t a c t s. . 2( c o n t a c tN o s 3 a n d 4 ) t h e r e c e p t a c l eh o u s i n g i n t h e c o n n e c t o r i ' l r ' S e e F i g ' from 4.3.18. l ( 6 ) R e m o v et h e t w o s e t s c r e w s 3 . A t t h i s t i m e , u s e c a r e n o t t o l o s e p l a t e s l l . T h e n , r e m o v e t h e b r a k ed i s k ( 4 . ,a r m a t u r e the copper
.a:

AND INSPECTION 4. MAINTENANCE

(7) Rernove the four mountingscrewsI from the brake mountingplate @. to removethe coil (D

(8) To installa new brake,reversethe order of removal. (9) Adjust the gap by referring the procedure given in B. to (10) The pin contacts may be plugged intoeitherposition, 3 No. !2, and No, 4. WARNING The arm falls down when the brakesare removed.Be sure to securethe arm in position beforeattempting to adiust or replacethe brakes.

il, Connector

'3.

Setscrew

@ re^:@
screw Brakemounting plate -f0,,
lMo u nting
b, Jpfl nq

/9'
d

.41Brakedisk

Fig. 4.3.17 Elbow Brake Parts ldentification

Connector

Fig.4.3.'18 Removing the Pin Contacts

4. MAINTENANCE AND INSPECTION

4. SERVICE PARTS Table 4.4.1 lists those RV-M1 parts which require periodic replacement. Tables 4.4.2and 4.4.3arethe listings spareparts of may be requiredduring serviceprocedures. that from the authorized manufacturer our All partsmay be ordered or Note that the oarts recommended us differ bv ServiceDivision. from manufacturer's standardparts: bv sure to consult our ServiceDivisionbeforeordering.

4.1 RobotConsumables
Manulacturel lnstalled Location Waist, elbow, shoulderj2 each

No.

Description

Model

otv
6 2
1

Motorbrush 2 3 4 5 6 DC servomotor
Timing belt Timing belt Timing belt Curledcable

3OW-BRSH lMitsubishi Electric 11W.J5M M M 1 9 09 . 5 Mtvt-132,9.5

MM-97-4.8 lMitsuboshiBelt

Wrist pitch/roll
S h o ul d e r Elbow

1 1 1 set

Wrist pitch M i t s u b i s hE l e c t r i c i Power/signal relay

BU142B040G51

List Table 4.4.1 Robot Consumables

4. MAINTENANCE AND INSPECTION

4.2 RobotSpale Parts
No,
1

Oescription DC servomotor
H ar m o n i c d r i v e reoucton gear Harmonicdrive reouclton gear Harmonicdrive r e d u c t i o ng e a r Harmonic drive reouclron gear

Model 30w-J1M 30w-J2M 3OW-J3M B U1 4 3 C 1 7 2 H 0 2 R) lCS-14,100,24,G B U1 4 3 C7 3 H 0 1 l B U1 4 4 D 4 1 3 H 0 1 ( F B - 1 4 - 1 1 0 ,L 3 - S P ) B2 BU144D366H01 ( F B - 1 4 - 1 1 0 -L 3 ) B2

Manufactulel

lnstalled Location
Waist, elbow, shoulder;1each

otv
3

MitsubishiElectric

2 3 4 5

Base
Shoulder, elbow

M i t s u b i s hE l e c t r i c i (Harmonic rive D Systems)

Wrist pitch Wrist roll

LS-ASSY-.] ]i
6
Limit switch assemory

Note2: ShaJ
designation

MitsubishiElectric

s Origin-setting ignal for all axes

5 sets

7 8 9 10

netic Electromag brake assembly

Roller follower

B U1 4 4 D 4 7 3 G 5 1 NART-6EUUV B U1 4 8 8 1 3 6 G 5 1 F69622

M i t s u b i s hE l e c t r i c i THK CO,, LTD MitsubishiElectric NSK CO., LTD

Shoulder, elbow

2 2
1 4

E I b o wd r i v e l i n k
Relay in base S h o u l d e r ,e l b o w

R e l a yc a r d Miniature earang b

Table 4,4.2 Robot Spare Parts List Note lr Oty per unit Note2r J1 to J5

4.3 DriveUnit SpareParts

No.
1 Descliption

Model MF6ONRl OA-05 (250VAC, 10A)

Manufacturel

lnstalled Location

otv
1

Fuse

TOYO

F u s eh o l d e ri n r e a r of driveunit

Noter 10A for 120V line voltage; 5A for 220, 230 or 240V line voltage.

1. SPECtFICAT|0l{S

2.0PtRATI01{ 3. DtSCRtPil0l{ C0itMAN0s 0FT]|t

4. 1||AINTEI{A1{CE AND INSPTCTIOI{

5. APPENDICES

(APPENDICES} CONTENTS 1. INTERFACE WITHTHEPERSONAL (CENTRONICS) COMPUTER p 1 . 1 C e n t r o n i c so n n e c t o ri nA s s i g n m e n t s C 1 . 2 F u n c t i oo f E a c h i g n aL i n e . . . . . . . . . . . . . . . . . n S l '1.3 S i g n aL i n e T i m i nC h a r t . . . . . . . . . . . l g 1 . 4 C e n t r o n i Cs b 1 e . . . . . . . . . . . . . . . ca 1 . 5 C e n t r o n i c n t e r f a c i n gx a m p l e s Is E

APP-1 ................App_1 ..............App_2 .........................App_z .........App_3 .........................App_3

2 . T N T E R F A C E W T T H T H E P E R S O N A L C O M P U T E R ( R S 2 3 2 C ) . . . . . . . . . .. . . . . . . . A p p _ s 2 . 1 R S 2 3 2 C C o n n e cp i nA s s i g n m e n t s . . . . . . . . . . . . . . . . tor . 2 . 2 F u n c t i o n E a c h i g n aL i n e . . . . . . . . . . . . . . . . of S l 2 . 3 R S 2 3 2S e t t i n g s C 2 . 4 S i g n aL i n e T i m i n C h a r t . . . . . . . . . . l g 2 . 5 R S 2 3 2C a b | e . . C 2 . 6 R S 2 3 2 I n t e r f a c i n gx a m p l e s C E 3. INTERFACE WITHEXTERNAL EOUIPMENT I/O ....App_s ..............App_s ........................App_6 ...App_8 .......................App_10 ....App_11 ....... .APP.14

3 . 1 . A x t e r n a/l OC o n n e c t o ri nA s s i g n m e n ( s y p e l / OC a r d . . E l . . . . . . .. . . . . . . . . . . . . A p p _ l 5 P tT A ) p 3 . 1 8 E x t e r n a/l OC o n n e c t o ri nA s s i g n m e n ( s y p e l / OC a r d ) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A p p _ 1 6 . . l tT B 3 . 2 . 4 l / OC i r c u iS p e c i f i c a t i o(n sy p e t / OC a r d ) . . . . . . . . . . T t .......................App-17 A 3 . 2 . 8 l / OC i r c u iS p e c i f i c a t i o(n sy p e l / OC a r d ) . . . . . . . . t T ..App_18 B 3 . 3 . AF u n c t i o n s o/fO S i g n a l i n e s T y p e l / OC a r d . . . . . . . . . . . . . . ( l .............App_l9 L A ) 3 . 3B Functions l/OSignalLines . (TypeB t/OCard) of ....App-20 3.4.4 E x a m p l o f C o n n e c t i o o l / OC i r c u i t(sT y p e l / OC a r d ) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A p p _ 2 1 e tn A 3.4. E x a m p l o f C o n n e c t i o n l / OC i r c u i t(sT y p e l / OC a r d . . . . . . . . . . . ........ . . . . . . . . . . . . . . .A.p . _ 2 2 B e . .p to B ) 3 . 5 l / OS i g n aL i n e T i m i n C h a r { s y n c h r o n o u/s ) . . . . . . . . . . l g ...............App_23 t l O. 3 . 5 . 1 . A y n c h r o n o iu sp u t t i m i n(g y p e A l / O c a r d ) .. . S T . . . . . . . . . . . . . . . . .A.p . . _ 2 3 . .p . n 3 . 5 . 1 . B y n c h r o n o un p u t t i m i n gT y p e t / Oc a r d ) . . . . . . . . . . . S ( is .........App-23 B 3 . 5 . 2 . A y n c h r o n o u s t p u t i m i n g( T y p e l / Oc a r d ) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .A.p.p _ 2 4 S . . ou A 3 . 5 . 2 . 8 y n c h r o n o u s t p u t t i m i n ( T y p e l / Oc a r d ) . . . . . . . . S ..........App_21 ou g B 3 . 5 . 3 . 4 e d i c a t e dOt i m i n g( T y p e t / Oc a r d ). . . ... . ... D l/ ......App_25 A 3.5.3.8Dedicated timing(TypeB t/Ocard) t/O .....App_26 3 . 6 E x t e r n a /| OC a b | e . . . . ..... l ...........App-27 3 . 7 P r e c u t i o n so r C o n e c t i o t o E x t e r nIa q u i p m e n t a f .....................App_2g n n E 4. CARTESIAN COORDINATE .. SYSTEM REFERENCE POSITION SETTING........... .........APP.29 4.1 4.2 4.3 4.4 MovingtheRobottoReferenceposition........... position Setting Reference the po Storing eference sition atan EpROM R D i po L o a d i n gh e R e f e r e n c e s i t i o n a t a . . . . . . . . . . . . . . . . t D ..App_29 ...App-29 .........App_30 ..App_31

5. PROGRAMMING SYSTEM USING PERSONALCOMPUTER P 6. SAMPLE ROGRAMS........... 7 . C O M M A N D L | S T . . . . . . . .... . . . .. 8. TtMtNG BELT TENSTON . . 9 . D E F | N | T I O N O F W E | G H T C A P A.C.|.r.Y. . . . . . . 10. ROBOTARMSTORAGEPOS|T|ON.............. 11.OPERATTONALSPACEDTAGRAM........ 1 2 .W | R I N G D T A G R A M 1 3 . D R T VU N | T W t R t N D | A G R A M . . . . . . . . E G

..............APP.32 .-.......App-36 .........APP-44 ............. . .APP-48 .. . .. ...App-49 .'.-.....APP-50 '. ".'..'......'APP-51 ........'............APP-52 ..'............'....APP-53

APPENDICES
1. INTERFACEWITHTHE PERSONAL COMPUTER (CENTRONICS} 1.1 Centronics Connector T a b l e 5 . 1 . 1s h o w s the pin assignments the Centronics for conPinAssignments nector.

CENTRONICS

Fig. 5.'l.1 Centronics Connectol

Pin No. 1 2 3 5 6 7 I 9 10 11 12 13

Signal

Pin No.

Signal GND GND GND GND GND GND GND GND GND GND GND GND N . C N . C GND N. C N . C N , C

1/ '18

STB DBO DBl DB2 DB3 DB4 DB5 DB6 D87 ACKBUSY GND N,C N,C N .C GND N.C N.C

19 20 21 22 24 25 26 27 2a 29 30 31 32 33 34 35 36

Table 5.1.1 Centronics ConnectorPin Assignments N. C: Not connected

Receptacle (D3). model: 57LE-40500-77OO . . (DDK) Applicable plug model: 57E-30500.. (DDK) .

APPENDICES
1.2 Function Each of Signal Line
Function
T h e s es i g n a l sr e p r e s e n lt n f o r m a t i o no f t h e I b i t s parallel data, respectively,output frorn the personal computer. T h i s i s t h e p u l s es i g n a li n d i c a t i n g h a t i n p u t d a t a t f r o m t h e p e r s o n a l c o m p u t e r i s p r e s e n tt o b e read. Data is read in on the LOW-going negative edge. This signal goes LOW when the drive unit is r e a d yt o r r e c e i v i n g a t a .l t g o e s H I G H i n d i c a t i n g d t h a t t h e d r i v e u n i t i s u n a b l e t o r e c e i v ed a t a . t A LOW 2 to 3 p s pulse indicates hat data has b e e n r e c e i v e da n d t h e d r i v e u n i t i s r e a d y t o accept other data. G r o u n d c o n n e c t i o nf o r t h e a b o v e s i q n a l l i n e s .

Signal

Direction

D B ot o 7 ( D a t ab i t )

ln

ST8 (Strobe)

ln

BUSY (Busy)

Out

ACK (Acknow edge)

Out

GND ( G r o u d) n

Table 5.1.2 Functions of Signal Lines on Centronics Connector

1.3 SignalLineTimingChart
D B Ot o 7 ( l n )

STB {ln)

B U S Y( o u t ) ACK (O t) u

Fig, 5.1.2 Timing Chart

( 1 ) Datafrom the personal is to to computer transferred DBO DB7.

t2l The drive unit outputsa HIGHBUSYsignalon the negative

edge of a STB signalfrom the personalcomputer. receiving dataand is ready { 3 ) Whenthe driveunit hascolqpleted to acceptother data, an ACK signal is sent to the personal computer;at the same time, the BUSY signal goes LOW.
( 4 ) This operatingsequence repeatsuntil the terminator,hex.

"0D,"is input.

APPENDICES
1 . 4 C e n t r o n i c sC a b l e When connectingyour personalcomputer to the robot through the Centronics interface, the printer cable of your personal computer may be used if it can be properly plugged into the C e n t r o n i c sc o n n e c t o r o f t h e d r i v e u n i t a n d s i g n a l l i n e s m a t c h c or r e c t l y . i A l s o a v a i l a b l e r e t h e o p t i o n a lc a b l e sf o r t h e M i t s u b i s h M U L T I ' 1 6 a and NEC PC9801.

1 . 5 C e n t r o n i c sI n t e r f a c i n g E x a m p l e 1 : U s i n g M i t s u b i s h i l \ , 1 U L T l 1 6 [ n Examples c t 1) Connectinghe Centronics able s U s i n gt h e o p t i o n a lc a b l ef o r C e n t r o n i c { m o d e l :C - M U L T I - C B L ) , c o n n e c tt h e d r i v e u n i t t o t h e p e r s o n a lc o m p u t e r ( w i t h t h e d r i v e u n i t a n d p e r s o n a lc o m p u t e r t u r n e d O F F ) .F o r t h e c o n n e c t o ro n u t h e N 4 U L T l 1 6 m , s e i t s b u i l t - i np r i n t e r c o n n e c t o r . 2) Setting the personal computer (Setting switches) Set the l/O mode suritch (l-SW) on the back panel of the personal computer as follows. '1 Bit : In lower position (OFF) B i t 2 : l n u p p e r p o s i t i o n( O N ) Bit 3: In lower position (OFF) A f t e r t h e a b o v e s w i t c h s e t t i n g sh a v e b e e n m a d e , t u r n O N t h e p e r s o n a l c o mp u t e r . (lnvoking software) ( 1) A c t i v a t e C P / M - 8 6 . (2) Activate the GENSYS command to make the following s e t t i ng s . A > G E N S Y SJ \ P r i n t e r ?Y J fype? 24 pin 16 / \ E N D O F G E N S Y S( Y / N ) ?Y I (3) Acrivate MBASIC. A>MBASIC Activate MBASIC (or MBASIC2). A c t i v a t eG E N S Y S . Set Printer configuratlon. Set 16-pintype. End GENSYS.

APPENDICES
3) Setting the drive unit After the drive unit has been turned ON, place ST1 located ( . i n s i d et h e s i d e d o o r i n t h e l o w e r p o s i t i o n O F F )T hi s s e l e c t sh e t p e r s o n a lc o m p u t e rm o d e . M a k e s u r e t h a t t h e t e a c h i n gb o x i s turned OFF. 4 ) V e r i f y i n g p r o p e r c on n e c t i on I n p u t t h e f o l l o w i n gc o m m a n d i n M B A S I C . " LPRINT NT" I l f t h e r o b o t p e r f o r m s c o r r e c t r e t u r n - t o - o r i g i no p e r a t i o n , t h e connection has been made properly. Example_ : Us_49NEC PC9801F 2 1) Connectinghe Centronics able t c ( U s i n g t h e o p t i o n a lc a b l e f o r C e n t r o n i c s m o d e l : C - P C - C B L ) , c o n n e c tt h e d r i v e u n i t t o t h e p e r s o n a lc o m p u t e r { w l t h t h e d r i v e unit and personal computer turned OFF). 2) Setting the personal computer No special settings are required on the personal computer. A f t e r N 8 S D I S K - B A S I C a s b e e n a c t i v a t e d ,t u r n O N t h e d r i v e h unrt. 3) Setting the drive unit Perform the same procedure as in MULT|l6lll. 4) Verifying proper connection Perform the same procedure as in MULTI'16III.

APPENDICES
2. INTERFACE WITHTHE PERSONAL COMPUTER (RS232C) pin 2 1 RS232c connector Assignments Tabre 5.2.'1 showsthe pin assignments the RS232c for connector.

25

14

Fi9.5.2.1 RS232C Connector

Pin No. l i F

Signal G

Pin No.

Signal N . C N . C N, C N . C N . C N. C ER (DTR) N . C N . C N. C N . C N, C

z 3 : 5
b

I I
]

bb trxot no tnxot Rs(Rrs)

CS (CTS) DR (DSR)

15 16 11 18 '19 20 21 22 23 25

7 8
9

I I

sc N.c
N. C

10
t1

N c
N.C

1 2
13

* .
N. C

Table. 5.2.1 RS232C Connector pin Assignmenrs A p p l i c a b l ec o n n e c t o r :J A E D B - 2 5 P m a t e ) o r e q u i v a l e n t ( J A E ) ( N. C: Not connected

2.2 Functionof EachSignal Line

F r a m e g r o u n d c o n n e c t e dt o t h e F G t e r m i n a l o n the drive unit. Provides the lines on which the onve untt presents data to the personal computer. P r o v i d e s h e l i n e so n w h i c h t h e p e r s o n a c o m p u t l rer presents data to the drive unit T h i s s i g n a l m u s t b e s e t w h e n e v e rt h e p e r s o n a l compurerwrshesto transmit data. CS (CTS) In T h i s s i g n a li s u s e d t o a u t h o r i z e h e d r i v e u n i t t o t transmit data T h i s s j g n a l i s u s e d t o i n d i c a t et h a t t h e p e r s o n a l computer ls ready to transmit and receive data. Signal ground for data and control ttnes.

ERlDTR)

T h i s s i g n a li s u s e d t o i n d i c a t e h a t t h e d r i v e u n i t t i s r e a d y t o t r a n s m i t a n d r e c e i v ed a t a .

Table 5.2.2 Functions of Signal Lines on RS232C Connector

APPENDICES
2.3 RS232C Settings
W h e n t h e R S 2 3 2 Ci n t e r f a c e i s t o b e u s e d , t h e f o l l o w i n g c o m m m u n i c a t i o n o n d i t i o ns e t t i n g s u s t b e m a d e o n t h e d r i v e u n i t a s c p e r s o n a lc o m p u t e r .T h e s e t t i n g so n t h e d r i v e u n i t m u s t well asthe i C b e t h e s a m ea s t h o s eo n t h e p e r s o n ac o m p u t e r . o m m u n i c a t i o n c a n n o t b e a c c o m p l i s h e dp r o p e r l y i f t h e r e i s a n y d i s c r e p a n c y . m T h e f o l l o w i n gp a r a g r a p h s x p l a i nt h e s e t t i n g s a d e o n t h e d r i v e e l , M u n i t .F o r p e r s o n ac o m p u t e rs e t t i n g ss e e l n s t r u c t i o n a nu a l o f t h e o e r s o n a l c om o u t e r .
/11 Rrrrri r.to caftind

T h e b a u d r a t e c a n b e s e t w i t h S W 3 l o c a t e di n s i d et h e d r i v e u n i t b s i d e d o o r . P l a c et h e c o r r e s p o n d i n g i t i n t h e u p p e r p o s i t i o n ( O N )a c c o r d i n go t h e d e s i r e db a u d r a t e .( T h eu n d e r l i n e d a u d b t rate in Table 5,2,3 is the standard settinq.)

WARNING
N E V E Rs e t t o O N t w o o r m o r e b i t s a t o n e t i m e w h i l e t h e drive unit is ON.

Baud rate lactor

DIPSW3 Bit No.

x1
1200

x16

x64

2 3
4 5

24AA 4800 9600

150

300 600 1200 2404 4800 9600

75 150 300 600 1200 2400

/
I

Table 5.2.3 Baud Rate Setiing

t { 2 ) F o r m a t s e t t i n g i n a s y n c h r o n o u sr a n s m i s s i o n T r a n s f e rf o r m a t c a n b e s e t w i t h S W 2 l o c a t e d i n s i d e t h e d r i v e u n i t s i d e d o o r . S e t t h e b i t s a s r e q u i r e da c c o r d i n gt o t h e d e s i r e d format. {The underlined settings are standard.)

APPENDICES
D I PS W 2 2 3
4

No. of stop bits

Null

l bit

1 ' 1 1 b i t s 2 bits 2 1 0 'I

1

0 0

0
1

1 - O N ( u p p e rp o s i t i o n ) 0*OFF ( l o w e rp o s i t i o n )

1: Even parity; 0: Odd parity 'l: P a r i t ye n a b l e i 0 r P a r i t y d i s a b l e Character length 5 bits 6 bits 7 bits
l

8 bits

0 0

0
'l

Baud rate factor Null

X1 0
l

x16
,I

x64

0 0

APPENDICES
2.4 SignalLineTiming Chart
T h e R S 2 3 2 Ci n t e r f a c ew a s o r i g i n a l l y t h e s t a n d a r d pre_scribing e l e c t r i c a ls p e c i f i c a t i o n ss h a p e s o f c o n n e c t o r s , , unOpin nrrnO"rr. A s - a r e s u l t , d i f f e r e n t p i e c e s o f c o m m u nj c a t i o n equipment use different signal line functions and communication proceCures. W h e n c o n n e c t i n gy o u r p e r s o n a lc o m p u t e r t o t h e robol,tfreretore, thorough understanding is mandatory of the functions of the s i g n a ll i n e sp r o v i d e d o r b o t h t h e p e r s o n a c o m p u t e r f l a n dt h e d r r v e unit. 1) Data rransfer timhg.lrp11persona| (Robot) 'l st character: S i g n a l s R ( D T R ) n d R S ( R T S ) r e t u r n e dt o H I G H E a a for up to 1 7 7 m s . f a n y d a t a i s i n p u rd u r i n gt h i s p e n o d , l both 1l: ld E R ( D T R )a n d R S ( R T S )a r e r u r n e d t o L O W a l t o w i n g rhe data to be read in. 2 n d c h a r a c t e ra n d o n w a r d T h e d r i v e u n i t c a u s e s b o t h E R ( D T R )a n d R S ( R T S ) ro go H I G H t o b e r e a d y f o r a c c e p t i n gd a t a e n t r y . l f any data is i n p u t , E R ( D T R )a n d R S ( R T S )a r e t u r n e d t o L O W allowrng the data to be read in. This operation repeats until a hex. "0D", c o d e ( C R : c a r r i a g e r e t u r n ) o r a h e x , , , 0 A , ,c o d e ( L F : l i n e f e e d ) i s i np u t . ( P e r s o n a i c om p u t e r ) T r a n s f e rt h e 1 s t c h a r a c t e rw h i l e D R ( D S R ) r e m a i n s HIGH. T r a n s f e r t h e 2 n d a n d s u b s e q u e n t c h a r a c t e r sw h e n DR (DSR) latergoes LOW and again goes HIGH. !9]]lp!1g|1o

]g!Sl

RS (RrS) -

CS (CTS)

I 1 s t c h a r a c t eirn p u t

I 2 n d c h ar a c l e r i n p L t t

Fig. 5.2.2 Data Transfer Timing trom personal Computerto Robot

APPENDICES
2) Datatransfertiming from robot to personal computer ( Robot) Datatransfer initiated is aftercausing (DTR) go HIGH. ER to ER (DTR) turnedto LOWafterthe lasthex. "0D" codehas been is transferred. (Personal computer) The personal computer causes lRTS)togo HIGH RS waitingfor datato be transferred from the robot.lf the personal computer requires hex."0A" code(LF:linefeed)followinghex."0D" as a a terminator received of data.bit 1 of SW1 located insidethe placed the upperposition driveunit sidedoor must be in {ON).
(Robot) ER(DTR) (Personalcomputer) DR (DSR)

R S ( R r S )-

CS (cTS) r T T s t c h a r a c t eo u t p u t r I 2 n d c h a r a c t eo u t p u t

* DR (DSR) E R (DTR)

cs (crs) * RS( R T S )

Fig. 5.2.3 Data TransferTiming from Robot to Personal Computer

APPENDICES
2.5 RS232C Cable your personal computerto the robot through When connecting cableof your personalcomputer interface, RS232C the the RS232C pluggedinto the corresponding may be usedif it can be properly as connectorof the drive unit and signal lines are connected signal line must, however,meet the shown in Fig. 5.2.5.Each ea timing described rlier. f M A l s oa v a i l a b la r et h e o p t i o n ac a b l e so r t h e M i t s u b i s h i U L T l l 6 l e a n d N E CP C 9 8 0 1 .

Drive unit (signalname, pin number)

P e r s o n a lc o m p u t e r (sagnal ame, pin number) n

( F G )1 ( S D )2 ( R D )3 1 R S4 )

1(FG) 2 {SD) 3 (RD) 4 (RS) 5 (CS) 6 (DR) 20 (ER) 7 (SG)

(cs)5
(DR) 6 ( E R )2 0 ( S G )7

Fig. 5.2.4 RS232C Cable Connection

APPENDICES
lnterfacing 2.6 RS232C Examples

@
cable the RS232C 1) Connecting (model:RS-MULTI-CBL)' Usingthe optionalcablefor RS232C (withthe drlve computer the conn-ect driveunitto the personal on the connector turnedOFF) For computer unit and personal connector' the MULT|l6lll,use its built-inRS232C comPuter 2) Settingthe Personal (Settingswitches) (l-SW) the on the Set53 inside maincoverand l/O modeswitch back panel as follows 53: FliP down to C2 and C4 Positions' l-SW: Placebit 4 in the lower position(OFF)' havebeen made'turn ON the Afterthe aboveswitchsettings of computer. {For location 53, see MULTll6lll Ownpersonal er's Manual.) (lnvoking software) (1) Activate cPilvl-86. (2) Activatethe GENSYS command to make the following settings. I A > GENSYS Y RS232C? I ASYNCI Async/Sync? ) (Y/N)? J Y END OF GENSYS (3) Activate lvlBASIC. I A > I\,IBASIC
ACtiVAtEM BASIC (or MBASIC2).

ActivateGENSYS. configuraSet RS232C t i on . End GENSYS.

3) Setting the drive unrt located After the drive unit has been turned ON place ST1 ( O F F ) T h i s s e l e c t st h e i n s i d et h e s i d e d o o r i n t h e l o w e r p o s i t i o n box is p e r s o n a lc o m p u t e r m o d e . M a k e s u r e t h a t t h e t e a c h i n g the side t u r n e d O F F .T h e n , s e t S W 1 , S W 2 , a n d S W 3 l o c a t e d i n door as follows. SW1: SW2l j SW3 P l a c eb i t 1 i n t h e u p p e r P o s l t l o n . Make the standard settingsaccordingto 2.3 RS232C Settings.

APPENDICES
4) Verifyingproper connectio n I n p u ta n d r u n t h e f o l l o w i n gp r o g r a mi n M B A S I C . 1 0 O P E N" C O M 1: 9 6 0 0E , 7 , 2 " A s l r l , 20 PRINT 1, "NT" # 30 END Aboveprogramis executed. R U NJ OK lf the robot performscorrectretu rn-to-o in operation, rig the has been made properly. connection E x a m p l e : U s i n g N E CP C 9 8 0 1 F 2 1 ) C o n n e c t i ntg e R S 2 3 2 C a b l e h c Using the optional cable for RS232C {model: RS-PC-CBL), connect driveunitto the personal the computer {withthe drive unit and personal computerturned OFF). 2) Settingthe personal computer (Settingswitches) Set DIPswitches SW1 and SW2on the backpanelas follows. SW1: Placebits 7 and 9 in the lower position(OI\,. Placebits 8 and 10 in the upper position(OFF). SW2: Placebit 5 in the lower position(ON). After the aboveswitchsettings havebeen made,turn ON the personal computer. {lnvokingsoftware) (1) ActivateNS8DISK-BASlC. {2) Set memory switch as follows. OK mon I hlssw2I 08-08 I Activatemachinelanguage monrror. Set baud rate(at9,600 baud).

(3) Pressthe reset switch for reactivation. 3) Settingthe drive unit Performthe same procedure in MULTll6lll as (except for placingbit 1 of SW1 in the lower position)

APPENDICES
4) Verifyingproper connection Input and run the following program in N-BASIC. 1 0 O P E N" C O M : E 7 3 " A S f 1 2 0 P R I N T# 1 , " N T " 30 END R U NI OK Aboveprogramis executed.

lf the robot performscorrectretu rn-to-orig operation, in the connection has been made properly. (Mitsubishi Example A6GPP general-purpose 3: MELSEC-A series programmable controller) 1) Connecting the RS232C cable (RS-PC-CBL), Usingthe optional cablefor RS232C connect the drive unit to the corresponding A6GPPconnector(with the drive unit and personal computerturned off.) 2) Settingthe A6GPP (1) Insert optional the 3.5-inch BASIC disk(SW0GHP-BAS) into drive A of the AGGPP and power up the A6GPP. (2) ActivateBASIC. A>BASIC J 3) Settingthe drive unit Performthe same procedure in MULTll6lll. as (except for placingbit 1 of SW'l in the lower position) 4) Verifyingproper connection Input and run the following program in 8AS|C. 1 0 l N t T% 1 , " 6 E 7 2 " 1 20 PRINT 1, "Nr" % 30 END RUNI OK

Aboveprogram executed. is

lf the robot performscorrectretu rn-to-o in operation, rig the connection has been made properly.

APPENDICES
WITH 3. INTERFACE l/O EXTERNAL EOUIPMENT plug the external l/O the To connect robotto external equipment, (to be described l/O later)into the EXTERNAL connector l/O cable on the l/O card. A8, Thereare four tvpesof l/O cardsavailable, 88, A16,and B'16, each having the following specifics.
Dedicated l/O Remalks

Item

l/O General-purpose
Input

Tvpe
A8

Output 8 pohts RDY ACK 8 points RDY

Input
Not available

Output
Not a v ai l ab l e O p e r a t i o nb y m e a n s o t e x t e r n a l signalsls not possible.

lD marking {silk-screenprinted)

8 polnts STB BTJSY 8 points STB BUSY

Not available

Acr-

Not a v ai l ab l e

O p e r a t i o nb y m e a n s o f e x t e r n a l s i g n al s i s n o t p o s s i b l e .

#28

3 points h 16 points 16lco ts Operation by means of external (start, stop, ( r un , w a r t , RDY STB slgnalsis possible. error) ACK reset) BTJSY

' 1 6p o i n t s '16points 3 points Operation by means of external (runwait, , (start, stop, RDY STB signalsis possible. reset) error) ACK BUSY Table 5.3.1 l/O Cards

NOTICE
"signal" between "signal" a n d Differences

(lnput signal) "Signal": Indicates terminal is in a that the corresponding significant condition, i.e. the signal is being "high input to the terminal when a relatively voltage" is applied to the terminal. "Signal": Indicates terminalis in a that the corresponding significant condition, i.e. the signal is being "low input to the terminal when a relativelY voltage" is applied to the terminal. (Output signal) " S i g n a l " :Indicates that the correspondingterminal is switched to a "high voltage" state when a significantconditionis output from the internal circuitto the terminal.
" S i g n a l " : Indicates that the correspondingterminal is

switched to a "low voltage" state when a significantconditionis output from the internal circuitto the terminal.

APPENDICES
3.1.A External l/O ConnectorPin Assignments (Type l/O Card) A
Table 5.3.2.Ashows the pin assignmentsfor the external l/O "Wire c o n n e c t o ro n t v p e A l / O c a r d . colors" shown in the Tableare keyed to those shown in 3.6 External l/O Cable.Those signals marked with " are not available in tvpe A8 l/O card.

F i g . 5 . 3 1 . A E x t e r n a ll / O C o n n e c t o r

Pin No.

Signai

Wire Color W h i t e ib l i r . k A Yel oy//black A Bluelblack A G r e F r n / b 1 aA k c O r a n g e / b l a c iA , PinUfrlack A Grayrblack A Red/irlark A V o l e t l b l a c kA Erown,'blackA W h i t e / b l a c kC Yellow,/back C Blue/black C Gfeen/black C O r a . g e l b l 3 c kC PiN black C i(i Gray/black C Redi lack C b Vloletibldck C B r o w n / b l a c kC Yellow/red A Bi!e/red A G r e e n ,e o A O r a n g e l r e dA

Pin No.

Signal

Wire Color
White/black I Yellow/black B B l u e / b l a c kI Green/b ack B Orange/black B Pink/black B G r a y / b i a c kB Red/black I Violet/black B Brown/black B White/black D Yellow/black D Blue/black 2 Green/black D Orange/black D P i n U b l a c kD Gray/black D Bed/black D V i o l e v b l a c kD B r o w n / b l a c kD White/red B Yel ow/red B B l u e / r e dB G r e e n / r e dB O r a n g e / r e dB

O u t p u tp o r t p o w e r l n p u t Oltput poat power rnpirt

99tt!til!q OuF,,l ? ]t o!ll,i,l9J 1

Output t 6 b

Rll 9.!!,t -9Y!P! bil 8 '

t0 t1 12
1J 14 15 1/

" o{s!!!r 1? *
Output bit 14

O1lrpur bit I0

- vVtAlT outlg!
r E R B O Ro u t p u l

- {rpl,"E
* I n p L r tb i t I

r l!p9!.br1! rry"rg!- lj

!,!!t q,t 15

1B 20 21 22 23 24 25

26 2r' 28 29 30 3t 32 33 34 35 36 37 38 39 40 41 42 43
44

O u t p u tp o r t G N D o u t p u t Cutp.rt port GND outpLrt

9!!P-{ ql l
o!tp{

orr!91 ! !,!

!! J

O u t p u tb i t 7

'l3 * Oirtpul-blt. " ol4put bit 15

!! , 4 9 ! i Tb,t,s q!tS{ ' o Ltlp-Ll_r. ,911. -1,1 ' 1!1 99!Pu' . sr4!I ,r'!r,t ' !!!!lI qlset !"t !11
t i n p L r tb i t 1 2 t Inputbit 10 *,lip,ut bit 8 STB input

Bury9,ul?9t tryq.q! l
input blt l Input port power Input lnp{rtport power input

bll lllollt-. I rl!"l.bll !

41 Arj 49 50

lls{ !r 1
I np u t b i t 0 Input port GND outp!t Inpui pon GND output

lnq!! b,t 9

I'q!. q[ 2

Table 5.3.2.A External l/O Connector Pin Assignments {Type A8/16)

( R e c e p t a c l em o d e l : 5 7 L E - 4 0 3 6 0 ' 7 7 O OD 3 ) . . . ( D D K ) A p p l i c a b l ep l u g m o d e l : 5 7 E - 3 0 3 6 0. . . ( D D K )

APPENDICES
3.1.8 External l/O ConnectorPin Assignments (TypeB l/O Card)
Table 5.3.2.8 shows the pin assignments for the external l/O "Wire colors" shown in the Tableare c o n n e c t o ro n t v o e B l / O c a r d . keyed to those shown in 3.6 External l/O Cable.Those signals marked with * are not available in tvpe 88 liO card,

Fig. 5.3.1.8 External l/O Connector

Pin N o .

Srgnal Output port power input Output port power input Output bit 0 Output bit 2 OLrtput bit 4 Output bit 6 BDY output * Output bit 8 + Output bit 10 * Output bit 12 * Output bit 14 * WAIT output * E R R O Ro u t p u t * STOP input * Inputbit 15 * lnput bit '13 * Input bit 1'l * Input bit 9 BUSY output Input bit 7 Input bit 5 Input bit 3 Input bit 1 Input port power Input Input port power Input

Wre Coor
A White/black Yellow/black A B l u e / ba c k A Green/black A A Orange/black P i n U b l a c kA A Gray/black Red/black A V i o l e t b l a c kA Brown/black A. W h i t e / b l a c kC Yellow/black C BlLre/black C Green/black C Orange/black C P i n V b l a c kC Gray/black C Bed/black C V i o l e v b l a c kC B r o w n / b l a c kC White/red A Yellow/red A Blle/red A G r e e n / r e dA Orange/red A

Prn N o . 26 27 28 29 30 31 32 33 34 35 36 31 3B 39 40 41 43 44 46 41 48 49 50

S gnal

Wire Color W h i t e / b l a c kB Y e l l o w / b l a c kB Blue/black B B Green/black Orange/black B Pink/black B Gray/black B R e d / b l a c kB Violet/black B Brown/black B W h i t e / b l a c kD Yellowblack D Blue/black 2 D Green/black D Orange/black P l n U b l a c kD Gray/black D R e d / b l a c kD Violet/black D B r o w n / b l a c kD White/red B Yellow/red B Blue/red B G r e e n / r e dB Orange/red B

1 2 3 4 5 6 / I 9 10 11 12 13 14

17 18 19 20 21 22 23 24 25

O u t p u tp o r t G N D o u t p u t O u t p u tp o r t G N D o u t p u t O u t p u tb i t l O u t p u tb l t 3 O u l p u tb l t 5 O u t p u tb i t 7 ACKinput * O u t p u tb i t 9 * O u t p u tb i t 1 ' l * O u t p u tb i t 1 3 * O u t p u tb i t 1 5 * RUNoutput + S T A R Ti n p u t * R E S E Tn p u t i * I n p u tb i t 1 4 * inputbit 'l2 * lnputbit 10 " I n p u tb i t 8 SIB inpLrt I n p u tb i t 6 I n p u tb i t 4 I n p u tb i t 2 I n p u tb i t 0 I n p u tp o r t C N D o u t p u t I n p u tp o r t G N D o u t p ! t

Table 5.3.2.8 External l/O Connector Pin Assignments {Type 88/16)

(D3). Receptacle model: 57LE-40500-77OO . . (DDK) p A p p l i c a b l e l u g m o d e l :5 7 E - 3 0 5 0 . . { D D K ) 0

APPENDICES
3.2.A l/O Circuit Specifications (Type l/O Card) A The by are all isolated photocouplers. input port The l/o circuits Each from the outputport block. shownbelowareseparated block powersupply, a single or provided with an external blockmay be sourcebe used for the two circults. in with * are not available type A8 marked Notethat thosesignals L/Ocard.

Signal

Specifications

lntelnal Circuit

Input port power lnput Input port GND output

R e g u l a t ep o w e rs u P P l Y d 12 to 24V DC

! co

I n p u tb l t s 0to 7 *8 to 15

I n p u lv o l t a g e O N v o l t a g e i9 V D C ( m i n . ) D O F Fv o l t a g e : 2 V C ( m a x).

=
i np u t

I n p u tc u r r e n t *STARTnput i * S T O Pi n p u t * R E S E Tn p u t i ' l 2 V D C : 2 . 5 m A( t y p ) ( 24VDC: 12.5mA typ)

BUSY output

S a m e a s o u t p u tb r t s

Same as output bits

Table 5.3.3.Alnput Port Block Specitications

Signal

Specificalions

Internal Circuit

O u t p u tp o r t p o w e f i n p u t Output port GND output

power supply Regulated 12 to 24V DC

*l

-9

Output bits 0to 7 *8 to 15

Max. appliedvoltage: 26.4V lMax. load cLrrrent: 0.1A'lPin N4ax. N voltage: 1.3V O L e a k a g ec ur r e n t : 1 0 0 p A ( m a x . )

,-J
External 12 to 24V D(

R D Yo u t p u t

*RUNoutput *WAIT output *ERROR utput o

ACKinput

Same as input brts

S a m e a s i n p L l tb i t s

Table 5.3.4.A Output Port Block Specifications

APPENDICES
3.2.B l/O Circuit Specifications (TypeB l/O Cardl The l/O circuits all insulated photocouplers. input port are by The port block. blockshownbelowareseparated from the output Each powersupply, a single blockmay be provided with an external or sourcebe used for the two circuits. Notethat thosesignals marked with * are not available type 88 in l/O card.

Signal

Specifications

InternalCi.cuit

InpLrt port power nput I n p L r tp o r t G N D o u t p u t

power supply Regulated 12 to 24VDC

I n p u tb i t s 0to 7 "8 to 15
E

External

lnput voltage ON voltage: 9V DC (min.) OFF voltage: 2V DC (max.)

2 \a 24V D( I np u t

STBinput
o

Input current

* S T A R Ti n p u t * S T O Pi n p u t TRESET put in

12V DCi 2.5mA (typ) 24V DC: 12.5mA (typ)

B U S Yo u t p u t

S a m e a s o u t p u tb i t s

S a m ea s o u t p u t b i t s

Table 5.3.3.8 Input Port Block Specifications

Signal

Specitications
R e g u l a t e dp o w e r s u p p l y 12 b 24V DC

lnternal Circuit

Output port power input O u t p u tp o r t G N D o u t p u t

r-rT---Tr
l+ 122!Fl

l r u|
Output bits 0to7 *8 to 15

l - l 5 o v l

l r
|

t{-___sl__4_J
t
| |

lpo6e

(,pply

_9
RDY output
lMax. applied voltage: 26.4V Max. load current: 0.'lA,/pin '1.3V Max. ON voltagei L e a k a g ec ur r e n t i 1 0 0 l ] A ( m a x . )

--F\f]
#

ryl lrJ, i
i l

| |

| |

ltt rc ruv or :

|
t T ll

|
I

*RUNoutput *WAIT output *ERROR utput o

A l l r t t I 33hol

I, Houtput
t f t I I lDdrrineron ltrans'stor

._J-,-ri i

il

ACKinput

Same as input bits

Same as input bits

Table 5.3.4.8Output Port Block Specifications

APPENDICES
3.3.A Functions l/O of SignalLines (Type l/O Card) A
The following Tablesshow the function of each signal line. Note t h a t t h o s e s i g n a l s m a r k e d w i t h * a r e n o t a v a i l a b l ei n t y p e A 8 l / O card.

Signal

Function l R e p r e s e n t i n t h e p a r a l l e g e n e r a l ' p u r p o s en p u t b i t s ,t h e s e g i slgnals allow the input state to be read in parallelor b i t ' b y - b i tw i t h a c o m m a n d ; U s e d f o r c o n d i t i o n a j u m p o r l interiupt by means of externa signals. Used 10 clock parallel data for input; Data sent flg!0 p e r i p h e r a li s r e a c j i n o n t h e n e g a t i v e e d g e o f t h e S T B s g n aL U s e d t o c i o c k p a r a l l e ld a t a f o r i n p u t ; D o n o t c h a n g e i n p u t d a t a f r o m p e r i p h e r a lw h i l e t h e B U S Y s i g n a l i s b e i n g auIpuI. l_las the same fLrnctionas the start switch on the drive unit f i o n l c o n t r o l p a n e i w h l l e t h e e x t e r n a ll / O . H a s t h e s a m e f u n c t i o na s t h e s t o p s w i t c h o n t h e d r i v e u n i t f r o n t c o n t r o l p a n e l w , h i l et h e e x t e r n a l l / O . H a s t h e s a m e f u n c t i o na s t h e r e s e ts w i t c h o n t h e d r i v e u n i t fronl control panei while the externall/O.

I n p u tb i t s Cto T *B to 15 STBlnput
_9

o_

BU S Y oLrrpur *STARI input "STOP input *RESET

Table 5.3.5.4 Function ol Each Input Signal

O u t p u tb i t s 0 to 7 *8 to 15

R e p r e s e n t i n gt h e p a r a l l e l g e n e r a lp u r p o s e o u t p u t b i t s , t h e s e s i g n a l s a l l o w t h e o u t p u t s t a t e t o b e s p e c i f i e di n p a r a J l e lo r b i t - b y b i t w i t h a c o r n m a n d j U s e d t o s e n d s i g n a l st o p e r i p h e r a l . lOutput is retained.) U s e d t o c l o c k p a r a l l e ld a t a f o r o u t p u t ; P e r i p h e r ar e a d s i n l p a r a l l e ld a t a w h e n t h i s s i g n a l i s o u t p u t . U s e d t o c l o c k p a r a l l e l a t a f o r o u t p u t j T h e s t a t eo f o u t p u t d d a t a i s r e t a i n e du n t i l t h i s s i g n a l i s i n p u t . O u t p u t w h i l e t h e p r o g r a r n s b e i n g e x e c u t e db y t h e d r i v e unit. O u t p u t w h i l e t h e p r o g r a m e x e c u t l o nb y t h e d r i v e u n i t i s being suspended. O r t p u t w h e n a n e f r o r o c c u r si n t h e d r i v e u n i t ( e r r o rm o d e I or II)

- .,-..,

o_

Table 5.3.6.A Funct;on of Each Output Signal

APPENDICES
of 3.3.8 Functions l/O SignalLines (TypeB l/O Card)
T h e f o l l o w i n gT a b l e ss h o w t h e f u n c t i o no f e a c h s i g n a ll i n e . N o t e t h a t t h o s e s i g n a l s m a r k e d w i t h * a r e n o t a v a i l a b l ei n t y p e 8 8 l / O c ar d .

B e p r e s e n t i n t h e p a r a l e l g e n e r a lp u r p o s eI n p u t b i t s ,t h e s e g Input bits L s i g n as a l l o w t h e i n p u i s t a t e l o b e r e a d i n p a r a l l e l o r 0 t o 7 b i t - b y - bt w i t h a c o m m a n d ; U s e d f o r c o n d i t o n a l j u m p o r *8 to 15 i n t e r r ! p t b y r r r e a n so i e x t e r n a l s i g n a l s .
. 516 Inpur J\ed to . ock par.l el ddld 'ot np. t. Da'a senl f'om p e ' p . p r a l s r p a o n o n h e p u s t i v p e o g p o ll h c s l B s r g n a , .

co

-9

=
o

U s e d t o c l o c kp a r a l l e d a t a f o r i n p u t ; D o n o t c h a n g e i n p u t d a t a f r o m p e r i p h e r a lw h i i e t h e B U S Y s i g n a l i s b e i n g -SIART input

H a s t h e s a m e f u n c t i o na s t h e s t a r t s w i t c h o n t h e d r i v e u n i t front control pai'rel hile the externall/O. w H a s t h e s a m e f u n c t i o na s t h e s t o p s w i t c h o n t h e d r l v e u n i t f r o n t c o n t r o l p a n e l w h i e t h e e x t e r n a ll / O . H a s t h e s a m e f u n c t l o na s t h e r e s e ts w i t c h o n t h e d r r v eu n i t front control pane lvhrlethe externall/O. Table 5.3.5.8 Function ol Each Input Signal

input

Signal

Function o R e p r e s e n t i n gt h e p a r a l l e l g e n e r a l - p u r p o s e u t p u t b t t s , t h e s e s i g n a l s a l l o w t h e o u t p ! t s t a t e t o b e s o e c i f i e di n p a r a le l o r b i t b y - b i t w r t h a c o m m a n d : U s e d t o s e n d s i g n as t o p e r i p h e r a l . (Outputis retained.) l U s e d t o c l o c k p a r a l l e ld a t a f o r o u t p u t ; P e r i p h e r ar e a d s i n

OLrtput bits 0 t o 7 *8 io 15

_9
o

R D Yo u t p u t p a r a l l e data when this signal rs oLrtput. ACKinput

U s e d t o c l o c k p a r a l l e ld a t a f o r o u t p u t ; T h e s t a t e o f o u t p u t d a t a i s r e t a i n e du n t i l t h i s s i g f a l i s i n p u t . O u t p u t w h i l e t h e p r o g r a m i s b e n g e x e c u t e db y t h e d r i v e unrt. b Output while the program execLrtiony the drlve unit is being suspended. O u t p u t w h e n a n e r r o r o c c u r sl n t h e d r i v e u n i t ( e r r o r m o d e I or II).

* R UN ourpur

output

-ERROR ourpur

Table 5.3.6.8 Function oI Each Output Signal

3.4.A Example of Connection l/O to Circuits(TypeA l/O Card)

(l/O connector)

T h e f o l l o w i n g d i a g r a m s h o w s a n e x a m p l e o t c o n n e c t i o n sb e t w e e n the l/O connector and an external peripheraldevice.

( E x t e r n ap e r i p h e r a l e v i c e ) l d

- - - Inputpon power supply \12t24VDC)

Input bit O

-J- -Pushbu on switch

48

n
o

l1p,rt bft 1 - -Transistor

- -Photocoupler

- - Output port power supply DC) 112/24V

L E Dl a m p
t o

28

nOV o

ACK input

------Transistor

Fig.5.3.2.ATypical l/O Circuit Connection

APPENDICES
3.4.8 Example of Connection l/O to Circuits(TypeB l/O Card)
( l / Oc o n n e c t o r )

T h e f o l l o w i n g d i a gr a m s h o w s a n e x a m p l e o f c o n n e c t i o n sb e t w e e n the l/O connector and an external peripheraldevice.

( E x t e r n ap e r i p h e r ad e v i c e ) l l

- - - i n P U tP o r t p o w e r s u p p l y \12t24V DC)

Input bit O :-I

- -Pushbutton wrtch s

_e
- - -Transistor

- -Limit switch

------Photocoupler

' O u t p u tp o r t power supply l12l24v DC)

- -LED lamp

n
--Solenoid or relay

- -Photocouper

- - -Tra nsistor

Fig.5.3.2.8 Typical l/O CiJcuit Connection

APPENDICES
3.5 l/O SignalLineTiming Chart (Synchronous l/O) input F i g . 5 . 3 . 3 . 4s h o w s t h e t i m i n g i n v o l v e d i n inputtirrg 3.5.1.ASynchronous datausingthe "lN." timing command (TypeA l/O card)
DATA (inpLrt) B U S Y( o u t p u t ) STB(input)

Fig. 5.3.3.A Synchronous Input Timing

( 1 ) T h e d r i v e u n i t i s r e a d yt o r e c e i v ed a t a f r o m t h e e x t e r n a ld e v i c e w h i l e t h e B U S Y s i g n a l r e m a i n sH I G H .

(21W h e n t h e e x t e r n a l d e v i c e i n p u t s d a t a a n d a n

S T B s i g n a l ,t h e d r i v e u n i t c a u s e st h e B U S Y s i g n a l t o g o L O W a n d o u t p u t s t h e L O W s i g n a l t o t h e e x t e r n a ld e v i c e .T h e e x t e r n a ld e v i c e s h o u l d not change the data while the BUSY signal remains LOW.

( 3 ) When the drive unit readsthe data in, the BUSY signal goes
HIGH allowinq other data to be entered.

3.5.1.BSynchronous input Fig.5.3.3.8 in datausingthe showsthe timing involved inputting timing c o m m a n d" 1 N . " (TypeB l/O card)
D A T A( i n p u t ) B U S Y( o u t p u t ) STB(input)

InputTiming Fig.5.3.3.8 Synchronous ( 1 ) T h e d r i v e u n i t i s r e a d yt o r e c e i v ed a t a f r o m t h e e x t e r n a ld e v t c e w h ; l e t h e B U S Y s i g n a l r e m a i n sL O W .

t2) W h e n t h e e x t e r n a l d e v i c e i n p u t s d a t a a n d a S T B s i g n a l , t h e
d r i v eu n i t c a u s e s h e B U S Ys i g n a lt o g o H I G Ha n d o u t p u t st h e t H I G Hs i g n a l t o t h e e x t e r n a ld e v i c e .T h e e x t e r n a ld e v i c es h o u l d n o t c h a n g et h e d a t a w h i l e t h e B U S Y s i g n a l r e m a i n s H I G H . (3) When the drive unit readsthe data in, the BUSY signal goes LOW allowing other data to be entered.

APPENDICES
s 3 . 5 . 2 . A S y n c h r o n o u so u t p u t F i g . 5 . 3 . 4 . A h o w s t h e t i m i n g i n v o l v e d i n o u t p u t t i n g d a t a u s i n g t h e

timing (TypeA l/O card)

c o m m a n d" O T . "
D A T A( o u t p u t ) R D Y( o u t p u t ) ACK(input)

Fig. 5.3.4.A Synchronous Outpul Timing

( 1 ) T h e d r i v e u n i t o u t p u t s d a t a a s s p e c r f i e d y p a r a m e t e r sd e f i n e d b "OT" w h i l e t h e R D Ys i g n a lr e m a i n sH I G Ha n d in the command t h e A C K s i g n a l r e m a i n sL O W .

\21 A s s o o n a s t h e d a t a i s o u t p u t , t h e d r i v e u n i t c a u s e s t h e R D Y
signalto go LOW and outputsthe LOW signal to the external oevtce.

{ 3 ) O n r e c e i v i n ga n A C K s i g n a l i n p u t f r o m t h e e x t e r n a ld e v i c e ,t h e
d r i v e u n i t c a u s e st h e R D Y s i g n a lt o g o H I G H a l l o w i n g o t h e r data to be output.

in datausingthe showsthe timinginvolved outputting 3.5.2.8Synchronous output Fig.5.3.4.8 c o m m a n d" O T . " timing (TypeB l/O card)
D A T A( o u t p u t ) R D Y( o u t p u t )

ACK (input)

Fig. 5.3.4.8 Synchronous Output Timing

( 1 ) T h e d r i v e u n i t o u t p u t s d a t a a s s p e c i f i e db y p a r a m e t e r sd e f i n e d "OT" w h i l e t h e R D Ys i g n a la s w e l l a s t h e A C K in the command s i g n a l r e m a i n sH I G H .

\ 2 J A s s o o n a s t h e d a t a i s o u t p u t , t h e d r i v e u n i t c a u s e st h e R D Y
s i g n a lt o g o H I G Ha n d o u t p u t st h e H I G Hs i g n a lt o t h e e x t e r n a i devrce.

{ 3 ) O n r e c e i v i n ga n A C K s i g n a l i n p u t f r o m t h e e x t e r n a ld e v i c e ,t h e
d r i v e u n i t c a u s e st h e R D Y s i g n a lt o g o L O W a l l o w i n g o t h e r data to be output.

APPENDICES
production environment the actual on floor, 3.5.3.ADedicated timingln a robotic l/O operation (if (Type l/O card) is A operation possible type A16 l/O card is beingused)through instead usingthe of the dedicated naI linesofthe l/Oconnector, sig front control switcheson the drive unit. settings be madeand signal to Following describes necessary the timino involvedin this oDeration. (1) Make the following switch settings by referringIo 2.1.2 Functions side settingswitchesand LEDs,OPERATION. of : Bits 3 and 5 of SW1 Upper position{ON) (2) When the above settingshave been made, drive unit front stop exceptfor the emergency are controlswitches disabled switch. (3) In these settings,the program can be started,stopped, resetting error mode ]I) by of restarted, reset(including and means of dedicatedinput signals.The function of each to input signalcorresponds that of the drive unit dedicated front controlswitch as follows. (Front ControlSwitches) STARTswitch STOPswitch RESET switch (Dedicated Input Signals) STARTinput signaI S T O Pi n p u t s i gn a l RESET input signal

are correspondfrom the dedicated outputs the signals t4l Output (RUN, WAIT,and ERROR ing to the robotoperating conditions whetherIn These are outputs). signals outputin eithersetting, mode.Fig. operation or external operation frontcontrolgwitch l/O timing. 5.3.5.A shows the dedicated
Start Stop Restart Stop Reset( p r o g r a m ) R e s e t( e r r o rm o d e i l )

E v e n t- - - - - - - - . - - - -

STARTinput

r______l__

STOPinput

R E S E Tn p u t i

RUNoutput

WAfT output

output ERROR
Fig. 5.3.5.A Dedicated l/O Timing

APPENDICES
3.5.3'8Dedicated timing In a robotic l/O operation environment the actual on production floor, (TypeB l/O card) (if operation possible type B16l/O card is beingused)through is the dedicated signallinesof the l/Oconnector, instead usinqthe of front control switcheson the drive unit. :ollowingdescribes necessary the settings be madeand srqnal to taminginvolvedin this operation. (1) Make the following switch settings by referringIo 2.1.2 Functions side settingswitchesand LEDs.OPERATION. of Bits 3 and 5 of SW1 Upper position(ON) : (2) When the above settingshave been made, drive unit front controlswitches are disabled exceptfor the emergency stop swtlcn. ( 3 ) In these settings, the program can be started, stoppeo,
r e s t a r t e d ,a n d r e s e t { i n c l u d i n g r e s e t t i n go f e r r o r m o d e I I ) b y means of dedicated input signals. The function of each d e d i c a t e d i n p u t s i g n a l c o r r e s p o n d st o t h a t o f t h e d r i v e u n t t front control switch as follows.

(Front ControlSwitches) STARTswitch STOPswitch RESET switch

(Dedicated Input Signals) STARTinput signaI S T O Pi n p u t s i gn aI R E S E Tn p u t s i gn aI i

(4) Output from the dedicated outputs the signals are corresponding to the robotoperating (RUN, conditions WAIT,and ERROR outputs). These signals outputin eithersetting, are whetherin external operation frontcontrolswitchoperation or mode.Fig. 5.3.5.A shows the dedicated timinq. l/O
Event Start r STARTinput Srop Restart Stop t Reset(program) Reset(error mode II ) i

S T O Pi n p u t

R E S E Tn p u t i

RUNoutput

WAIT output

ERROR utput o
Fig. 5.3.5.8 Dedicated l/O Timing

APPENDICES
3.6 Externall/O Cable A dedicated cableis available an optionto connect as the drive peripheral l/O unitto external equipment. Oneend of this external l/O cablecan be pluggedinto the external connector the drive on unit.Theotherfreeend is usedto hookit up to the external device. jacket of each signal line (50 in total) is markedwith an The identification colorand dot marking. Connect rightwire to the the right pin by referring colorcodingdescribed 3.1 External to in l/O Connector Pin Assignments.
Examplei Pin No. Signal Wire Color

21

I n p u tb i t 5

White/red A -f

-::-:"::l:: -"' |
TL".t
Dot MarkingType Dot Pattern 2 | | --t-rType A t 2

(see markins berow.) type

3 | | l z --*T--'FrType B

o| | l --l_----rr- z
Type C

Type D

Fig.5.3.6 External l/O Cable Malking

APPENDICES
(1) Make sure that the externalpower voltage is within the for 3.7 Precautions to range. Connection External specified Equipment {2) For the input signal, use the no voltage contactsignal or transistor open-collector nal. sig ( 3 ) When energizing coil in relaysand solenoids, connecta the l i n p a r a l l ew i t h t h e l o a d .( N o t et h e d s u r g es u p p r e s s o ri o d e correctpolarityof the diode.See Fig. 5.3.2,)
( 4 ) When lightingan LED,connect protective resistor series in a

to corresponding the rated current. ( 5 ) When lightingan incandescent lamp, a rush currentflows about 10 times largerthan the ratingwhen the lamp is first To energized. ensurethat a currentabout 20% of the rating in must be connected series. See flows at all times,a resistor Fig. below.

I n c a n d e s c e n lt a m p

Drive unit Fig.5.3.7.A Typical Circuit Including an lncandescent Lamp {Type A l/O Card)

uZ
I -7-F

s up p l y

Jrt
lncandescent lamp

F.-t

Lamp (TypeB l/O Cardl Fig.5.3.7.8TypicalCircuit Includingan Incandescent

APPENDICES
4. CARTESIAN COORDINATE SYSTEM REFERENCE POSITION SETTING 4.1 Moving the Robotto Reference Position for setting the cartesian This chaptercontainsthe procedure position to effect as accurateaxis coordinatesystem reference lt the for the motionsas possible. alsodescribes procedure storing positiondata in the EPROM. reference (1) Securethe robot onto a reference plane such as a surface Dlate. (2) Turn powerOFFand remove the EPROM from the usersocket located inside driveunit sidedoor.At the sametime, the SOC2 placeST2 and bit 4 of SWl locatedin the side door in the upper posrtron. (3) Turn power ON and performthe retu rn-to-orig operation. in (4) After the robot has returnedto the origin, perform the following operationto move the robot to a temporary position reference which will be definedby the systemROM (This will cause robotarmto be almostfully the extended data. in the forward direction.) Using the teachingbox TurnON the teaching box and press ORGland ENilkeys l I in that order. throughpersonal computer Usingintelligent commands {personal computermode) Turn OFFthe teachingbox and executethe command "OG" in direct execution mode. "OG" LPRINT {Centronics) PRINT#1"OG" {RS232C) , 4.2 Settingthe Reference (1) Usingthe teaching box, fully extendthe robot arm so that it planeas shownin Fig.5.4.1. Position runsin parallel with the reference in At thistime,the linejoiningcenters rotation alljoints,i.e., of the shoulder, elbow,and wrist (pitchand roll),should be a plane. straightline and run in parallelwith the reference by Perform this operation accurately possible usingjigs: as as positioning in coordinate remember, accuracy the cartesian system is determined this setting. by

p Reference lane

Fig. 5.4.1 Setting the Relerence Position in the Cartesian Cooidinate System

APPENDICES
(2) Perform followingoperation define the to the currentposition position. as the reference Using the teachingbol

box TurnONtheteaching andpress [F.S-], anaIENil @,

keys in that order. Using intelligent commandsthrough personalcomputer Turn OFFthe teachingbox and executethe command "HO" in direct executionmode. "HO" (Centronics) LPRINT P R t N T f i 1" H O " ( R S 2 3 2 C ) , (3) Place 4 of SW1located inside driveunit sidedoor in the bit the (OFF). This inhibits settingof the reference the lower position position. (4) This completes positionsetting procedure. the reference 4.3 StoringReference position The reference datajust defined storedin the driveunit is Position Datain EPROMRAMas position number"0." Now,writethe dataintothe EpROM by followingthe steps given below.Theseprocedures may be performed after other positiondata have been definedand the )rogram steps have been wntten.
( 1 ) R e a d ya n e r a s e dE P R O Ma n d i n s e r t i t i n t o S O C 2l o c a t e di n s i d e the drive unit side door. p { 2 ) P e r f o r mt h e f o l l o w i n g o p e r a t i o nt o w r i t e t h e r e f e r e n c e o s i t i o n data into ROM. Using the teaching bgl

TurnON the teaching box and press WRil and[ENi] keys I in that order. Using intelligent commandsthrough personalcomputer Turn OFFthe teachingbox and executethe command "WR" in direct execution mode. " L P R I N TW R " ( C e n t r o n i c s ) PRINT#1"WR" (RS232C) ,

APPENDICES
the 4.4 Loading Reference The referenceposition data written in the EPROM can be the following transferred the drive unit RAM by performing to Position Data must be performed beforeteaching Theseprocedures operation. the robot through a seriesof points.
( 1 ) Insertthe EPROM, which the reference positiondata has in

intoSOC2 located inside driveunitsidedoor. the beenwritten. inside driveunitsidedoor in the the bit t2) Place 4 of SW1located Then,transfer data in EPROIVI the the to upperposition(ON). Notethat,at this RAM by performing followingprocedure. the time, the program steps and other positiondata are also transferred. Transferring datq_ upon power-up PlaceST2 locatedinsidethe drive unit side door in the upper position(ON) and then turn power ON. Using the teachingbox T u r nO N t h et e a c h i n b o xa n dp r e s sT R N a n d l E N T l k e y s g I in that order, computer Using intelligent commandthrough personal Turn OFF the teachingbox and executethe command "TR" in direct executionmode. "TR" (Centronics) LPRINT PRINT#1"TR" (RS232C) , (3) Place 4 of SW1located the bit inside driveunitsidedoor in the the This inhibits settingof the reference lower position lOFF). Dosition. WARNING All positiondata obtainedthrough teachingare calculated based on the angle with reference to the reference position in the cartesiancoordinatesystem. lf the reference position is changed, therefore, the robot moves through a different series of points than those taught.

APPENDICES
lt is wise to create a programmingsystem when a personal 5. PROGRAMMING programs. computeris used to operatethe robot and generate USING SYSTEM program an example of as introduces simpleBASIC a Thischapter COMPUTER PERSONAL the Thisprogramassumes use application. computer the personal interface and allows the use of all Movemaster of the RS232C editorfacility by In commands. addition, makinguseof the screen the personalcomputer,data shown on the displaycan be of by )orrected means of the cursor and keyboard. of Note that some modifications the program are necessary computer. depending the model of your personal on
1 * P G l O O O * * * * * * * * R V _ M 1 R O G R A M M I NS Y S T E M * + * * * * * * EL U S I N GM U L T I1 6 B Y I \ l I T S U B I S H I E C T R I*C * : + * * I 1020' l m w t V a r i e s i t h d i f f e r e np e r s o n ac o m p u t e r o d e l s . 1 1 1 0 3 0 O P E " C O M 1 9 6 0 0 , E , 7 , 2 " AfS N 1 0 4 0L I N EI N P U T; A $ 1 0 5 0c $ : L E F r $ ( A $ , 2 ) O 1 0 6 0l F C $ : " D R " T H E NP R I N T : G O T1 1 7 0 O 1 0 7 0l F C $ : " 1 R " T H E NP R I N T : G O T1 2 4 0 O 1 0 8 0l F C $ : " P R " T H E N P R I N T : G O T1 3 6 0 16 T H E NP R I N T T G O T O 0 0 1 0 9 0l F C $ : " W H " T H E N P R I N T : G O T1 7 8 0 O 1 1 0 0i F C $ : " C R " TO 1 1 1 0l F C $ : " E R " T H E NP R I N T T G O 1 9 1 0 1 1 2 0P R I N T* 1 , A $ : P R I N T 1 1 3 0G O T O1 0 4 0 1 1 4 0' , 1150 1160,+*******RS232c|NPUTDATAREAD(,DR,)-"**-*** 1 1 7 0P R T N 4 1 , A $ T 1 1 8 0L I N EI NP U T + 1 , 8 $ " 1 1 9 0P R I N T I N P U TD A T A : " ; B $ 't200 GoTo 1040 1210' 1220' ******** L P 1 2 3 0' + * * * * + + * R S 2 3 2 C R O G R A M I N ER E A D1 ' , 1 R ' , ) " S T A R TL I N E : " ; S 1 2 4 0I N P U T " E N DL I N E : " ; E 1 2 5 0I N P U T 1 2 6 0F O Rl : S T O E "LR" +STR$(l) 1270 PRrNT 1, # '1280 LINE INPUT f, 1,A$ " T H E N1 3 1 0 1290 lF A$:" (Note) l T 1 3 0 0 P R I N T; : P R I N A $ statementis used insteadof the lf the LPRINT of the PRINT statement, contents the programcan be output to the printer. 1 3 'O N E X TI ] 1 3 2 0G O T O1 0 4 0 1330', 1340', R R S 2 3 2 C O S I T I O N E A D1 ' , P R"' . * * * * . * P ,) ' ] 3 6 0I N P U T" S T A R TP O S I T I O N : " ; S T 1 3 / OI N P U " E N DP O S I T I O N - ;"E ; R 1 3 8 0P R I N T" P O S . N O . "S P C( 3 ) ; " X ( m m ) Y ( m m )Z ( m m i P ( d e s ) ( d e g ) " : P R I N T 1 3 9 0F O Rl : S T O E

APPENDICES
1 4 0 0 P R r N T 1 , " P R "+ S T R $ ) # '1410 L I N EI N P U Tf 1 , A 9 1 4 2 0 l F A $ : " 0 , 0 , 0 , 0 , 0 " T H E N1 5 5 0 '1430 PRINTPD"; :PRINT ","; " " USING #f #";l; :PRINT ", " 1440 K$: 1450 K:1 1 4 6 0 F O RJ : l T O 5 14tO lF J:5 THEN'1490 1480 A I J ) : I N S T R( K , A $ , " , " i : G O T O1 5 0 0 '1490 A(J):LEN (A$)+1 :K$:" " '1500 v ( J ) : v A L ( M r D $( A $ , K , A { J )- 1 ) ) 1510 K:A(J) +1 " : K 1520 PRINT SING #+#fi. U *" ;V(J); PRINT $; 1 5 3 0 N E X TJ ,I540 PRINT 1 5 5 0N E X TI 1560 GOTO 1040 1570', 1580', R S 2 3 2 C U R R E N P O S I T I O N E A D( ' W H ' )* * } * * * * * C T R 1600 PRINI f, 1,A$ 1 6 1 0L I N EI N P U Tf 1 , 8 $ R 1 6 2 0P R I N T P C ( 1 4 ) ; " X ( m m ) m m )Z ( m m ) P ( d e g ) ( d e s ) " : P R I N T Y( S 1 6 3 0K : 1 1 6 4 0P R I N T" C U R .P O S , " ; 1 6 s 0F O Rl : 1 T O 5 1 6 6 0 l F l : s T H E N1 6 8 0 1 6 7 0 A ( l ) : I N S T R ( K , B $ , " , " ) : G O T O1 6 9 0 1680 A(r):LEN (B$)+1 1 6 9 0 V ( r ) : V A L 1 r \ i l r D $ ( B $AK ,) 1 ) ) ,0 '1700 K:A(l) +1 " 1 7 1 0 P R I N T S I N G# * # 4 # . U + " ; V ( l ) ;: P R I N T" "; 1 7 2 0N E X TI 1 7 3 0P R I N T 1 7 4 0G O T O 1 0 4 0 1750 1160' 1770|***x***+RS232ccouNTERREAD(,cR,)******+* 1 7 8 0I N P U T" S T A R T O U N T E R : "; S C 1 7 9 0I N P U T" E N D C O U N T E R - "; E "T 1 8 0 0P R I N T : P R I N C N T . N O . " : P R I N T 1 8 1 0F O B l : S T O E 1 8 2 0 P R | N T+ 1 , " C R " + S r R $ ( r ) 1 8 3 0 L I N EI NP U T # 1 , A $ 1 8 4 0 l F A $ : " 0 " T H E N1 8 6 0 "# " T U 1 8 5 0 P R I N T S C " ; : P R I N U S I N G " #* " ; l ; : P R I N T S I N G # # # # # " ; V A L ( A $ ) 1860 NEXT I 1870 GOTO 1040 1880 ', 1890 ', * R S 2 3 2 C R R O R E A D( ' E R ' ) * * * * * * * E R 1 9 1 0P R T N # 1 , A $ T 1 9 2 0L I N EI N P U T# 1 , 8 $ " 1 9 3 0P R I N T E R R O R O D E : " ; B $ M 1940 GOTO 1040

APPENDICES
(Explanation) Start: After the program has been written, run the program.The cursorlightsup, indicating that the systemis readyto accept key entry.
E x .R U N I li Direct execution: D i r e c t l yk e y i n t h e i n t e l l i g e n tc o m m a n d s . T h e r o b o t e x e c u t e s t h e c o m m a n d s e n t er e d .
E x . N T I . . . . .E x e c u t e r e t u r n - t o - o r i gon e r a t i o n . s ip

parameter, Forthe RS232C readinstructions containing enter the first two letters only and definethe parameter usingthe BASICinput statements LR, PR, and CR). {commands Programgeneration: Directly key in the intelligent o m m a n d f o l l o w i n g i n e n u m l c s bers (1 to 2048).This will generatethe program for the specified e number. lin
E x . 1 0 M O 1. C . . . . . M o v e s t o o o s i t i o n 1 w i t h h a n d c l o s e d .

Note that part of the commandscannot be programmed (those with X in DESCRIPTION THECOMMANDS). OF marked Programexecution: program can be executedstartingwith the The generated line numberby keyingin the startcommand"RN." specified
E x . R N sL . . . . E x e c u t etsh e p r o g r a ms t a r t i n g i t h l i n e n u m b e r5 . w

Errormode II is caused a wrong commandhasbeenentered, if a wrong parameter beendefined, an unexecutable has or command has beenentered. this case,key in the resetcommand"RS" or In pressthe reset switch on the drive unit front control panel.

APPENDICES
(Applications)
R U NJ NTJ MOl l GOI M O2 l D W 1 0 ,2 0 , 3 0I ) 10 MO l,CI 20 MO 2,OJ 30GCI 40 DW 10, -20, 30 J 50 EDJ L RJ S T A R TL I N E : ? ] 0 J ENDLINE:?50 I 10MO l,C 20 tvto 2,o 30 GC 40 DW +10.0,-20.0, +30.0 50 ED R N l OI .. ...Program enerationxample g e

' P r o g r a mr e a d e x a m p l eX l ( R e a d i n gh e p r o g r a mo n s p e c i f i e d t l i n e n u m b e r s h r o u g hR S 2 3 2 C ) t

' ' ' ' ' ' ' , ' P r o g r a m e x e c u t i o n e x a mp l e . ... .Current position read example X {mm) Y (mm) Z (mm) P (deg) R (deg)

cuR. Pos.

10.0

380.0

50.0

-70.0

-40.0

PRJ P START OSITION:1J E N DP O S I T I O N : 2 J P O S .N o . PD 1, PD 2, X (mm) 0.0, - 10.0,

' ' ' ' ' ' ' ' ' P o s i t i o nr e a d e x a m p l e X 2 (Reading the position on specitied l i n e n um b e r s t h r o u g h R S 2 3 2 C )

Y (mm) 380.0, 350.0,

Z (mm) 300.0, 280.0,

P {deg) -70.0, -70.0,

R (deg) -40.0 -30.0

X 1,2: To correctany programand positionread by using the cursorand required keys, the returnkey (J ) must be hit corrected. at the end (onthe right)of the lineand position x 3 : Hexadecimal data in the programread is displayed as decimaldata (e.g.OD&FF- OD255).

APPENDICES
PROGRAMS 6. SAMPLE
T h i s c h a p t e r g i v e s s e v e r a ls a m p l e p r o g r a m s i n w h i c h i n t e l l i g e n t c o m m a n d s a r e u s e d . N o t e t h a t t h e s t a r t i n gl i n e n u m b e r o f t h e s a m p l e p r o g r a m s i s t h a t o f t h e M o v e m a s t e rp r o g r a m , a n d n o t t h a t of the BASIC. E x am p l e 1 : P i c k - a n d - p l a c eo r k w T h i s p r o g r a m c a u s e st h e r o b o t t o s h i f t t h e w o r k p i e c e f r o m o n e p l a c et o a n o t h e r .T h e r o b o t i s t a u g h t t h r o u g h o n l y p o s i t i o n s1 a n d 2 a n d t h e a e r i a l d i s t a n c e so f t r a v e l f r o m t h e r e s p e c t i v ep o s i t i o n s "PD." are to be predefinedby the command ( P o s i t i o n s u s e d)
P o s i t i o n 1 ; A t w h i c h t h e w o r k p i e c ei s g r a s p e d . t _ Ieacnrno I P o s i t i o n2 i O n t o w h i c h t h e w o r k p i e c e i s p l a c e d . '10: Position Aerial distance of travel lrom position 1 . I N u m e r i c v a l u e s Position 20: Aerial distance of travel from position 2 . J a r e p r e d e f i n e d .

( S a m p l ep r o g r a m )
P D 1 0 , O , o, 20,o, o (X, Y, Z, P, R)
Defines aerial distance of travel trom p o s i t i o n ( Z : 2 0 m r n ) i n d i r e c tm o d e 1 a n d i d e ^ t r l i e sh e a e ' ' a l p o s r l r o n s p o s i t a tion 10. Definesaerial distanceof travel from p o s i t i o n ( Z : 3 0 m m ) i n d i r e c tm o d e 2 l a n d i d e n l i f i e s h e a e f l a lp o s ' t i o na s p o s i tion 20. Sets initialspeed. fMoves robot to a location above work piece (20mm above position I ) wrth hand opened. Moves robot to workpiece (to position 1). C l o s e sh a n d t o g r a s p w o r k p i e c e . lMoves robot above position 1 (distance b e i n g 2 0 r n m ) w i t h w o r k p i e c eg r a s p e d . lMoves robot to a location 30mm above position2. lMoves robot to position 2. Opens hand to release workpiece. lMoves robot above position 2 (distance being 30mm) with hand opened. Returns robot to position 10 allowing it t o r e p e a t t h e s e q u e n c e ( j L r m pt o l i n e number 40).

PO 20, 0. 0 , 3 0 , 0 , 0 - (x'Y . Z , P , R )

( )

30SP7 40 tllA 1, 1 0 ,o

50 r!10 1 , O
60 GC 70 MA 1, 10, C

80 MA 2, 20, C 90MO2,C '100Go 1 1 0M A 2 , 2 0 , O 1 2 0G T 4 0

l P a r a m e t e rf o r delining position 1 0 ) position I Position

30mm (Parameter or f defining position20)

Fi9. 5.6.1 Pick-and-PlaceWork

APPENDICES
2 Example : lnterrupt of This programcausesthe robot to grasp workpieces varying by meansof the hand equippedwith a limit switch.lt heights that the limit switchsignalis coupledto the drive unit assumes input terminal. ( Positio used) n
P o s i t i o n1 : A positionabove the workpiece(teaching)

( l n p u t s i g n a lu s e d )
B i t 1 : W o r k p i e c ed e t e c t i n gs i g n a l .

( S a m p l ep r o g r a m )
90sP5 1 0 0 E A +1 , 1 4 0 1 1 0M o 1 , o 1 2 0D W 0 , 0 , - 5 0 1 3 0G T 1 1 0 1 4 0D A 1 1 5 0G C 1 6 0M O 1 ,
Selects speed 5. Enables the interrupt bY bit 1 Moves robot to a position above the workpiece Moves robot 50mm in -Z direction. J u m p s t o l i n e n u m b e r 1 1 0 c a u s i n gr o b o t t o r e t u r n to position 1 as no workpiece has been detected Disables interruPt bY bit 1 Closes hand to grasp workplece Moves robot to position 1 with wo.kpiece grasped.

program, the linenumber120causes robot In the abovesample -Z tool direction if thereis a workpiece, and, to move50mm in Then, the limit switchsignalis inputand the robot is stopped. j i t t h e p r o g r a mu m p st o l i n en u m b e r1 4 0t o d i s a b l en t e r r u pa n d and returnto position1. to allow the robotto graspworkpiece in lf there is no workpiece the robot'smoving range,no limit the switchsignalis inputand line number130causes program t t o j u m p t o l i n en u m b e r1 1 0w h i c h ,i n t u r n ,c a u s e sh e r o b o tt o the same sequence. return to position I repeating

Within 50mm

Workpiece

Fig. 5.5.2 Inierrupt

APPENDICES
l Example : Paletizing 3 the from a pallet Thisprogram causes robotto pickup a workpiece to test, set it up on the test containingworkpiecessubject equ;pment, and place it in positionin anotherpalletto contain that haveundergone test.The programassumes the workpieces that the shapesof the two palletsare different. ( Positionused)
Position l Pallet I set positon I ^ .. 1 ' I Delinedbv command PT P o s i t i o n : P a l l e t2 s e t p o s i t i o n J 2 P o s i t i o n 0 : Pallet 1 reference position 1 Position'l'li P a l l e t 1 c o l u m n t e r m i n a t i n g p o s i t i o n 1 P o s i t i o n 2 : P a l l e t1 r o w t e r m i n a t i n gp o s i t i o n 1 P o s i t i o n 3 1Pallet I corner position opposite to reference Teaching P o s i t i o n 0 : Pallet 2 reference position 2 P o s i t i o n 1 : P a l l e t 2 c o l u m n t e r m i n a t i n gp o s i t i o n 2 Position22; P a l l e t 2 r o w t e r m i n a t i n g p o s i t i o n P o s i t i o n 3 : Pallet 2 corner position opposite to reference 2 P o s i t i o n 0 : Test equipment set position 3 N u m e r i cv a l u e sa r e Position50: A e r i a l d i s t a n c eo t t r a v e l f r o m p a l l e t s
predefined.

(Counterused )
Counter 11: Counter 12: Counter21: Counter22r PalletI Pallet1 P a l l e t2 P a l l e t2 column counter row counter column counter row counter

( Input signaI used)

Bit 7: Test complete signal

(Parameter for defining position 50) Position10

20mm
Position 22

Position

Posilion 13

( P a l l e1 > t

Test equ ipment

( P a l l e t2 )

Position21 Fig. 5.5.3 Palletizing

Position

APPENDlCES
( S a m p l ep r o g r a m )
PD 50, 0, 0. 20, 0, 0 (X, Y, Z, P, R)
; D e f i n e sa e r i a l d i s t a n c eo f t r a v e l ( Z : 2 0 m m ) i n d i f e c tm o d e a n d i d e n t i f i e s h e t aerialpositionas position50.

. 2 1 . 5 ( l n i t i a le t t i n g ) 7 s 10 NT 15TL 145 2 0 G P 1 0 ,B , 1 0 2 5 P A 1 , 1 0 ,6 3 0 P A 2 , 1 5 ,4 3 5 S C 1r , 1 40 sc 12,1 45 SC21,1 50 sc 22,1 ( M a i np r o g r a m ) 1 0 0R c 6 0 1 1 0G S 2 0 0 1 2 0G S 3 0 0 1 3 0G S 4 0 0 1 4 0N X ,I50 ED

S e t s t h e n u m b e r o f r e p e a tc y c l e so f a l o o p u p t o line number140. Causes robot to pick up a workpiece from pallet 1. Causes robot to set up the wo.kpiece on test e q ui p m e n t . C a u s e s' o b o r l o p l a c e w o r k p i e ( e i n p a l l e t 2 . R e t u r n st o l i n e n u m b e r ' 1 0 0 . En d . ; Nesting ; Sets tool length at 145mm. ; Sets hand open/close parameters De{iens he number of grid pointsin the column t 'l and row directions{or pallet (vert- l0 X horiz. 6). D e f i e n st h e n u m b e r o f g r i d p o i n t s i n t h e c o l u m n f a n d r o w d i r e c t i o n so r p a l l e t2 ( v e r t .1 5 X h o r i z .4 ) . Loads initialvalue Loads initiaivalue Loads initialvalue Loads initialvalue in pallet l column counter. in pallet 1 row counter. in pallet2 column counter. in pallet2 row counter.

* The followingsare subroutines used in the main program.

( S u b r o u t i n e rP i c k i n g u p w o r k p i e c ef o r t e s t )

200 sP 7 202 PT 1 204MA 1,50,O 206 SP 2 208MO 1,O 2 1 0G c 212MA 1,50,C

Sets speed. g ldentifieshe coordinates Jcalculated rid point t o on pallet 1 as position L fMoves robot to a location above position 1 ( d i s t a n c eb e i n g 2 0 m m i n Z d i r e c t i o n ) . Sets speed. Moves robot to position 1. Closes hand to grasp workpiece. Moves robot to a location above position 1 with w o r k p i e c e g r a s p e d ( d i s t a n c eb e i n g 2 0 m m i n Z d i r e c t i o n. ) I n c r e m e n t sp a l l e t 1 c o l L i m nc o u n t e r b y 1 . '11 L o a d sv a l u e i n c o u n t e r i n t o i n t e r n a lc o m p a r i son register. J u m p s t o l i n e n u m b e r 2 3 0 o n c o m p l e t i n gc o l u m n lrne. E n d s s u b r o u t i n eo t h e r w i s e . I ni t i a l i z e s o u n t e r 11 . c

2 1 4l C 1 1 2 1 6C P 1 1 21a EA 11,230 220 BT 2 3 0S C 1 1 , 1

APPENDlCES
232 lC 12 234 RT
; I n c r e m e n t sp a l l e t 1 r o w c o u n t e r b y 1 ; Ends subroutine.

( S u b r o u t i n e iS e t t i n g u p w o r k p i e c e o n t e s t e q u i p m e n t )

300 sP 7 302 MT 30, 50,C 304 SP 2 306 MO 30, C 308 rD TB 3',10 -7,308 312 tVtT30, 50,C 314 RT

Sets speed. M o v e s r o b o t t o a l o c a t i o n5 0 m m a h e a d o f t e s t e q! i p m e n t . Sets speedCauses robot to set up workpiece on test equipment. Fetches input data. Causes robot to wait for test to complete. Moves robot to a location 50mm ahead test e q ui p m e n t . Ends subroutine.

( S u b r o u t i n e rP l a c i n gt e s t e d w o r k p i e c e i n p a l l e t 2 )

400 sP 7 402 Pr 2 404 l\,,1A 2,50,C 406 SP 2 408 tv102,c 4 1 0G O 412 MA 2,50,0 4 1 4l C 2 1 4 1 6C P 2 1 418 EO 16,430 420 RT 430SC 21,1 432 lC 22 434 RT

Sets speed. g ldentilieshe coordinates f calculated rid point t o

^n n:llat, re n^.iti^n ?

Moves robot to a location above position 2 ( d i s t a n c eb e i n g 2 0 m m i n Z d i r e c t i o n ) . Sets speed. Moves robot to position 2. O p e n s h a n d t o r e l e a s ew o r k p i e c e . Moves robot to a location above position 2 ( d i s t a n c eb e i n g 2 0 m m i n Z d i r e c t i o n ) . I n c r e m e n t sp a l l e t 2 c o l u m n c o u n t e r b y 1 . L o a d s v a l u e i n c o u n t e r 2 1 i n t o i n t e r n a lc o m p a r i son regrster. Jumps to line number 430 on completing row lrne. E n d s s u b r o u t i n eo t h e r w i s e . lnitializes ounter2'1. c I n c r e m e n t sp a l l e t 2 r o w c o u n t e r b y 1 . Ends subroutine.

* In the abovesample program, columncounter eachpallet of the robotreaches the whenthe is incremented 1 and is initialized by terminatingend of the column. The row counter is then incremented allowthe robotto moveto the followingcolumn to lrne. (See line numbers214 to 232, 414 to 432.l * Robot waits until a test completesignal is input. (See line n u m b e r3 ' 1 0 . ) * The completion the entiresequence determined the by is of n u m b e ro f m a i n p r o g r a mc y c l e s ( S e el i n e n u m b e r1 0 0 . ) .

APPENDICES
Example4: Connection with externall/O equipment This programcauses robotto select the any of 8 worksthrough8 switches connected the inputs useas external equipment to for l/O and displaythe work currentlybeing executed any of the 8 by LEDs connectedto the outputs. (Connection)

Type A UO Card

l/O port power supply 112Io 24V DC)

Input bit 0 l^put blt 1

n
E

Input bit 2

I n p u tb i t 3 [,prt bit 4

lnputbit 5
Input bit 6

lnputbit 7

Output bit 0 Ortprt bfr 1

. . . . .L E D l '''...1ED2 ' . . . .L E D 3 . ..LED4 ' ' . . .L E D 5 . . . . .L E D 6 '. LED7 ...'..LEDB

Output bit 2 O u t p u tb i t 3 O u t p u tb i t 4 Output bit 5 Output bit 6 O u t p u tb i t 7

SeeFig.5.3.2.8 Type B l/O card Fig.5.6.4 for Connection with externall/O equipment.

APPENDICES
( F l o w c h ar t )

rn tia speed settlng

Example

F i 9 . 5 . 6 . 5 F l o w c h ar t

APPENDICES
( S a m p l ep r o g r a m )
( M a i nr o u t i n e ) 10 NT 150D0 20SP5 25 lD 30 TB +0, 100 31 TB +1, 200 32 TB +2, 300 33 TB +3, 400 34 TB +4. 500 35 TB +5, 600 36 TB +6, 700 37 TB +7, 800 38 GT 25 Nesting Switchesoff all LEDS. Sets speed. Input '100 whenswitch'l is turned Jumpsto linenumber '11 on. (Work Jumpsto line number200when switch2 is turned on. (Work 2) Jumpsto line number300when switch3 is turned on. (Work 3) Jumpsto linenumber400when switch4 is turned on. (Work 4) Jumpsto line number500when switch5 is turned on. (Work 5) Jumpsto line number600when switch6 is turned on. (Work 6) Jumpsto linenumber700when switch7 is turned o n . ( W o r k7 ) Jumpsto line number800when switchI is turned o n . ( W o r k8 ) Returns line number25 {whenall switchesare to oif.)

(Subroutines) 1 0 00 B + 0 105 lvto 10 ) 1 9 80 B - 0 1 9 9G T 2 5 ) 800 0B +7 805 MO 80 ) 898 0B -7 899 GT 25 Switcheson LEDS(work startedl. work 8. Executes WorkI Switchesofl LEDg(work complele). R e t u r n so l i n e n u m b e r2 5 . t Switcheson LEDl (work started). work 1. Executes Work I Switchesoff LEDl (work complete). Returnsto line number 25.

APPENDICES
7. COMMANDLIST ControlInstructions ]A Position/Motion
Program yes no Possible Nol possib e

Input Format

Function Movs robol to a predefined position wlth a posrt on n|lm_ ber smallerthan the current Moves hand end to a position awav trom the current one covef ng the dlstance sPecid f r e dl n X - , Y , a n d Z - a x r s i r e c D e f i n e st h e c o o r d i n a t e s o i t h e current position by assigning p o s i t l o nn u r n b e r l a ) t o l t . E s l a b l i s h e st h e r e l e r e n c ep o s r tlon ln the carlesian coordln Moves fobot to a Predelinecj position with a posrlron num ber greater lhan the current Moves hand end from lhe cur rent pos tron lo a posll on a w a y f r o r n p o s i t i o n l a L )i n n cremntsas speofled for posl' tion (ar). M o v e s r o b o t c o r i t l nu o u s Y through predefinedinlermedi ate po nts Detween postlon n u m b e r s ( a r) a n d ( a , ) . Turns each ioint the specified angle from the current Posi_

Program

Remarks

,]

Decrement Posllion

DP

Draw

HE a

1 5 a < 6 2 9

HO

lncremenr Position

IP

Move Approach

MA aj, a, [, OiC]

1 = a j , a , = 6 2 9 O: Hand opened;C: Hand

fvlove Cortinuous

MC ar, a,

11a1,a2<629

Move Joint

MO a L OiCI

Moves hand end to postion (a) Moves hand end to a Posrtlon whose coordLnates (pos ilon and angie) are specifiedas x, p, and Moves robot to posllion (a) t h r o u g h n i n t e r m e d r a t ep o r n t s on a straight line, Moves hand end frorn the cur rent posrl on 10 a pos llon a w a y f r o m a s p e c i f i e dp o s l l i o n b { a ) l n i n c r e m e n t a l d l s t a n c ei n the too direction. n R e t u r n s r o b o t l o r n e c h a l c aI o r L gn . I Moves robol to the reterence p o s i t l o n i n t h e c a r t e s r a nc o o r Defines the n!mber of grld points (j, k) in ihe column and row directions for pallet (i). C l e a r sa l l p o s i t o n d a t a l r o m posrlron ar ro 42. D e f i n e s t h e c o o r d i r l a t e s( x , Y , z, p, r) of position {a).

1 5 a = 6 2 9 ; O : H a n do p e n e d C : H a n d

10

Move Position

1l

Move Straight

MSa,nLOiCI

1 = a 5 6 2 9 1 5 n 5 9 9 ; O : H a n do p e n e d C : H a n d

12

MT a, b [, O/C]

1 5 a 5 6 2 9 ; O : H a n do p e n e d C i H a n d

13
't4

Nest

NT

Origin

OG

Pallet Assign

PA r, j, k

1 = i 5 9 1 < j , k 5 2 5 5
a 1S a 2 1 < a 1 ,a , < 6 2 9 ( o r a 1 : 0 )

Posrlion Clear 11 Positron Define

PC a,, [, az] PDa,x,y,z, p, l

l 5 a = 6 2 9

APPENDICES

Name

Input Format

Function
Assigns the coordinates of p o s i t l o n( a r ) t o p o s t i o n ( a 1 ) C a l c u l a t e s h e c o o r d i n a t e so f a t grid polnt on pallet {a) and idenlifies the coordinates as posilion(a). E x c h a n g e st h e c o o r d l n a t e s o f position lar) for those of posilion (ar). S h i f t s t h e c o o r d i n a t e so f p o s i tion (ar) in increments representing the coordlnates of p o s i | o n ( a r ) a n d r e d e f i n e st h e new coorornales. Sets lhe operating velocity and acceleration/deceeration lime for robol. 0 : l M i n i m u ms p e e d ; 9 : M a x imum speed Halts motion for time (Unlt:0.1 second) (a)

Program

Remarks 15ar,a,5629

18

Position Load

19

Pallet

1 5 a 5 9

20

P o s t i o n E x c ha n g e

PX aj. a,

15

a1,a2 629 1

21

Sh ift

SF al, a,

1<ar,a,5629

22

Speed

SP a L H/Ll

0 5 a 5 9 H: High acceleration/deceleration time; L: Low accel e r a t i o n / d e c e l e r a t i o nt i m e

23

Timer

Tl a

05_a332161 0SaS+300.0 U n i t :m m

24

Tool

T L a

Establishes the distance between hand rrounting surface and hand elld.

IBl Progr"rnControlInstructions
Name

Input Format
CPa

Function
Loads va ue n counter (a) into the lnternal register.

Program

Remarks

25

Compare Counter

I 5 a 5 9 9

26 27 2A

Disable Act

DAa

Dlsables interruptby a signal throughbit {a) of externalinpu1lerrnrnal.

Decrementscounter (a) by 1 Deletescontents of iine numbers from a1 to a2. Enables interrupl bv a signal through bil (a1) of external inpul terminal and specifies l i n e n u m b e r ( a 2 )t o w h i c h t h e program lumps wnen Inrer-

0 5 a 5 7 { 1 5 ) I < a 5 9 9
a15a2 1 5 a1, a2 S 2O4A

Decrement Counter
Delete Line

DCa DL ar [, a?]

(-15)

1+15)

29

Enable Act

EA a1, a2

+i ON; -: OFF 13a252044

30

End

ED

Endsthe program.
Calses a jump to occur to llne number (ar) if external inpul data or counter data equals al (or &b). Permlts the lnstruction sequence to iump to sub routine which slarts with line number (a) P e r m i t st h e p r o g r a m s e q u e n c e to jump to line number (a) lncrernents counter (a) by 1

l{ Equal

E Oa r ( o r & b ) ,a ,

| 32167) \321611 0 < a1 5 255 (decimal) 0<b<&FF(hex.) (&7FFF) (&8001) 13 a, 12048 1 = a 5 2 0 4 8

32

Go Sub

GS a

33 34
Increment Countcr

GTa
l C a

15a32048
1 5 a 5 9 9

APPENDICES

Name

Input Format

Function
causes a iump to occur to Ine number {ar) if external inpul data or counter data ts greater than a1 (or &b). C a u s e sa j u m p t o o c c u r t o l l n e number {ar) if externai inPut data or counter data does not equal al (or &b). Deletesall program and posi tion data in RAM.

Program

Remarks l-32761) 132161l 0 5 a 1 < 2 5 5( d e c m a l ) 0<b5&FF(hex.) (&8001) (&7FFF) 1<a252048 l-32161) \327671 0 < aj 5 255 (decimal) 05b5&FF(hex.) (&8001) l&7FFFl 1Sar52048

35

lf Larger

LG a1 (or &b), a?

36

lf Not Equal

N E a r ( o r & b ) ,a ,

38

NX

S p e c i f i e st h e r a n g e o f a l o o p l n a program execlrted by cornmand BC. B e p e a t st h e l o o p s p e c i f i e d b y command NX {a) limes. Executes line numbers from ( a r ) 1 o ( a r ) , ( a ? )n o t i n c l u d e d Completes subroutine actrvated by command GS and returns to main program, Loads (a2)into counter {a1). C a u s e sa j u m p t o o c c u r t o l i n e number (ar) if external lnput data or co!nter data is smaller than a1 (or &b).

39 40

Repeat Cycle

RCa
RN a1 L a,l

15a332167
1 3 aj, a2 S 2048

Bun

52

Return

RT

42

Set Counter

SC ar, [ar]

1 < ar 5 99 327613 az 5 32761 \-32161) 1327671 0 < ar 5 255 (decimal) 0<b5&FF(hex.) (&7FFF) (&8001) 13a2<2044

43

lf Smaller

s M a 1 ( o r & b ) ,a ,

@ XanCControlInstructions
Input Format
44 Grip Close Grip Flag GFa Function Closes hand grip. D e f i n e st h e o p e n / c l o s es t a t e o t hand grip, used in conjunction with command PD. a 0 ( o p e n ) ,1 ( c l o s e d l

Program

Remarks

45 46
47

Grip Open Grip Pressure

GO
GP aj, ar, a3

Opensh a n d g r i p
Defines gripping force and gripping force retention time.

0 5 a r , a r < 1 5 0 5 a 3 < 9 3 ( U n i t :0 . 1

Instructions lDl l/O Control

Name

Input Format ID
IN

Function
F e t c h e se x t e r n a l s i g n a l u n c o n ditionally from input pon. Fetches external signal syn chronously from input port.

Program

Remarks

48 49

Input Direct Input

APPENDICES

Input Format 50 Output Bit OBa

Function
Sets the output state of bit (a) of external outPut termlnal

Program

Remarks

-73a5+1 { 15) (+15) +: oN;-: oFF

\-327611 \32761) o=a5255(decimal) 0 0 5 b < & F F( h e x ) (&7FFF) (&8001) l-32167) 1327671 05a<255(decimal) 005b<&FF{hex.) (&7FFF) (&2701) -1 3 a15 +7 ( 15) (+15) +: ON; : OFF 15a252048

51

OLrtputDirect

OD a (or &b)

Oulputs data a (or &b) uncon' ditionallythrough outPut Pon

52

Output

OT a (or &b)

Outputsdata a (or &b) sYn chronously through output pon.

C a u s e sa j u r n P t o o c c u r t o l l n e number a, by means of bit (ar) i n e x t e r n a l I n p L l tt e r m l n a l

53

Test Bil

TB ar, a,

Instructions lr I nszszcRead
Name

Input Format
C B a

Function R e a d sc o n t e n t s o f c o u n t e r ( a ) Reads data in external InPUt lermlnal, used in conjunctlon with cornmands lO and lN Reads status ol efror lno error:0; errof mode I : 1; error mode Il: 2). R e a d sc o n t e n t s o f l i n e n u m b e r ( a) . Feads coordinatesof Position ( a) . Reads coordinates of current

Program

Remarks 1 < a 5 9 9

54
55

Counter Read Data Read

DR

56

Error Read

ER

51 58 59

Line Read Position Read

LRa

15a52044 1 = a < 6 2 9

fl

Miscellaneous
Function
Resets error mode II. Transfers contents of EPROM Writes contents of RAM lnto EPHOM.

Input Format 60 RS TR 62 63
Comment

Program

Remerks

Allows programmer to write a corFment following .

APPENDICES
8 . T I M I N G B E L TT E N S I O N G i v i n g a n a d e q u a t et e n s i o n t o t h e t i m i n g b e l t i s t h e p r e r e q u i s i t e f o r p r o p e r d r i v e t r a n s m i s s i o na n d s u f f i c i e n td u r a b i l i t y .D o n o t k e e p t h e b e l t t o o t i g h t o r s l a c k : g i v e i t a p p r o p r i a t et e n s i o n s o t h a t y o u f e e l r e a c t i o nw h e n p r e s s i n gi t w i t h y o u r t h u m b , A b e l t l e f t t o o s l a c k c a u s e st h e s l a c k e n d o f t h e b e l t t o v i b r a t e ; a t i g h t b e l t d e v e l o p s k e e n n o i s e a n d v i b r a t e so n t h e t i g h t e n e de n d . f F i g . 5 . 8 . 1 a n d T a b l e 5 . 8 . 1s h o w s p e c i f i c a t i o n s o r b e l t d e f l e c t i o n and load.Alust the belt tension to obtain the deflection Z when load Pk is aoolied.

Timing belt D e f l e c t i o nC (at center of span length)

Span length

Fig. 5.8.1 Belt Deflection and Load

Deflection Shoulder Elbow Wrist pitch

Load Pk 22 to 37 gI
22 to 37 gI 11 to 19 gf

2.7mm
1.6mm

1 . 2m m
Table 5.8.1 Belt Deflection and Load

APPENDICES
9. DEFINITION OF WEIGHT CAPACITY expressed only in of The weight capacity the robot is generally positions center with different of differs weight.Weight,however, of g ravity. given on of Fig. 5.9.1shows the definition the weight capacity when selecting th Observe is definition and specifications. catalogs hands. workpieces and custom-made when the of Fig. 5.9.2shows the definition the weight capacity hand (option)is attached. motor-ooerated
M e c h a n i c a linterface surface

Fig. 5.9.1 Definition

Weight Capacity Centerot gravity o f o p t i o n a lh a n d

Center of gravity hand plus

Center of gravity of 6009f 6009f

1.2kgJ Fig. 5.9.2 Definition ot Weight Capacity When Motor-Operated Hand (Optionl is Attached

APPENDICES
not applied in The position whichthe robot is storedwith brakes STORAGE 10. ROBOTARM (servo space shownin Fig. must be withinthe operational locked) POSITION 5 . 1 01. . lf the robot is storedin a positionoutsidethe spaceshown for lonoerthan 10 minutes,a reducedmotor life could result.

Avoid storage in this space for a long time.

Fig. 5.10.1 Robot Storage Position Space

APPENDICES
SPACE Use the following diagramfor examininglayout of peripheral 11. oPERATIONAL equipmentand pallet sizes' DIAGRAM

142 750

Mechanical interface

-_'_
J2 axis centerof rolation

550 500 450

350 300

25O

200 150 100 50

,r
21.9

1.ffi

-57

Fig. 5.11.1 Operational Space Diagram

1 ' - ' , 1- 1 t - i ' i ' - 1 i

l'-i l'-1 1'-

-a

!--

.---rt

.-{

}--a

}-a

l.-

DIAGRAM 12, WIRING

q l

i l
t - _ l

i : 5 6 i , E ; 5 ? 3

? { ? 3 r

3 8 6 i 5

* The RV-Ml'sJ1 to J3 axis motor buildersdependon lots as follows: * Sanyo ElectricCo., Ltd. motor (frame in black)wire color are indicatedoutside parentheses. Co.,Ltd. motor (framein gold) wire colorsare DaitoSeisakusho in oarentheses. indicated

13, DRIVE UNTTWIRING DIAGRAM

{Moth6r card)

'|
2 3 5 6 7 8 I 10 11 12

I Option for trsvetl

Rear
Molor sional

2 3 5 6

Hand slect switch {AODC)

Gren/yellow piral s

E X E C U T EE R R O R LED LED {Green) lRed)

SIAST STOP (Green) (FBd)

BESET E M G , {Whire) STOP

EXT. _ EMG. : STOP (

Fronl

RM27'21 cabl

Tr 2SC3012

5600 1t2v'l l n l e t w i t h N o i s eF i l t e r lAC rN) POWER r L E D I

Diode srack KBPC2s_MX2

GO$|-

terminalcaulking SoHe.tess soldrins trminalcsulkins rastenea

ELEcrRrc coRpoRATroN d urrsuBrsHr

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