1

Motoman XRC 2001 Controller
Operator’s Manual
for General Purpose
Part Number: 142099-1

Release Date: November 28, 2006
Document Status: Final
Motoman, Incorporated
805 Liberty Lane
West Carrollton, OH 45449
TEL: (937) 847-6200
FAX: (937) 847-6277
24-Hour Service Hotline: (937) 847-3200
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The information contained within this document is the proprietary property of Motoman, Inc., and may not be
copied, reproduced or transmitted to other parties without the expressed written authorization of Motoman,
Inc.
©2006 by MOTOMAN
All Rights Reserved
Because we are constantly improving our products, we reserve the right to change specifications without
notice. MOTOMAN is a registered trademark of YASKAWA Electric Manufacturing.
TABLE OF CONTENTS
Section Page
1 INTRODUCTION ..................................................................................................... 1-1
2 SAFETY ................................................................................................................... 2-1
3 XRC OPERATOR’S MANUAL FOR BEGINNERS .................................................... 3-1
4 XRC OPERATOR’S MANUAL FOR GENERAL PURPOSE ........................................ 4-1
MOTOMAN i XRC Operator’s Manual for General Purpose

NOTES
XRC Operator’s Manual for General Purpose ii MOTOMAN

SECTION 1
INTRODUCTION
1.1 About this Document
The XRC Operator’s Manual for General Purpose provides general purpose
information for Motoman robots using the XRC controller including job teaching,
playback, and editing. Also included is information about the robot instruction set,
user variables, alarm/error messages and special robot settings (e.g., tool constant,
user coordinates, etc.).
This manual is intended to teach basic controller and robot operation and
programming to operators, programmers, engineers, and maintenance personnel
who design, install, use, and maintain a Motoman robotic system. Power users
performing advanced programming and operation of the controller may need the
XRC Inform II manual (P/N 142971-1). Please contact your salesman directly, or
the Motoman service staff at (937) 847-3200, to order the XRC Inform II manual.
This manual is organized as follows:
SECTION 1 – INTRODUCTION
General information about this manual, a list of reference documents, and
customer service information.
SECTION 2 – SAFETY
Provides information for the safe use and operation of Motoman products.
SECTION 3 – OPERATOR’S MANUAL FOR BEGINNERS
Provides basic information about the XRC controller and programming pendant. It
also provides initial instructions in teaching and playback as well as examples of
jobs for various applications.
SECTION 4 – OPERATOR’S MANUAL FOR GENERAL PURPOSE
Provides detailed information about the XRC controller and programmingpendant;
manipulator coordinates; and teaching, playback, editing modes. Also covered are
peripheral devices and general purpose instructions.
1.2 Reference to Other Documentation

For additional information refer to the following:
• Concurrent I/O Parameters Manual (P/N 142102-1)
• Operator’s Manual for Handling (P/N 142100-1)
• Operator’s Manual for Spot Welding (P/N 142101-1)
• Operator’s Manual for Arc Welding (P/N 142098-1)
• Motoman UP6, XRC 2001 Manipulator Manual (P/N 145960-1)
• Motoman UP130/165, XRC 2001 Manipulator Manual (P/N 145967-1)
MOTOMAN 1-1 XRC Operator’s Manual for General Purpose

INTRODUCTION
1.3 Customer Service Information

If you are in need of technical assistance, contact the Motoman service staff at
(937) 847-3200. Please have the following information ready before you call:
• Robot Type (UP6, UP130, UP165, etc.)
• Application Type (welding, handling, etc.)
• Robot Serial Number (located on the back side of the robot arm)
• Robot Sales Order Number (located on back side of XRC controller)
XRC Operator’s Manual for General Purpose 1-2 MOTOMAN

SECTION 2
SAFETY
2.1 Introduction
It is the purchaser's responsibility to ensure that all local, county,

state, and national codes, regulations, rules, or laws relating to
safety and safe operating conditions for each installation are met
and followed.
We suggest that you obtain and review a copy of the ANSI/RIA National Safety
Standard for Industrial Robots and Robot Systems. This information can be
obtained from the Robotic Industries Association by requesting ANSI/RIA
R15.06. The address is as follows:
Robotic Industries Association
900 Victors Way
P.O. Box 3724
Ann Arbor, Michigan 48106
TEL: 313/994-6088
FAX: 313/994-3338
Ultimately, the best safeguard is trained personnel. The user is responsible for
providing personnel who are adequately trained to operate, program, and maintain
the robot cell. The robot must not be operated by personnel who have not
been trained!
We recommend that all personnel who intend to operate, program, repair, or use
the robot system be trained in an approved Motoman training course and become
familiar with the proper operation of the system.
This safety section addresses the following:
• Standard Conventions (Section 2.2)
• General Safeguarding Tips (Section 2.3)
• Mechanical Safety Devices (Section 2.4)
• Installation Safety (Section 2.5)
• Programming Safety (Section 2.6)
• Operation Safety (Section 2.7)
• Maintenance Safety (Section 2.8)

SAFETY
2.2 Standard Conventions

This manual includes information essential to the safety of personnel and
equipment. As you read through this manual, be alert to the four signal words:
• DANGER
• WARNING
• CAUTION
• NOTE
Pay particular attention to the information provided under these headings which are
defined below (in descending order of severity).
DANGER!
Information appearing under the DANGER caption concerns the
protection of personnel from the immediate and imminent
hazards that, if not avoided, will result in immediate, serious
personal injury or loss of life in addition to equipment damage.
WARNING!
Information appearing under the WARNING caption concerns the
protection of personnel and equipment from potential hazards
that can result in personal injury or loss of life in addition to
equipment damage.
CAUTION!
Information appearing under the CAUTION caption concerns the
protection of personnel and equipment, software, and data from
hazards that can result in minor personal injury or
equipment damage.
NOTE: Information appearing in a NOTE caption provides additional information which is helpful in
understanding the item being explained.

SAFETY
2.3 General Safeguarding Tips

All operators, programmers, plant and tooling engineers, maintenance personnel,
supervisors, and anyone working near the robot must become familiar with the
operation of this equipment. All personnel involved with the operation of the
equipment must understand potential dangers of operation. General safeguarding
tips are as follows:
• Improper operation can result in personal injury and/or damage to the
equipment. Only trained personnel familiar with the operation of this robot,
the operator's manuals, the system equipment, and options and accessories
should be permitted to operate this robot system.
• Do not enter the robot cell while it is in automatic operation. Programmers
must have the teach pendant when they enter the robot cell.
• Improper connections can damage the robot. All connections must be made
within the standard voltage and current ratings of the robot I/O (Inputs
and Outputs).
• The robot must be placed in Emergency Stop (E-STOP) mode whenever it is
not in use.
• In accordance with ANSI/RIA R15.06, section 6.13.4 and 6.13.5, use
lockout/tagout procedures during equipment maintenance. Refer also to
Section 1910.147 (29CFR, Part 1910), Occupational Safety and Health
Standards for General Industry (OSHA).
2.4 Mechanical Safety Devices

The safe operation of the robot, positioner, auxiliary equipment, and system is
ultimately the user's responsibility. The conditions under which the equipment will
be operated safely should be reviewed by the user. The user must be aware of the
various national codes, ANSI/RIA R15.06 safety standards, and other local codes
that may pertain to the installation and use of industrial equipment. Additional
safety measures for personnel and equipment may be required depending on
system installation, operation, and/or location. The following safety measures are
available:
• Safety fences and barriers
• Light curtains
• Door interlocks
• Safety mats
• Floor markings
• Warning lights
Check all safety equipment frequently for proper operation. Repair or replace any
non-functioning safety equipment immediately.

SAFETY
2.5 Installation Safety

Safe installation is essential for protection of people and equipment. The following
suggestions are intended to supplement, but not replace, existing federal, local, and
state laws and regulations. Additional safety measures for personnel and
equipment may be required depending on system installation, operation, and/or
location. Installation tips are as follows:
• Be sure that only qualified personnel familiar with national codes, local codes,
and ANSI/RIA R15.06 safety standards are permitted to install the
equipment.
• Identify the work envelope of each robot with floor markings, signs,
and barriers.
• Position all controllers outside the robot work envelope.
• Whenever possible, install safety fences to protect against unauthorized entry
into the work envelope.
• Eliminate areas where personnel might get trapped between a moving robot
and other equipment (pinch points).
• Provide sufficient room inside the workcell to permit safe teaching and
maintenance procedures.
2.6 Programming Safety

equipment must understand potential dangers of operation. Programming tips are
as follows:
• Any modifications to PART 1 of the controller PLC can cause severe
personal injury or death, as well as damage to the robot! Do not make any
modifications to PART 1. Making any changes without the written
permission of Motoman will VOID YOUR WARRANTY!
• Some operations require standard passwords and some require special
passwords. Special passwords are for Motoman use only. YOUR
WARRANTY WILL BE VOID if you use these special passwords.
• Back up all programs and jobs onto a floppy disk whenever program changes
are made. To avoid loss of information, programs, or jobs, a backup must
always be made before any service procedures are done and before any
changes are made to options, accessories, or equipment.
• The concurrent I/O (Input and Output) function allows the customer to
modify the internal ladder inputs and outputs for maximum robot
performance. Great care must be taken when making these modifications.
Double-check all modifications under every mode of robot operation to
ensure that you have not created hazards or dangerous situations that may
damage the robot or other parts of the system.

SAFETY
equipment. Only trained personnel familiar with the operation, manuals,
electrical design, and equipment interconnections of this robot should be
permitted to operate the system.
• Inspect the robot and work envelope to be sure no potentially hazardous
conditions exist. Be sure the area is clean and free of water, oil, debris, etc.
• Be sure that all safeguards are in place.
• Check the E-STOP button on the teach pendant for proper operation before
programming.
• Carry the teach pendant with you when you enter the workcell.
• Be sure that only the person holding the teach pendant enters the workcell.
• Test any new or modified program at low speed for at least one full cycle.
2.7 Operation Safety

equipment must understand potential dangers of operation. Operation tips are
as follows:
• Be sure that only trained personnel familiar with the operation of this robot,
the operator's manuals, the system equipment, and options and accessories
are permitted to operate this robot system.
• Check all safety equipment for proper operation. Repair or replace any non-
functioning safety equipment immediately.
• Inspect the robot and work envelope to ensure no potentially hazardous
conditions exist. Be sure the area is clean and free of water, oil, debris, etc.
• Ensure that all safeguards are in place.
must have the teach pendant when they enter the cell.
not in use.
• This equipment has multiple sources of electrical supply. Electrical
interconnections are made between the controller, external servo box, and
other equipment. Disconnect and lockout/tagout all electrical circuits before
making any modifications or connections.
• All modifications made to the controller will change the way the robot
operates and can cause severe personal injury or death, as well as damage the
robot. This includes controller parameters, ladder parts 1 and 2, and I/O
(Input and Output) modifications. Check and test all changes at slow speed.

SAFETY
2.8 Maintenance Safety

equipment must understand potential dangers of operation. Maintenance tips are
as follows:
• Do not perform any maintenance procedures before reading and
understanding the proper procedures in the appropriate manual.
• Check all safety equipment for proper operation. Repair or replace any non-
functioning safety equipment immediately.
• Back up all your programs and jobs onto a floppy disk whenever program
changes are made. A backup must always be made before any servicing or
changes are made to options, accessories, or equipment to avoid loss of
information, programs, or jobs.
must have the teach pendant when they enter the cell.
not in use.
• Be sure all safeguards are in place.
• Use proper replacement parts.
• This equipment has multiple sources of electrical supply. Electrical
interconnections are made between the controller, external servo box, and
other equipment. Disconnect and lockout/tagout all electrical circuits before
making any modifications or connections.
• All modifications made to the controller will change the way the robot
operates and can cause severe personal injury or death, as well as damage the
robot. This includes controller parameters, ladder parts 1 and 2, and I/O
(Input and Output) modifications. Check and test all changes at slow speed.
• Improper connections can damage the robot. All connections must be made
within the standard voltage and current ratings of the robot I/O (Inputs
and Outputs).

YASKAWA
YASNAC XRC
OPERATOR’S MANUAL
FOR BEGINNERS
Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and retain
for future reference.
MOTOMAN INSTRUCTIONS
MOTOMAN SETUP MANUAL
MOTOMAN-¨¨¨ INSTRUCTIONS
YASNAC XRC INSTRUCTIONS
YASNAC XRC OPERATOR’S MANUAL
YASNAC XRC OPERATOR’S MANUAL FOR BEGINNERS
The YASNAC XRC operator’s manuals above correspond to specific usage.
Be sure to use the appropriate manual.
YASKAWA MANUAL NO. RE-CSO-A011 1

MANDATORY
• This manual explains the various components of the YASNAC XRC sys-
tem and general operations. Read this manual carefully and be sure to
understand its contents before handling the YASNAC XRC.
• General items related to safety are listed in the Setup Manual Section 1:
Safety. To ensure correct and safe operation, carefully read the Setup
Manual before reading this manual.
CAUTION
• Some drawings in this manual are shown with the protective covers or
shields removed for clarity. Be sure all covers and shields are replaced
before operating this product.
• The drawings and photos in this manual are representative examples

and differences may exist between them and the delivered product.
• YASKAWA may modify this model without notice when necessary due to
product improvements, modifications, or changes in specifications. If
such modification is made, the manual number will also be revised.
• If your copy of the manual is damaged or lost, contact a YASKAWA rep-

resentative to order a new copy. The representatives are listed on the
back cover. Be sure to tell the representative the manual number listed
on the front cover.
• YASKAWA is not responsible for incidents arising from unauthorized

modification of its products. Unauthorized modification voids your prod-
uct’s warranty.
ii
NOTES FOR SAFE OPERATION
Read this manual carefully before installation, operation, maintenance, or inspection of the
YASNAC XRC.
In this manual, the Notes for Safe Operation are classified as “WARNING”, “CAUTION”,
“MANDATORY”, or ”PROHIBITED”.
Indicates a potentially hazardous situation which, if not avoided,

WARNING could result in death or serious injury to personnel.

CAUTION could result in minor or moderate injury to personnel and dam-
age to equipment. It may also be used to alert against unsafe
practices.
Always be sure to follow explicitly the items listed under this

MANDATORY heading.
PROHIBITED Must never be performed.
Even items described as “CAUTION” may result in a serious accident in some situations. At
any rate, be sure to follow these important items.
N OT E To ensure safe and efficient operation at all times, be sure to follow all instructions, even if
not designated as “CAUTION” and “WARNING”.
iii
WARNING
• Before operating the manipulator, check that servo power is turned off
when the emergency stop buttons on the playback panel or program-
ming pendant are pressed.
When the servo power is turned off, the SERVO ON READY lamp on the
playback panel and the SERVO ON LED on the programming pendant are
turned off.
Injury or damage to machinery may result if the emergency stop circuit cannot stop the
manipulator during an emergency. The manipulator should not be used if the emergency
stop buttons do not function.
Emergency Stop Button
• Once the emergency stop button is released, clear the cell of all items
which could interfere with the operation of the manipulator. Then turn
the servo power ON.
Injury may result from unintentional or unexpected manipulator motion.

TURN
Release of Emergency Stop
• Always set the Teach Lock before entering the robot work envelope to
teach a job.
Operator injury can occur if the Teach Lock is not set and the manipulator is started from
the playback panel.
• Observe the following precautions when performing teaching operations

within the working envelope of the manipulator :
- View the manipulator from the front whenever possible.
- Always follow the predetermined operating procedure.
- Ensure that you have a safe place to retreat in case of emergency.
Improper or unintended manipulator operation may result in injury.
• Confirm that no persons are present in the manipulator’s work envelope

and that you are in a safe location before:
- Turning on the YASNAC XRC power
- Moving the manipulator with the programming pendant
- Running check operations
- Performing automatic operations
Injury may result if anyone enters the working envelope of the manipulator during opera-
tion. Always press an emergency stop button immediately if there are problems.The
emergency stop button is located on the right side of both the YASNAC XRC playback
panel and programming pendant.
iv
CAUTION
• Perform the following inspection procedures prior to conducting manip-
ulator teaching. If problems are found, repair them immediately, and be
sure that all other necessary processing has been performed.
-Check for problems in manipulator movement.
-Check for damage to insulation and sheathing of external wires.
• Always return the programming pendant to the hook on the XRC cabinet
after use.
The programming pendant can be damaged if it is left in the manipulator’s work area, on
the floor, or near fixtures.
• Read and understand the Explanation of the Alarm Display in the Setup
Manual before operating the manipulator.
Definition of Terms Used Often in This Manual

The MOTOMAN manipulator is the YASKAWA industrial robot product.
The manipulator usually consists of the controller, the playback panel, the programming pen-
dant, and supply cables.
In this manual, the equipment is designated as follows.
Equipment Manual Designation
YASNAC XRC Controller XRC
YASNAC XRC Playback Panel Playback Panel
YASNAC XRC Programming Pendant Programming Pendant
v
Descriptions of the programming pendant and playback panel keys, buttons, and displays are
shown as follows:
Programming Character Keys The keys which have characters printed on them are
Pendant denoted with [ ].
ex. [ENTER]
Symbol Keys The keys which have a symbol printed on them are
not denoted with [ ] but depicted with a small picture.
ex. page key

The cursor key is an exception, and a picture is not
shown.
Axis Keys “Axis Keys” and “Number Keys” are generic names
Number Keys for the keys for axis operation and number input.
Keys pressed When two keys are to be pressed simultaneously,

simultaneously the keys are shown with a “+” sign between them,
ex. [SHIFT]+[COORD]
Displays The menu displayed in the programming pendant is

denoted with { }.
ex. {JOB}
Playback Panel Buttons Playback panel buttons are enclosed in brackets.

ex. [TEACH] on the playback panel
Description of the Operation Procedure

In the explanation of the operation procedure, the expression "Select • • • " means that the
cursor is moved to the object item and the SELECT key is pressed.
vi
1 INTRODUCTION
1.1 XRC Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-1
1.2 Button Descriptions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-2
1.3 Programming Pendant. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-3
1.4 Key Descriptions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-4
n Named Keys . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-4
n Symbol Keys . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-4
n Axis Keys and Number Keys . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-4
n Simultaneously Pressed Keys . . . . . . . . . . . . . . . . . . . . . . . . . . .1-4
1.5 Screen Descriptions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-5
1.6 Operation Sequence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-6
2 TURNING THE POWER ON

2.1 Turning On the Main Power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-1
2.1.1 Startup Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-1
2.1.2 When Startup Diagnostics are Complete. . . . . . . . . . . . . . . . . . . . . . .2-1
2.2 Turning on the Servo Power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-2
2.2.1 During Play Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-2
2.2.2 During Teach Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-2
3 TEACHING
3.1 Manipulator Motion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-1
3.1.1 Joint Coordinates. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-1
3.1.2 Rectangular Coordinates . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-3
3.1.3 Move Instructions and Steps . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-4
3.2 Teaching . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-5
3.2.1 Preparation Before Teaching. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-5
3.2.2 Teaching . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-8
n Teaching a Job . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-8
n Step 1 -- Start Position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-9
n Step 2 -- Near the Work Start Location. . . . . . . . . . . . . . . . . . . .3-10
n Step 3 -- Work Start Location . . . . . . . . . . . . . . . . . . . . . . . . . . .3-10
n Step 4 -- Work End Position . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-11
n Step 5 -- Position Away From Workpiece and Fixture . . . . . . . .3-12
n Step 6 -- Near the Start Position . . . . . . . . . . . . . . . . . . . . . . . . .3-13
n Ensuring the First and Last Step are Identical . . . . . . . . . . . . . .3-14
3.2.3 Path Confirmation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-14
3.2.4 Correcting a Job . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-15
n Before Correcting a Job . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-15
n Change the Position Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-16
n Add a Step . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-16
n Delete a Step . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-17
n Changing the Speed Between Steps . . . . . . . . . . . . . . . . . . . . .3-18
vii
4 PLAYBACK
4.1 Preparation Prior to Playback . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1
4.2 Playback . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1
5 ARC WELDING
5.1 Example Job . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-1
5.2 Teaching Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-1
5.2.1 Teaching Procedure Items . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-1
5.2.2 Operation Method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-2
n Step 2 -- Near Welding Start Location . . . . . . . . . . . . . . . . . . . . . 5-2
n Step 3 -- Welding Start Position . . . . . . . . . . . . . . . . . . . . . . . . . . 5-2
n Step 4 -- Welding End Condition . . . . . . . . . . . . . . . . . . . . . . . . . 5-3
5.3 Setting Welding Conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-4
5.3.1 Registration of Welding Condition. . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-4
5.3.2 Setting Other Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-5
n Shielding Gas Flow Rate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-5
5.4 Welding Test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-6
5.4.1 Check Run . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-6
5.4.2 Welding Execution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-7
5.4.3 Adjustments for Welding Defects . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-7
6 HANDLING
6.1 Example Job . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-1
6.2 Usage of HAND Instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-2
6.2.1 Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-2
n SP (single-solenoid) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-2
n 2P (double-solenoid) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-2
n 3P (triple solenoid) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-2
6.2.2 Instruction and Additional Items . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-2
6.3 Teaching Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-3
6.3.1 Teaching Points . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-3
6.3.2 Operation Procedure. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-3
n Step 2 -- Near Gripping Position (before gripping). . . . . . . . . . . . 6-3
n Step 3 -- Gripping Position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-4
n Step 4 -- Near Gripping Position (after gripping) . . . . . . . . . . . . . 6-5
n Step 6 -- Near Release Position (before releasing) . . . . . . . . . . . 6-6
n Step 7 -- Release Assistance Position . . . . . . . . . . . . . . . . . . . . . 6-6
n Step 8 -- Release Position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-7
n Step 9 -- Near Release Position (after release) . . . . . . . . . . . . . . 6-9
6.4 Handling Test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-9
6.4.1 Speed Limitation Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-9
6.4.2 Handling Execution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-10
viii
7 GENERAL PURPOSE
7.1 Example Job . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-1
7.2 Teaching Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-1
7.2.1 Teaching Points . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-1
7.2.2 Operation Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-2
n Step 2 -- Near cutting position . . . . . . . . . . . . . . . . . . . . . . . . . . .7-2
n Step 3 -- Cutting Start Position . . . . . . . . . . . . . . . . . . . . . . . . . . .7-2
n Step 4 -- Cutting End Position. . . . . . . . . . . . . . . . . . . . . . . . . . . .7-3
7.3 Cutting Test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-4
7.3.1 Speed Limitation Drive. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-4
7.3.2 Cutting Execution. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-5
8 SPOT WELDING
8.1 Example Job . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-1
8.2 Setting Welding Conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-2
8.2.1 Setting Spot Welding Gun Condition Files. . . . . . . . . . . . . . . . . . . . . .8-2
8.2.2 Setting Welding Condition for the Welder . . . . . . . . . . . . . . . . . . . . . .8-2
8.3 Teaching Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-3
8.3.1 Teaching Procedure Items. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-3
8.3.2 Operation Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-3
n Step 2 -- Near Welding Start Position . . . . . . . . . . . . . . . . . . . . . .8-3
n Step 3 -- Welding Start Position . . . . . . . . . . . . . . . . . . . . . . . . . .8-4
8.4 Welding Test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-5
8.4.1 Check Run . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-5
8.4.2 Welding Execution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-5
9 TURNING THE POWER OFF

9.1 Turning the Servo Power Off (Emergency Stop) . . . . . . . . . . . .9-1
9.2 Turning the Main Power Off . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-1
ix
x
1.1 XRC Overview
1 INTRODUCTION
1.1 XRC Overview
The main power switch and the door lock are located on the front of the XRC controller. The
programming pendant hangs from a hook located on the top right front face of the controller.
The playback panel can be found mounted on the cabinet door of the controller.
Find information for setup, installation, and connection of the XRC system by referring to the
“MOTOMAN Setup Manual”.
1-1
1.2 Button Descriptions
1.2 Button Descriptions
Playback panel buttons are enclosed in brackets throughout this manual.
TEACH
[TEACH] on the playback panel
1-2
1.3 Programming Pendant
Programming Pendant
1-3
1.4 Key Descriptions
1.4 Key Descriptions
n Named Keys
The keys which have a name on them are denoted with [ ]. ENTER
is shown as [ENTER] and
TEACH
LOCK is shown as [TEACH LOCK].
The number keys have additional functions along with their number values. Dual function keys
1
are used in the context of the operation being performed. For example: TIMER may be
described in text as [1] or [TIMER].
n Symbol Keys
The keys which have a symbol on them are not denoted with [ ] but depicted with a small pic-
ture excepted the cursor key. It is denoted as “Cursor”.
Cursor
Reserved Display Key
Direct Open Key
Page Key
Area Key
n Axis Keys and Number Keys

The axis key and number key are denoted with “Axis Operation Keys” and “Number Keys”
when all of the keys are shown at one time.
7 8 9
X+ x
R-
X- S+ x
R+
S- 4 5 6
Y+ y
Y- B- y
L+ B+ 1 2 3
L-
TIMER
Z- Z+ z z 0R E F . -
U- U+ T- T+
PNT
Axis Operation Number
n Simultaneously Pressed Keys

When two keys are pressed simultaneously, these keys are denoted through combining with
“+” such as [SHIFT]+[COORD].
1-4
1.5 Screen Descriptions
1.5 Screen Descriptions
Menu items shown in the programming pendant display are denoted with { }.
JOB EDIT DISPLAY UTILITY
In the case of the above menu, each item is shown as {JOB}, {EDIT}, {DISPLAY}, and {UTIL-
ITY}. The items of the pull down menu are shown in the same manner, e.g. {Rename Job}.

L
S E L E C T J OS:***
J:12345678 B R1 C S
CALL MASTER JOB
CREATE NEW JOB
RENAME JOB
COPY JOB
DELETE JOB
Four screen views are used in this manual to illustrate the programming pendant displays.
Full Screen View
Upper Screen View
Middle Screen View
Lower Screen View
1-5
1.6 Operation Sequence
1.6 Operation Sequence
The following basic sequence is used to operate the manipulator.
1. Turn on the XRC controller.

2. Teach a job on the robot.
3. Replay the job on the manipulator. (called “playback”)
4. When finished, turn off the power. Be sure to follow the proper shutdown sequence as
described in Section 6.
.
1-6
2.1 Turning On the Main Power
2 TURNING THE POWER ON
When turning on the power, always turn on the main power supply first and then the servo
power supply. Ensure that the area around the manipulator is safe before turning on the
power.
2.1 Turning On the Main Power
To turn on the main power, flip the main power switch on the front of the XRC to the ON posi-
tion. Startup diagnostics will begin automatically.
2.1.1 Startup Diagnostics

The startup diagnostics are performed when the XRC main power is turned on, and the star-
tup display is shown on the programming pendant screen.
YASNAC XRC
PERFORMING SYSTEM DIAGNOSIS
Copyright (c) : 1998-

YASKAWA ELECTRIC CORPORATION
2.1.2 When Startup Diagnostics are Complete

When the power is turned off, the XRC saves all condition data, including:
• Mode of operation
• Cycle
• Called job (active job if the XRC is in the play mode; edit job if the XRC is in the teach
mode) and the cursor position in the job.
2-1
2.2 Turning on the Servo Power
2.2.1 During Play Mode

1. When the safety guard is closed, press [SERVO ON READY] SERVO ON
READY
on the playback panel to turn on the servo power supply. This
button lights.
N OT E When the safety guard is open, the servo power supply cannot be turned on.
2.2.2 During Teach Mode

1. Press [SERVO ON READY] on the playback panel to turn on SERVO ON
READY
the servo power supply. The button will light when the servo
power is turned on.
2. Press [TEACH LOCK] to enter the teach mode.

TEACH
LOCK
3. The servo power is turned on and [SERVO ON READY] on

the playback panel lights when the operator grips the dead-
man switch.
Servo Power ON/OFF --- Deadman Switch

SUPPLE-
MENT
When the operator squeezes the deadman switch, the servo power turns ON. However, if
the operator squeezes the switch until a “click” is heard, the servo power will turn OFF.
2-2
When using the playback panel, programming pendant, or external signal to perform emer-
N OT E gency stop, the servo power on operation from the deadman switch is cancelled. When
turning the power back on, follow the previously listed instructions.
2-3
2-4
3.1 Manipulator Motion
3 TEACHING
The robot is generally operated using two types of coordinates: joint coordinates and rectan-
gular coordinates. Press the axis operation keys on the programming pendant to move each
axis of the manipulator.
3.1.1 Joint Coordinates
3-1
3-2
3.1.2 Rectangular Coordinates
(This figure shows direction only (not position) of rectangular coordinates.)
3-3
3.1.3 Move Instructions and Steps

The manipulator uses job instructions to move and execute playback. This is called a move
instruction. The destination position, the interpolation method, the play speed, etc. are regis-
tered in the move instruction.
The reason it is called a move instruction is that the main instruction begins with “MOV” in the
INFORM II language used by the XRC.
<Example>
MOVJ VJ=50.00
MOVL V=1122 PL=1
From one move instruction to the next move instruction is one step. Step 1 is 001 and step 2
is 002. The next step is 003, and so on.
“Position of Step1” corresponds to the position registered in the move instruction of Step
number 001 (S:001).
<Example>
Refer to the job content display in the following. When executing playback, the manipulator
moves between Step 1 and Step 2, and the play speed is registered in Step 2’s move instruc-
tion. After the manipulator reaches Step 2, the manipulator then executes the TIMER instruc-
tion followed by the DOUT instruction, and then continues on to Step 3.
Step Number
J:JOB-A S:002 R1 TOOL:00

0005 MOVJ VJ=50.00 Step 1
0006 MOVL V=1234
Line Number 0007 TIMER T=5.00 Step 2
0008 DOUT OT#(1) ON
0009 MOVJ VJ=50.00 Step 3
3-4
3.2 Teaching
3.2 Teaching
3.2.1 Preparation Before Teaching

Perform the following tasks before starting to teach.
• Enable the operation of the playback panel.

• Set the operation mode to teach mode.
• Set the teach lock.
• Enter the job name.
1. Confirm that [REMOTE] on the playback panel is not lit. If the REMOTE
lamp is lit, press [REMOTE] to turn it off so that the playback
panel will be ready to operate.
2. Enter the teach mode by pressing [TEACH] on the playback TEACH

panel.
3. Press [TEACH LOCK].

[TEACH LOCK] will light indicating the Teach Lock is turned TEACH
on. The operation mode and cycle cannot be changed using LOCK
the playback panel or an external input device. Playback can-
not be performed. Also, if [TEACH LOCK] is not lit, the servo
power supply cannot be turned on using the deadman switch.
4. Select {JOB} under the top menu, and select {CREATE NEW
T O P
JOB} in the sub menu. The input line is displayed. ME N U
JOB ARC WELDING VARIABLE

OUT
SELECT
IN
IN/OUT ROBOT SYSTEM INFO
TOP MENU
JOB SELECT JOB
CREATE NEW JOB MASTER JOB
JOB CAPACITY
SELECT
!
{JOB} Sub Menu
3-5
3.2 Teaching
5. After the new job display is shown, press [SELECT].

SELECT
L
NEW JOB CREATE R1 C S
JOB NAME : ¬¬¬¬¬¬¬¬
COMM.:
GROUP SET : R1
EXEC CANCEL
6. The word “TEST” is used in this example job name. To enter
the letters for “TEST”, press the page key to show the
following display.
L
ALPHABET R1 C S
A BCDEFGHIJKLM
NOPQRSTUVWXYZ
0123456789+-=
! \" % & ' ( ) , . _
>_
7. Move the cursor to “T” and press [SELECT]. Do the same to

enter “E”, “S”, and “T”. SELECT
L
ALPHABET R1 C S
ABCDEFGHIJKLM
NOPQRST U V W X Y Z
0123456789+-=
! \" % & ' ( ) , . _
>TEST
8. Press [ENTER] to register.

JOB EDIT UTILITY
ENTER
DISPLAY
L
NEW JOB CREATE R1 C S
JOB NAME : TEST
COMM.:
GROUP SET : R1
EXEC CANCEL
3-6
3.2 Teaching
9. Move the cursor to “EXEC” and press [SELECT]. The job

“TEST” is registered in the XRC memory and the job is dis- SELECT
played. The NOP and END instructions are automatically reg-

istered.
L
JOB CONTENT R1 C S
J: TEST S: 000 R1 TOOL: ¬
0 0 0 0 NOP
0001 END
=> MOVJ VJ=0.78

!
Characters Which Can Be Used for Job Names

SUPPLE-
MENT
Job names can be created from numbers, letters from the alphabet, or registered charac-
ters. The input display for each character is displayed when the page key is pressd
during the operation between 5 and 6. Up to eight alphanumeric characters can be used.
3-7
3.2 Teaching
3.2.2 Teaching
n Teaching a Job
A job is a work program that describes the tasks that the manipulator will execute. Jobs are
created using a robot programming language called INFORM II.
The following example will instruct you how to teach the manipulator all of the steps from Point
A to Point B of the following workpiece. This job can be completed in 6 steps.
Actual work is not performed here.
3-8
3.2 Teaching
n Step 1 -- Start Position

Always be sure the manipulator is in a safe work area before operation.
1. Grip the deadman switch and the servo power will turn on.
The manipulator can then be operated.
2. Move the manipulator to the desired position using the axis

operation keys. Be sure the position is safe and that the work
area is appropriate for the job to be programmed.
3. Select joint motion by pressing [MOTION TYPE]. Joint instruc-

tion “MOVJ...” will be displayed in the input buffer line.
MOTION
TYPE
=> MOVJ VJ=0.78
4. Move the cursor to the line number 0000 and press [SELECT].
SELECT
J: TEST S: 000 R1 TOOL: *
0000 N O P
0001 END
5. The input buffer line is displayed. Move the cursor to the right
to VJ=*.**, which shows the speed. While pressing [SHIFT]
simultaneously, move the cursor up and down (to higher

and lower play speeds) until the desired speed is specified. SHIFT
=> MOVJ VJ= 50.00
6. Press [ENTER]. Step1 (Line 0001) is registered.

0000 N O P ENTER
0001 MOVJ VJ=50.00
0002 END
3-9
3.2 Teaching
n Step 2 -- Near the Work Start Location

Define the manipulator work pose.
1. Move the manipulator to the working position using the axis

operation keys.
2. Press [ENTER]. Step 2 (Line 0002) is registered.

0000 NOP ENTER
0001 MOVJ V J=50.00
0002 MOVJ VJ=50.00
0003 END
n Step 3 -- Work Start Location

Move the manipulator to the work start location as in Step 2 pose.
1. Change to medium speed by pressing [FST] or [SLW] until

FST
M
is displayed in the status area. MAN SPD
SLW
M
JOB CONTENT R1 C S
2. Do not release the pose in Step 2. Press [COORD] to select

the rectanglar coordinates. Move the manipulator to the weld- COORD
ing start location using the axis operation keys.
M
JOB CONTENT R1 C S
SELECT
3-10
3.2 Teaching

Set the speed 12.50%.
=> MOVJ VJ=12.50

0000 NOP ENTER
0001 M O V J VJ=50.00
0002 M O V J V J =50.00
0003 MOVJ VJ=12.50
0004 END
n Step 4 -- Work End Position

Specify the work end position.
1. Move the manipulator to the work end position with the axis
operation keys. While the manipulator is moving, keep a wide
enough distance to ensure it will not strike the workpiece.
There is no need to follow the work line too closely.
2. Press [MOTION TYPE] to select linear motion (MOVL).

=> MOVL V=66 MOTION
TYPE
SELECT
=> M O V L V=66
to V=*.**, which shows the speed. While pressing [SHIFT]

Set the speed to 138 cm/min.
=> MOVL V=138
3-11
3.2 Teaching

0000 NOP ENTER
0001 MOVJ VJ=50.00
0002 MOVJ V J =50.00
0003 MOVJ VJ=12.50
0004 MOVL V=138
0005 END
n Step 5 -- Position Away From Workpiece and Fixture

Move the manipulator to a position where it will not strike the workpiece or fixture.
1. Change the speed to high speed by pressing [FST] or [SLW].

FST
H MAN SPEED
JOB CONTENT R1 C S
N OT E This button only affects teaching speed. When the job is played, the job will execute at the speed
defined in Step 4.
2. Move the manipulator with the axis operation keys to a posi-

tion where it will not strike the fixture.
3. Press [MOTION TYPE] to set to the joint motion type (MOVJ).

=> MOVJ VJ=12.50 MOTION
TYPE
4. Move the cursor to line number 0004 and press [SELECT].

SELECT
=> M O V J VJ=12.50
3-12
3.2 Teaching
to V=*.**, which shows the speed. While pressing [SHIFT]

Set the speed to 50%.
=> MOVJ VJ=50.00

0000 NOP ENTER
0001 MOVJ VJ=50.00
0002 MOVJ V J =50.00
0003 MOVJ VJ=12.50
0004 MOVL V=138
0005 MOVJ VJ=50.00
0006 END
n Step 6 -- Near the Start Position

Move the manipulator near the start position.
1. Move the manipulator near the start position with the axis
operation keys.

ENTER
0000 NOP
0001 MOVJ V J=50.00
0002 MOVJ VJ= 50.00
0003 MOVJ VJ=12.50
0004 MOVL V=138
0005 MOVJ VJ=50.00
0006 MOVJ VJ=50.00
0007 END
3-13
3.2 Teaching
n Ensuring the First and Last Step are Identical

The manipulator has stopped at Step 6, which should be very close to Step1.
It is possible to move directly from the welding end position of Step 5 to Step1, so the manipu-
lator can begin the next welding job quickly and efficiently.
The following operation will make Step 6 (end position) and Step1 (start position) identical.
1. Move the cursor to Step1 (Line 0001).

0000 N O P
0001 MOVJ V J=50.00
0002 MOVJ VJ= 50.00
2. Press [FWD]. The manipulator will move to Step1.

FWD
3. Move the cursor to Step 6 (Line 0006).

0005 MOVJ VJ=50.00
0006 MOVJ VJ=50.00
0007 END
4. Press [MODIFY].
MODIFY
5. Press [ENTER]. This will change the position of Step 6 to be

the same as Step1. ENTER
3.2.3 Path Confirmation

The job is now complete. Try to check each step separately to ensure there are no problems.
1. Move the cursor to Step 1 (Line 0001).

0000 N O P
0001 MOVJ V J=50.00
0002 MOVJ VJ= 50.00
3-14
3.2 Teaching
2. Change to medium speed by pressing [FST] or [SLW].

FST
JOB EDIT DISPLAY UTILITY MAN SPD
M
JOB CONTENT R1 C S SLW
3. Press [FWD] to confirm each step executed by the manipula-

tor. Each time [FWD] is pressed, the manipulator moves one FWD
step.
4. When you finish step confirmation, move the cursor to the

beginning of the job.
5. Run all the steps continuously. Hold down [INTERLOCK] and

press [TEST START]. The manipulator plays back all the INTER + TEST
LOCK START
steps continuously and stops when one cycle is finished.
Did the manipulator move exactly as you expected?

Proceed to the next section to change the position and speed of the job steps.
3.2.4 Correcting a Job
CAUTION
• After the job is corrected, confirm the path.
n Before Correcting a Job

Confirm the manipulator’s motion in each step. If any position modification or adding or delet-
ing of steps is necessary, display the job content first with the following procedure.
1. Select {JOB} under the top menu and {JOB} under the sub
T O P
menu. ME N U
JOB ARC WELDING VARIABLE

SELECT
OUT
IN
IN/OUT ROBOT SYSTEM INFO
JOB SELECT JOB
CREATE NEW JOB MASTER JOB SELECT
Confirm that the teach lock is on.
3-15
3.2 Teaching
n Change the Position Data

Change the position registered in Step 2.
1. Move the manipulator to Step 2 (Line 0002) by pressing

[FWD]. FWD
2. Move the manipulator to the modified position with the axis

operation keys.
3. Press [MODIFY].
MODIFY
4. Press [ENTER]. The step’s position data is changed.

ENTER
n Add a Step
Add a new step between Step 5 and Step 6.

[FWD]. FWD
0004 MOVL V=138
0005 MOVJ VJ=50.00
0006 MOVJ VJ=50.00
0007 END
2. Move the manipulator to the position at which you wish to add

a step using the axis operation keys.
3-16
3.2 Teaching
3. Press [INSERT].
INSERT
4. Press [ENTER]. The step is added. When a step is added, the

numbering is automatically adjusted to count the new step. ENTER
0004 MOVL V=138
0005 MOVJ VJ=50.00
0006 MOVJ VJ=50.00
0007 MOVJ VJ=50.00
0008 END
n Delete a Step
Delete the step you just added.

[FWD].
FWD
0004 MOVL V=138
0005 MOVJ VJ=50.00
0006 MOVJ VJ=50.00
0007 MOVJ VJ=50.00
0008 END
2. Make sure the cursor is on the step you wish to delete, and
press [DELETE].
DELETE
3. Press [ENTER]. The step is deleted.

0004 MOVL V=138 ENTER
0005 MOVJ VJ=50.00
0006 MOVJ VJ=50.00
0007 END
3-17
3.2 Teaching
When “Error 2070: Set Robot Exactly to Taught Position” Occurs

SUPPLE-
MENT
When the operator presses [ENTER] during the previous operation, an error can occur in
some cases. The error occurs because the manipulator has not been moved exactly to the
taught position. Cancel the error by pressing [CANCEL] and press [FWD] to move the
manipulator. If the cursor in the display is blinking, the robot is not in the taught position.
n Changing the Speed Between Steps

Change the manipulator speed. Slow the speed between Step 3 and Step 4.
1. Move the cursor to Step 4.
2. Move the cursor to the instruction and press [SELECT].

SELECT
to “V=138”, which shows the speed. While pressing [SHIFT]

Set the speed to 66cm/min.
=> M O V L V=66
4. Press [ENTER]. The speed is changed.

ENTER
3-18
4.1 Preparation Prior to Playback
4 PLAYBACK
4.1 Preparation Prior to Playback
Before executing manipulator playback, release the teach lock.
1. Press [TEACH LOCK]. After pressing the button, be sure

[TEACH LOCK] lights. TEACH
LOCK
To run the program from the beginning of the job, perform the following operation.
N OT E • Move the cursor to the beginning of the job.
• Move the manipulator close to Step 1 with the axis operation keys.
When playback is ready to begin, the manipulator begins to move from the Step 1.
4.2 Playback
Begin operation only after ensuring there is no one in the working envelope of the manipulator.
1. Press [PLAY] on the playback panel. PLAY
2. Press [START] on the playback panel. The manipulator will START

perform one complete taught cycle and then stop.
How did it go? Did the manipulator perform exactly as you expected?
4-1
4.2 Playback
4-2
5.1 Example Job
5 ARC WELDING
5.1 Example Job
The figure below shows an example of welding a workpiece with an explanation of each step.
Example Job
LINE INSTRUCTION EXPLANATION
0000 NOP
0001 MOVJ VJ=25.00 Moves manipulator to waiting position. (Step 1)
0002 MOVJ VJ=25.00 Moves manipulator near welding start position. (Step 2)
0003 MOVJ VJ=12.50 Moves manipulator to welding start position. (Step 3)
0004 ARCON Specifies manipulator arc start.
0005 MOVL V=50 Moves manipulator to welding end position. (Step 4)
0006 ARCOF Specifies manipulator arc end.
0007 MOVJ VJ=25.00 Moves manipulator to position a safe distance away (Step 5)
from equipment.
0008 MOVJ VJ=25.00 Moves manipulator to waiting position. (Step 6)
0009 END
5.2 Teaching Procedure
5.2.1 Teaching Procedure Items

The teaching procedure is explained in Step 2 (welding pose definition) and the welding pro-
cedure is explained in Step 3 (welding start) and Step 4 (welding end).
5-1
• Step 1 and 6, which are both the waiting position, are adjusted to a safe position where
N OT E the robot does not collide with the workpiece and the fixture, etc.
• Ensure that the length of the wire is the same during teaching and playback. The appro-
priate wire length can be determined by using the inching procedure.
• When the manipulator comes in contact with the workpiece during the teaching proce-
dure, extend the wire 50-100mm and cut at an appropriate length.
• After teaching is completed, confirm the welding path with [FWD] and [BWD].
5.2.2 Operation Method

n Step 2 -- Near Welding Start Location
Define the pose of the welding torch.
1. Using the axis operation keys, specify the correct posture for
the manipulator to begin welding.
2. Press [ENTER]. Step 2 is registered.

0000 NOP ENTER
0001 MOVJ VJ=25.00
0002 MOVJ VJ=25.00
0003 END
n Step 3 -- Welding Start Position

Move the welding torch to the welding start location with the pose as shown in Step 2, and
register the ARCON instruction.
1. Change to medium speed by pressing [FST] or [SLW] until

FST
M
is displayed in the status area. MAN SPD
SLW
M
JOB CONTENT R1 C S
2. Move the manipulator to the welding start position with the

axis operation keys. At this time, do not release the pose input
in Step 2.
3. Move the cursor to the line number and press [SELECT].

SELECT
=> M O V L VJ=50.00
5-2

=> M O V J VJ=12.50

0000 NOP ENTER
0001 MOVJ VJ=25.00
0002 MOVJ VJ=25.00
0003 MOVJ VJ=12.50
0004 END
6. Press [ARCON]. ARCON is displayed in the input buffer line.

8
=> A R C O N ARCON
Press [ENTER]. The ARCON instruction is registered.

ENTER
n Step 4 -- Welding End Condition

Specify the welding end position.
1. Move the manipulator to the welding end position with the axis
operation keys. While the manipulator is moving, keep a wide
enough distance to ensure it will not strike the workpiece.
There is no need to follow the work line too closely.
2. Set the motion type to linear motion type (MOVL) by pressing

[MOTION TYPE]. MOTION
TYPE
=> MOVL V=66

SELECT
=> M O V L V=66
to V=66, which shows the speed.
Set to 50 cm/min with the number keys.
7 8 9
4 5 6
1 2 3
0 . -
5-3
5.3 Setting Welding Conditions

0000 NOP ENTER
0001 MOVJ VJ=25.00
0002 MOVJ VJ=25.00
0003 MOVJ VJ=12.50
0004 ARCON
0005 MOVL V=50
0006 END
6. Press [ARCOF]. ARCOF is displayed in the input buffer line.

5
=> A R C O F ARCOF
Press [ENTER]. The ARCOF instruction is registered.

ENTER
5.3.1 Registration of Welding Condition

There are two ways to register the welding condition, the one way is using the arc start condi-
tion file and the other way is using the additional items of the ARCON instruction.
The latter way is described here.
See "OPERATOR’S MANUAL FOR ARC WELDING" for the arc start condition file.
1. Move the cursor to the ARCON instruction and press

[ENTER]. The ARCON instruction is displayed in the input
buffer line. Press [SELECT]. The detail edit display is shown.
ENTER
SELECT
5-4
2. Press [SELECT] if the “MENU” setting is “UNUSED” or

“ASF#(%)” in the detail edit display. Select “AC=” in the selec- SELECT
tion dialog. The detail edit display is shown as follows.

L
DETAIL EDIT R1 C S
ARCON
W E L D I N G C U R R A C = 200
WELDING VOLT AVP= 100
TIMER T= 0.30
SPEED UN U S E D
RETRY UNUSED
=> ARCON AC=200 AVP=100 T=0.30

!
3. Input the current data “AC=” and voltage data “AVP=” or “AV=” 7 8 9
4 5 6
with the number keys and press [ENTER]. The welding condi- 1 2 3
tion specified in the detail edit display is displayed in the input 0 . -
buffer line. Press [ENTER]. The welding condition is registered

in the job. ENTER
5.3.2 Setting Other Parameters

n Shielding Gas Flow Rate
The shielding gas flow must be adjusted depending on nozzle shape, welded joint shape,
length of the wire protruding from the nozzle, and the welding speed.
CO2/MAG Gas Flow Rate for a Nozzle with a 20mm diameter
CO2 Gas Flow Rate MAG Gas Flow Rate

Wire Length (mm)
(1/min.) (1/min.)
8-15 10-20 15-25
12-20 15-25 20-30
15-25 20-30 25-30
The table above is for a nozzle diameter of 20mm. If the nozzle diameter is smaller, lower the
gas flow rate.
5-5
5.4 Welding Test
5.4 Welding Test
5.4.1 Check Run

Perform the check run in order to confirm that the teaching procedure was done correctly. The
check run can be performed without performing actual work. This is possible because the
work output instruction of the ARCON instruction is not executed.
1. Press [PLAY] on the playback panel to turn on the play mode. PLAY
2. Select {UTILITY} and {SPECIAL RUN}. The special play dis-

play is shown.
DATA EDIT DISPLAY UTILITY
L
SPECIAL PLAY R1 C S
LOW SPEED START INVALID
SPEED LIMIT INVALID
DRY-RUN SPEED INVALID
MACHINE LOCK INVALID
CHECK-RUN INVALID
WEAV PROHIBIT IN CHK-RUN INVALID
COMPLETE
3. Move the cursor to the “CHECK-RUN” setting and press

[SELECT]. The condition becomes "VALID" and the check run SELECT
is turned on.
L
SPECIAL PLAY R1 C S
SPEED LIMIT INVALID
CHECK-RUN VALID
COMPLETE
5-6
5.4 Welding Test
5.4.2 Welding Execution

Once the path has been determined, the welding is finally executed. If the check run is turned
off, the ARCON and the ARCOF instructions are executed.
5.4.3 Adjustments for Welding Defects

To adjust welding conditions after welding, look at the appearance of the welding bead.
Welding Defect Reason for Occurrence Correction Method
Pore: • Shortage of shield gas • With no influence from the wind, and
Generic name of defect flow rate when the torch angle and wire length
caused by the influence of
are correct, 15-301/min is assumed
H2, N2, CO2, and Ar. Pits
and blowholes, etc. may to be the suitable shield gas rate.
exist. • Change the gas flow rate according
to the workpiece construction condi-
tion.
• Spatter adheres to nozzle • Remove the spatter frequently and
thoroughly.
• Choose the best welding condition
and spatter will be prevented from
occurring frequently.
• Adjusting the torch angle and nozzle
height will also reduce the amount of
spatter.
• Influence of wind • Close the shutter, door, and window.

• Avoid using a fan during welding.
• Use a screen.
• Adhesion of rust and oil to • Remove rust and oil with thinner,
surface brush, and grinder, etc.
• Paint adhesion • Remove paint using thinner.
• Welding current, voltage, • Define the proper voltage range.

and welding speed are • Adjust the voltage in accordance with
incorrect the arc length.
• Torch angle and wire • Make the torch angle smaller.

length are incorrect • Set the wire length in accordance
with the welding condition.
5-7
5.4 Welding Test
Undercut: • Excessive welding current • Lower the welding current and speed.
Defect name for when the • Incorrect welding voltage Adjust the voltage.
groove is not completely
• Excessive welding speed
filled along the toe of the
weld. • Unsuitable torch angle • Adjust the torch angle and aim posi-
and aim position tion.
Incomplete fusion: • Unsuitable welding work- • Adjust the torch welding current,
State in which the welding piece condition welding speed, wire aim position,
surfaces do not melt
• Dirt on welding surface angle, etc.
together well enough.
• Remove rust and oil.
Incomplete penetration: • Unsuitable welding work- • Adjust the torch welding current,
State where there is insuffi- piece condition (It is easy welding speed, wire aim position,
cient distance between the
for the welding current or angle, etc.
surface of the metal and the
bottom of the welded area. the voltage correspond-
ing to the current to be too
low.)
Overlap: • Excessive welding current • Move the wire aim position forward
State where the toe of weld • Unsuitable aim position by several millimeters during T joint
is not fused with the base
• Inappropriate torch angle welding or adjust the voltage.
metal. (Occurs often in T
joint welding). • Welding speed is too slow • Move the wire aim position forward
by 1-1.5mm during thin plate welding.
5-8
5.4 Welding Test
Convex bead: • Welding current is too high • Lower the welding speed.
Part of the fillet weld has a • Arc voltage is too low • Adjust the voltage.
swelled bead surface. It
• Welding speed is too slow
can be seen in an upward
weld at vertical position and or too fast
an incline position.
Concave bead: • Welding current is too high • Lower the welding speed.
Part of the fillet weld has a • Arc voltage is too high • Adjust the voltage appropriately.
dented bead surface. It can
• Welding speed is too slow
be seen in a downward
weld at a vertical position or
incline position
Meandering of beads: • The welding wire is bent • Shorten the wire length.
State in which welding and twisted. • Use a pail.
bead is shaped like a
• The welding chip’s hole • Exchange old tips for new tips.
snake.
diameter is growing larger. • Change earthing condition.
• Magnetic blow influences • Change welding direction.
welding.
5-9
5.4 Welding Test
5-10
6.1 Example Job
6 HANDLING
6.1 Example Job
The figure below shows an example of handling a workpiece. The job creating procedure is
then explained.

0000 NOP
0001 MOVJ VJ=25.00 Move to waiting position (Step1)
0002 MOVJ VJ=25.00 Move near gripping position (before gripping) (Step2)
0003 MOVL V=100.0 Move to the gripping position (Step3)
0004 HAND 1 ON Gripping the workpiece
0005 TIMER T=0.50 Waiting for gripping the workpiece to be completed
0006 MOVL V=100.0 Move to near gripping position (after gripping) (Step4)
0007 MOVJ VJ=25.00 Move to waiting position (Step5)
0008 MOVJ VJ=25.00 Move near release position (before releasing) (Step6)
0009 MOVL V=100.0 Move to release assistance position (Step7)
0010 MOVL V=50.0 Move to release position (Step8)
0011 HAND 1 OFF Releasing the workpiece
0012 TIMER T=0.50 Waiting for releasing the workpiece to be completed
0013 MOVL V=100.0 Move to near release position (after releasing) (Step9)
0014 MOVL VJ=25.00 Move to waiting position (Step10)
0015 END
6-1
6.2 Usage of HAND Instruction
6.2 Usage of HAND Instruction
6.2.1 Function
These instructions open and close the each of the hands mounted to the manipulator. They
correspond to single-, double-, and triple solenoids. Up to four hands can be controlled by a
single manipulator.
The following solenoid signal controls are available according to the valve selected.
n SP (single-solenoid)
The HAND instruction turns the tool valve (x-1) ON/OFF. The inverse signal is output to the
tool valve (x-2). Connect it to the either one when used as a single-solenoid.
n 2P (double-solenoid)
The HAND instruction turns the tool valve (x-1) ON/OFF. The inverse signal is output to the
tool valve (x-2).
n 3P (triple solenoid)
Adding “ALL” to the HAND instruction allows both tool valve (x-1) and tool valve (x-2) to be
turned ON/OFF simultaneously. Functions as a double-solenoid if ALL is not added to the
HAND instruction.
Valve 1/2 condition of each solenoid
Instruction SP 2P 3P
(x:TOOL NO) (Valve x-1/x-2) (Valve x-1/x-2) (Valve x-1/x-2)
HAND x ON ON/-(-/OFF) ON/OFF ON/OFF
HAND x OFF OFF/-(-/OFF) OFF/ON OFF/ON
HAND x ON ALL - - ON/ON
HAND x OFF ALL - - OFF/OFF
6.2.2 Instruction and Additional Items
HAND #1 1 OFF ALL
• ‚ ƒ „
•Device Number (#1 or #2)

Set when two manipulators are used for handling.
6-2
‚Tool Number (1 to 4)
Required
ƒTool Output Status (ON/OFF)

Required. Select ON or OFF
„Valve Simultaneous Control (ALL)

Add to turn tool valves 1 and 2 ON or OFF simultaneously.
6.3.1 Teaching Points

The teaching procedure is explained in Step 2, 3, and 4 concerning gripping movement and
Step 6, 7, 8, and 9 concerning release movement.
• Step1, which is the waiting position, is adjusted to a safe position where the robot does
N OT E not collide with the workpiece and jig,etc.
• Confirm the welding path by using [FWD] and [BWD].
6.3.2 Operation Procedure

n Step 2 -- Near Gripping Position (before gripping)
Define the pose of the gripping torch.
1. Specify the correct posture with the axis operation keys for the
manipulator to begin gripping the workpiece. It is necessary to
choose a direction in which the tools and the workpiece do not
interfere when the manipulator approaches the workpiece,
and teach that position. (It is usually located right above the
grip position usually.)

ENTER
0000 NOP
0001 MOVJ VJ=25.00
0002 MOVJ VJ=25.00
0003 END
6-3
n Step 3 -- Gripping Position

Move the torch to the gripping position as in Step 2, and register the HAND instruction.

FST
M
Medium speed: is displayed in the status area. MAN SPD
SLW
M
JOB CONTENT R1 C S
2. Move the manipulator to the gripping position with the axis

operation keys. At this time, do not release the pose input in
Step2.
3. Set the linear motion ”MOVL” by pressing [MOTION TYPE].

=> MOVL V=11.0 MOTION
TYPE

SELECT
=> M O V L V=11.0
to “V=11.0”, which shows the speed.
Set to 100 mm/s with the number keys.
7 8 9
4 5 6
1 2 3
0 . -

0000 NOP ENTER
0001 MOVJ VJ=25.00
0002 MOVJ VJ=25.00
0003 MOVL V=100.0
0004 END
7. Press [TOOL1 ON/OFF]. “HAND 1 ON" is displayed in the

.
input buffer line. TOOL1
ON/OFF
=> H A N D 1 ON
Press [ENTER]. The HAND instruction (gripping) is registered. ENTER
8. Press [INFORM LIST]. The inform list is displayed.

INFORM
Move the cursor up and down until the “TIMER" instruc- LIST
tion is specified. Press [SELECT].

=> T I M E R T=1.00
SELECT
6-4
to “T=1.00”, which shows the time.
Set to 0.5s with the number keys.
7 8 9
=> TIMER T=0.50 4 5 6
1 2 3
Press [ENTER]. The TIMER instruction is registered. 0 . -
ENTER
Press [INFORM LIST] again. And turn off the LED of the
INFORM LIST key.
IN F O R M
LIS T
n Step 4 -- Near Gripping Position (after gripping)

Define the waiting position after gripping.
1. Move the manipulator near the gripping position with the axis
operation keys. It is necessary to choose a direction in which
the treatment device and the tools do not interfere when the
manipulator moves, and teach that position. (It is usually
located right above the grip position. The same positon as the
steps is also available.)

SELECT
=> M O V L V=11.0
7 8 9
4 5 6
1 2 3
0 . -

0000 NOP ENTER
0001 MOVJ VJ=25.00
0002 MOVJ VJ=25.00
0003 MOVL V=100.0
0004 HAND 1 ON
0005 TIMER T=0.50
0006 MOVL V=100.0
0007 END
6-5
n Step 6 -- Near Release Position (before releasing)

Define the pose of the release torch.
1. Specify the correct position with the axis operation keys for
the manipulator to begin releasing the workpiece. It is neces-
sary to choose a place in which the holding workpiece and the
piling up workpiece do not interfere when the manipulator
approaches the palette, and teach that position. (It is usually
located right above of the release assistance position.)
2. Set the joint motion (MOVJ) by pressing [MOTION TYPE].

=> M O V J VJ=0.78 MOTION
TYPE

SELECT
=> M O V J VJ=0.78
to “VJ=0.78”, which shows the speed. While pressing [SHIFT]

=> M O V J VJ=25.00

0000 NOP ENTER
0001 MOVJ VJ=25.00
0002 MOVJ VJ=25.00
0003 MOVL V=100.0
0004 HAND 1 ON
0005 TIMER T=0.50
0006 MOVL V=100.0
0007 MOVJ VJ=25.00
0008 MOVJ VJ=25.00
0009 END
n Step 7 -- Release Assistance Position

Define the assistance position for releasing.
1. When moving directly from the position in Step 6 to the

release position, the workpiece which has already been piled
up and the holding workpiece interfere occasionally. The
release assistance position to conduct a detour operation is
taught at this time. The pose is set the same as Step 6.
2. Set linear motion (MOVL) by pressing [MOTION TYPE].

TYPE
6-6

SELECT
=> M O V L V=11.0
7 8 9
4 5 6
1 2 3
0 . -

0000 NOP ENTER
0001 MOVJ VJ=25.00
0002 MOVJ VJ=25.00
0003 MOVL V=100.0
0004 HAND 1 ON
0005 TIMER T=0.50
0006 MOVL V=100.0
0007 MOVJ VJ=25.00
0008 MOVJ VJ=25.00
0009 MOVL V=100.0
0010 END
n Step 8 -- Release Position

Move the torch to the release position as in Step7, and register the HAND instruction.

FST
M
SLW
M
JOB CONTENT R1 C S
2. Move the manipulator to the release position with the axis

Step 7.

SELECT
=> M O V L V=11.0
7 8 9
4 5 6
1 2 3
0 . -
6-7

0000 NOP ENTER
0001 MOVJ VJ=25.00
0002 MOVJ VJ=25.00
0003 MOVL V=100.0
0004 HAND 1 ON
0005 TIMER T=0.50
0006 MOVL V=100.0
0007 MOVJ VJ=25.00
0008 MOVJ VJ=25.00
0009 MOVL V=100.0
0010 MOVL V=50.0
0011 END
6. Press [TOOL1 ON/OFF]. “HAND 1 ON” is displayed in the

.
input buffer line. TOOL1
ON/OFF
=> H A N D 1 ON
to “ON”, which shows the tool status. While pressing [SHIFT]
simultaneously, move the cursor up and down until

“OFF” is specified. SHIFT
=> H A N D 1 O F F
Press [ENTER]. The HAND instruction (releasing) is regis- ENTER

tered.
8. Press [INFORM LIST]. The inform list is displayed.

IN F O R M
Move the cursor up and down until the “TIMER” instruc- LIS T
tion is specified. Press [SELECT].

=> T I M E R T=1.00
SELECT
to “T=1.00”, which shows the time.
Set to 0.5s with the number keys.
7 8 9
=> TIMER T=0.50 4 5 6
1 2 3
Press [ENTER]. The TIMER instruction is registered. 0 . -
ENTER
Press [INFORM LIST] again and turn off the LED of the
INFORM LIST key.
INFORM
LIST
6-8
6.4 Handling Test
n Step 9 -- Near Release Position (after release)

Define the waiting positon.
1. Move the manipulator nearthe release position with the axis

the tools and workpiece do not interfere, and teach that posi-
tion. (It is usually located right above the release position.)

SELECT
=> M O V L V=11.0
7 8 9
4 5 6
1 2 3
0 . -

0000 NOP ENTER
0001 MOVJ VJ=25.00
0002 MOVJ VJ=25.00
0003 MOVL V=100.0
0004 HAND 1 ON
0005 TIMER T=0.50
0006 MOVL V=100.0
0007 MOVJ VJ=25.00
0008 MOVJ VJ=25.00
0009 MOVL V=100.0
0010 MOVL V=50.0
0011 HAND 1 OFF
0012 TIMER T=0.50
0013 MOVL V=100.0
0014 END
6.4 Handling Test
6.4.1 Speed Limitation Drive

To confirm the taught path, the speed limitation drive is executed. All the operations operate
below the limitation speed in the teach mode (250mm/s usually) during speed limitation drive.
If the taught speed is below the limitation speed, the operation is executed at the same speed
as teaching.
6-9
6.4 Handling Test

play is shown.
L
SPECIAL PLAY R1 C S
SPEED LIMIT INVALID
CHECK-RUN INVALID
COMPLETE
3. Move the cursor to the “SPEED LIMIT” setting and press

[SELECT]. The condition becomes “VALID” and the speed SELECT
limit is turned on.

L
SPECIAL PLAY R1 C S
SPEED LIMIT VALID
CHECK-RUN INVALID
COMPLETE
6.4.2 Handling Execution

Once the path has been determined, the handling is finally executed at actual speed. If the
speed limitation drive is turned off, the handling is executed at taught speed.
6-10
7.1 Example Job
7 GENERAL PURPOSE
7.1 Example Job
The figure below shows an example of cutting. The job creation procedure is then explained.

0000 NOP
0001 MOVJ VJ=25.00 Move to the waiting positon. (Step1)
0002 MOVJ VJ=25.00 Move near the cutting position. (Step2)
0003 MOVJ VJ=12.50 Move to the cutting start position. (Step3)
0004 TOOLON Start cutting.
0005 MOVL V=50.0 Move to the cutting end position. (Step4)
0006 TOOLOF End cutting.
0007 MOVJ VJ=25.00 Move to the position which does not interfere with the (Step5)
tools or workpieces.
0008 MOVJ VJ=25.00 Move to the waiting position. (Step6)
0009 END
7.2.1 Teaching Points

The teaching procedure of Step 2 which specifies the cutting pose and Step 3 and 4 (cutting
section) are explained.
7-1
Step 1, which is the waiting positon, is adjusted to a safe position where the robot will not
N OT E collide with the workpiece and the tool.
Confirm the cutting path with [FWD] and [BWD] after teaching.

n Step 2 -- Near cutting position
Define the cutting pose.
1. Specify the correct posture with the axis operation keys for the
manipulator to start cutting.

ENTER
0000 NOP
0001 MOVJ VJ=25.00
0002 MOVJ VJ=25.00
0003 END
n Step 3 -- Cutting Start Position

Move to the cutting start position as in Step 2, and register the TOOLON instruction.

FST
M
SLW
M
JOB CONTENT R1 C S
2. Move the manipulator to the gripping position with the axis

Step2.
3. Move the cursor on the line number and press [SELECT].

SELECT
=> M O V L VJ=25.00
to “VJ=25.00”, which shows the speed. While pressing
[SHIFT] simultaneously, move the cursor up and down

(to higher and lower play speeds) until the desired speed is SHIFT
specified.
Set the speed to 12.50%.
=> M O V J VJ=12.50
7-2

0000 NOP ENTER
0001 MOVJ VJ=25.00
0002 MOVJ VJ=25.00
0003 MOVJ VJ=12.50
0004 END
6. Press [TOOLON]. “TOOLON” is displayed in the input buffer

2
line.
f.3
=> T O O L O N
Press [ENTER]. The TOOLON instruction is registered. ENTER
n Step 4 -- Cutting End Position

Define the cutting end position.
1. Move the manipulator near the gripping position with the axis
the treatment device and the tools do not interfere when the
manipulator moves, and teach that position.
2. Set linear motion (MOVL) by pressing [MOTION TYPE].

TYPE

SELECT
=> M O V L V=11.0
7 8 9
4 5 6
1 2 3
0 . -

0000 NOP ENTER
0001 MOVJ VJ=25.00
0002 MOVJ VJ=25.00
0003 MOVJ VJ=12.50
0004 TOOLON
0005 MOVL V=50.0
0006 END
7-3
7.3 Cutting Test
6. Press [TOOLOF]. “TOOLOF” is displayed in the input buffer

.
line.
f.1
=> T O O L O F
Press [ENTER]. The TOOLOF instruction is registered. ENTER
7.3 Cutting Test
7.3.1 Speed Limitation Drive

The speed limitation drive is executed to confirm the taught path. All the operations operate
below the limitation speed during teach mode (250mm/s ususally) in the speed limitation
drive. If the taught speed is below the limitation speed, the operation is executed at the same
speed as the teaching procedure.

play is shown.
L
SPECIAL PLAY R1 C S
SPEED LIMIT INVALID
CHECK-RUN INVALID
COMPLETE
3. Move the cursor to the “SPEED LIMIT” setting and press

[SELECT]. The condition becomes “VALID” and the speed SELECT
limit is turned on.

L
SPECIAL PLAY R1 C S
SPEED LIMIT VALID
CHECK-RUN INVALID
COMPLETE
7-4
7.3 Cutting Test
7.3.2 Cutting Execution

Once the path has been determined, cutting is finally executed at actual speed. If the speed
limitation drive is turned off, cutting is executed at the same speed as during teaching.
7-5
7.3 Cutting Test
7-6
8.1 Example Job
8 SPOT WELDING
8.1 Example Job
The figure below shows an example of the spot welding of a workpiece. The job content pro-
cedure is then explained.
0001 NOP
0002 MOVJ VJ=25.00 Move to waiting position. (Step 1)
0003 MOVJ VJ=25.00 Move near welding start position. (Step 2)

0004 MOVJ VJ=25.00 Move to welding start position (Step 3)
0005 SPOT GUN#(1) Welding starts.

MODE=0 Specifies spot welding gun no.1.
WTM=1 Specifies single gun.
Specifies welding condition 1.
0006 MOVJ VJ=25.00 Moves to position a safe disatance away from equip- (Step 4)
ment.
0007 MOVJ VJ=25.00 Moves to waiting position. (Step 5)
0008 END
8-1
8.2.1 Setting Spot Welding Gun Condition Files

The following items are specified in the spot welding gun condition files.
• GUN NO. (Initial:1)
• GUN TYPE (Initial:SINGLE GUN)
• WELDER NO. (Initial:1)
• OPEN MONITOR (Initial:OFF)
• GUN OPEN/CLOSE SET AT STOP (Initial:ON)
If your setting contents are different from the system, change the file content.
Operation
Select {SPOT WELDING} under the top menu Select {GUN CONDITION}*1
Move the cursor to the item to be set Press [SELECT]
Explanation
*1 The gun condition display is shown.

L
GUN CONDITION R1 C S
GUN NO. :1
GUN TYPE :SINGLE
WELDER NO. :1
OPEN MONITOR :OFF
GUN OPEN/CLOSE SET AT STOP :ON
8.2.2 Setting Welding Condition for the Welder

It is necessary to set the welding power supply and the welding time for the welder during spot
welding.
For the setting method, refer to the manual of the welder being used.
Specify the Welding Condition No. that you set in the SPOT instruction line 0005.
(Example.WTM=1)
For the welding power supply and the welding time, refer to the following table:
8-2
Large Current - Short Time Small Current - Long Time

Board
Thickness
Pressurizing Pressurizing
(mm) Time (cycle) Current (A) Time (cycle) Current (A)
Power (kgf) Power (kgf)
1.0 10 225 8800 36 75 5600
2.0 20 470 13000 64 150 8000
3.2 32 820 17400 105 260 10000
(1cycle =16.7msec)
8.3.1 Teaching Procedure Items

The teaching procedure is expained in Step2 (welding pose definition) and the welding proce-
dure is explained in Step3 (welding start) and Step4 (welding end).
• Step1, which is waiting position, is adjusted to a safe position where the robot does not
N OT E collide with the workpiece and jig, etc.
• Set the gun to the opening condition during teaching.
• Confirm the welding path by using [FWD] and [BWD] after teaching is completed.

n Step 2 -- Near Welding Start Position
Define the pose of the welding torch.
1. Use the axis operation keys to specify the correct posture for
the manipulator to begin welding.
2. Press [ENTER] to register Step 2.

ENTER
0000 NOP
0001 MOVJ VJ=25.00
0002 MOVJ VJ=25.00
0003 END
8-3
n Step 3 -- Welding Start Position

Move the torch to the welding start location and register the SPOT instruction.
1. Change the speed to medium by pressing [HIGH] + [SLW].

FST
M
is displayed in status area. MAN SPD
SLW
M
JOB CONTENT R1 C S
2. Press the axis operation keys to move the manipulator to the

welding start position.
3. Press [ENTER] to register Step 3.

ENTER
0000 NOP
0001 MOVJ VJ=25.00
0002 MOVJ VJ=25.00
0003 MOVJ VJ=25.00
0004 END
4. Press [. /SPOT]. “SPOT GUN#(1) MODE=0 WTM=1” is dis-

.
played in the input buffer line.
SPOT
=> S P O T GUN#(1) M O D E = 0 W T M = 1
ENTER
Press [ENTER]. The SPOT instruction is registered.
8-4
8.4 Welding Test
8.4 Welding Test
8.4.1 Check Run

Execute the check run in order to confirm that the teaching procedure is done correctly. The
check run can be conducted without actually performing work. This is because the work out-
put instruction of the SPOT instruction is not executed.
2. Select {UTILITY} and {SETUP SPECIAL RUN}. The special

play display is shown.
L
S PECIAL PLAY R1 C S
SPEED LIMIT INVALID
CHECK-RUN INVALID
COMPLETE
3. Move the cursor to the “CHECK-RUN” setting and press

[SELECT]. The condition becomes"VALID" and the check run SELECT
is turned on.
L
SPECIAL PLAY R1 C S
SPEED LIMIT INVALID
CHECK-RUN VALID
COMPLETE
8.4.2 Welding Execution

Once the path has been determined, the welding is finally executed. If the check run is turned
off, the SPOT instruction is executed.
8-5
8.4 Welding Test
8-6
9.1 Turning the Servo Power Off (Emergency Stop)
9 TURNING THE POWER OFF
9.1 Turning the Servo Power Off (Emergency Stop)
When the emergency stop button is pressed, the servo power

supply is turned off and the manipulator cannot be operated. The Emergency Stop
emergency stop button is on both the programming pendant and

the playback panel. Programming Pendant
The brake operates once the servo power supply is turned off,
EMERGENCY STOP
and the manipulator can no longer operate. The emergency stop
mode can be operated at any time.
Playback Panel
9.2 Turning the Main Power Off
After turning off the servo power, then turn off the main power.
When the main power switch on the front of the XRC is turned off,
the main power is cut.
9-1
9.2 Turning the Main Power Off
9-2
YASNAC XRC
OPERATOR’S MANUAL
FOR BEGINNERS
TOKYO OFFICE
New Pier Takeshiba South Tower, 1-16-1, Kaigan, Minatoku, Tokyo 105-0022, Japan
Phone 81-3-5402-4511 Fax 81-3-5402-4580
MOTOMAN INC. HEADQUARTERS
805 Liberty Lane West Carrollton, OH 45449, U.S.A.
Phone 1-937-847-6200 Fax 1-937-847-6277
MOTOMAN INC. TROY FACILITY
1050 S. Dorset, Troy, OH 45373, U.S.A.
Phone 1-937-440-2600 Fax 1-937-440-2626
MOTOMAN INC. COLUMBUS OFFICE
Dublin Tech Mart 5000 Blazer Memonal Parkway Dublin, OH 43017-3359, U.S.A.
Phone 1-614-718-4200 Fax 1-614-718-4222
YASKAWA ELECTRIC EUROPE GmbH
Am Kronberger Hang 2, 65824 Schwalbach,Germany.
Phone 49-6196-569-300 Fax 49-6196-888-301
Motoman Robotics AB
Box 504 S38525 Torsås, Sweden
Phone 46-486-48800 Fax 46-486-41410
Motoman Robotec GmbH
Kammerfeldstraβe1,85391 Allershausen, Germany
Phone 49-8166-900 Fax 49-8166-9039
YASKAWA ELECTRIC KOREA CORPORATION
Kfpa Bldg #1201, 35-4 Youido-dong, Yeongdungpo-Ku, Seoul 150-010, Korea
Phone 82-2-784-7844 Fax 82-2-784-8495
YASKAWA ELECTRIC (SINGAPORE) PTE. LTD.
151 Lorong Chuan, #04-01, New Tech Park Singapore 556741, Singapore
Phone 65-282-3003 Fax 65-289-3003
YATEC ENGINEERING CORPORATION
Shen Hsiang Tang Sung Chiang Building 10F 146 Sung Chiang Road, Taipei, Taiwan
Phone 886-2-2563-0010 Fax 886-2-2567-4677
BEIJING OFFICE
Room No. 301 Office Building of Beijing Intemational Club, 21 Jianguomenwai Avenue, Beijing 100020, China
Phone 86-10-6532-1850 Fax 86-10-6532-1851
SHANGHAI OFFICE
27 Hui He Road Shanghai 200437 China
Phone 86-21-6553-6600 Fax 86-21-6531-4242
YASKAWA JASON (HK) COMPANY LIMITED
Rm. 2909-10, Hong Kong Plaza, 186-191 Connaught Road West, Hong Kong
Phone 852-2803-2385 Fax 852-2547-5773
TAIPEI OFFICE
Shen Hsiang Tang Sung Chiang Building 10F 146 Sung Chiang Road,Taipei, Taiwan
Phone 886-2-2563-0010 Fax 886-2-2567-4677
BEIJING YASKAWA BEIKE AUTOMATION ENGINEERING CO.,LTD.
30 Xue Yuan Road, Haidian, B eijing P.R. China Post Code: 100083
Phone 86-10-6233-2782 Fax 86-10-6232-1536
SHOUGANG MOTOMAN ROBOT CO., LTD.
7,Yongchang-North Street, Beijing Economic Technological Investment & Development Area,
Beijing 100076, P.R. China
Phone 86-10-6788-0551 Fax 86-10-6788-2878
YASKAWA
Specifications are subject to change without notice MANUAL NO. RE-CSO-A011 1

for ongoing product modifications and improvements. C Printed in Japan April 1999 98-12
YASKAWA
YASNAC XRC
OPERATOR’S MANUAL
FOR GENERAL PURPOSE
Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and retain
for future reference.
MOTOMAN INSTRUCTIONS
MOTOMAN SETUP MANUAL
MOTOMAN-""" INSTRUCTIONS
YASNAC XRC INSTRUCTIONS
YASNAC XRC OPERATOR’S MANUAL
YASNAC XRC OPERATOR’S MANUAL FOR BEGINNERS
The YASNAC XRC operator’s manuals above correspond to specific usage.
Be sure to use the appropriate manual.
YASKAWA MANUAL NO. RE-CSO-A015 2

• This manual explains the various components of the YASNAC XRC sys-
tem and general operations. Read this manual carefully and be sure to
understand its contents before handling the YASNAC XRC.
• General items related to safety are listed in the Safety Manual Section
1: Safety Setup Manual. To ensure correct and safe operation, carefully
read the Setup Manual before reading this manual.
• Some drawings in this manual are shown with the protective covers or
shields removed for clarity. Be sure all covers and shields are replaced
before operating this product.
• The drawings and photos in this manual are representative examples

and differences may exist between them and the delivered product.
• YASKAWA may modify this model without notice when necessary due to
product improvements, modifications, or changes in specifications. If
such modification is made, the manual number will also be revised.
• If your copy of the manual is damaged or lost, contact a YASKAWA rep-

resentative to order a new copy. The representatives are listed on the
back cover. Be sure to tell the representative the manual number listed
on the front cover.
• YASKAWA is not responsible for incidents arising from unauthorized

modification of its products. Unauthorized modification voids your prod-
uct’s warranty.
ii
NOTES FOR SAFE OPERATION
Read this manual carefully before installation, operation, maintenance, or inspection of the
YASNAC XRC.
In this manual, the Notes for Safe Operation are classified as “WARNING”, “CAUTION”,
“MANDATORY”, or “PROHIBITED”.

could result in death or serious injury to personnel.

could result in minor or moderate injury to personnel and dam-
age to equipment. It may also be used to alert against unsafe
practices.
Always be sure to follow explicitly the items listed under this

heading.
Must never be performed.
Even items described as “CAUTION” may result in a serious accident in some situations. At
any rate, be sure to follow these important items.
To ensure safe and efficient operation at all times, be sure to follow all instructions, even if
not designated as “CAUTION” and “WARNING”.
iii
• Before operating the manipulator, check that servo power is turned off
when the emergency stop buttons on the playback panel or program-
ming pendant are pressed.
When the servo power is turned off, the SERVO ON READY lamp on the
playback panel and the SERVO ON LED on the programming pendant are
turned off.
Injury or damage to machinery may result if the emergency stop circuit cannot stop the
manipulator during an emergency. The manipulator should not be used if the emergency
stop buttons do not function.
Emergency Stop Button
• Once the emergency stop button is released, clear the cell of all items
which could interfere with the operation of the manipulator. Then turn
the servo power ON.
Injury may result from unintentional or unexpected manipulator motion.
Release of Emergency Stop
• Always set the Teach Lock before entering the robot work envelope to
teach a job.
Operator injury can occur if the Teach Lock is not set and the manipulator is started from
the playback panel.
• Observe the following precautions when performing teaching operations

within the working envelope of the manipulator :
- View the manipulator from the front whenever possible.
- Always follow the predetermined operating procedure.
- Ensure that you have a safe place to retreat in case of emergency.
Improper or unintended manipulator operation may result in injury.
• Confirm that no persons are present in the manipulator’s work envelope

and that you are in a safe location before:
- Turning on the YASNAC XRC power
- Moving the manipulator with the programming pendant
- Running check operations
- Performing automatic operations
Injury may result if anyone enters the working envelope of the manipulator during opera-
tion. Always press an emergency stop button immediately if there are problems.The
emergency stop button is located on the right side of both the YASNAC XRC playback
panel and programming pendant.
iv
• Perform the following inspection procedures prior to conducting manip-
ulator teaching. If problems are found, repair them immediately, and be
sure that all other necessary processing has been performed.
-Check for problems in manipulator movement.
-Check for damage to insulation and sheathing of external wires.
• Always return the programming pendant to the hook on the XRC cabinet
after use.
The programming pendant can be damaged if it is left in the manipulator’s work area, on
the floor, or near fixtures.
• Read and understand the Explanation of the Alarm Display in the Setup
Manual before operating the manipulator.
Definition of Terms Used Often in This Manual

The MOTOMAN manipulator is the YASKAWA industrial robot product.
The manipulator usually consists of the controller, the playback panel, the programming pen-
dant, and supply cables.
In this manual, the equipment is designated as follows.
YASNAC XRC Controller XRC
YASNAC XRC Playback Panel Playback Panel
YASNAC XRC Programming Pendant Programming Pendant
v
Descriptions of the programming pendant and playback panel keys, buttons, and displays are
shown as follows:
Programming Character Keys The keys which have characters printed on them are
Pendant denoted with [ ].
ex. [ENTER]
Symbol Keys The keys which have a symbol printed on them are
not denoted with [ ] but depicted with a small picture.
ex. page key

The cursor key is an exception, and a picture is not
shown.
Axis Keys “Axis Keys” and “Number Keys” are generic names
Number Keys for the keys for axis operation and number input.
Keys pressed When two keys are to be pressed simultaneously,

simultaneously the keys are shown with a “+” sign between them,
ex. [SHIFT]+[COORD]
Displays The menu displayed in the programming pendant is

denoted with { }.
ex. {JOB}
Playback Panel Buttons Playback panel buttons are enclosed in brackets.

ex. [TEACH] on the playback panel
Description of the Operation Procedure

In the explanation of the operation procedure, the expression "Select • • • " means that the cur-
sor is moved to the object item and the SELECT key is pressed.
vi
1 An Introduction to XRC
1.1 Controller. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-1
1.2 Playback Panel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-2
1.2.1 Playback Panel Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-2
1.2.2 Button Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-2
1.2.3 Playback Panel Buttons. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-3
1.3 Programming Pendant. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-4
1.3.1 Programming Pendant Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-4
1.3.2 Key Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-5
# Character Keys . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-5
# Symbol Keys . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-5
# Axis Keys and Number Keys . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-5
# Keys Pressed Simultaneously . . . . . . . . . . . . . . . . . . . . . . . . . . .1-5
1.3.3 Programming Pendant Keys . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-6
1.3.4 Programming Pendant Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-10
# The Four Display Areas . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-10
# Status Display Area . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-10
# Human Interface Display Area . . . . . . . . . . . . . . . . . . . . . . . . . .1-12
1.3.5 Screen Descriptions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-12
# Denotation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-12
# Screen. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-13
1.3.6 Character Input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-14
# Number Input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-14
# Letter Input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-14
# Symbol Input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-14
1.4 Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-15
1.4.1 Operation Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-15
1.4.2 Operation Location Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-15
1.4.3 Teach Mode Priority. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-16
1.4.4 Edit Jobs and Active Jobs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-16
1.5 About the Security Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-17
1.5.1 Types of Security Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-17
1.5.2 Modifying the Security Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-20
2 Manipulator Coordinates
2.1 Robot Axes and Coordinates . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-1
2.1.1 Types of Coordinates. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-2
2.2 General Operations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-3
2.2.1 Selecting a Coordinate System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-3
# Motion Type Key . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-3
2.2.2 Selecting Manual Speed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-3
# Selecting with Manual Speed Keys. . . . . . . . . . . . . . . . . . . . . . . .2-3
# Using the High Speed Key . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-4
2.2.3 Axis Operations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-4
# Switching the Group Axis to be Operated. . . . . . . . . . . . . . . . . . .2-4
vii
2.3 Joint Coordinates . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-5
2.4 Rectangular Coordinates . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-6
2.5 Cylinder Coordinates . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-8
2.6 Tool Coordinates . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-9
2.6.1 Axis Motion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-9
2.6.2 Selecting the Tool Number . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-11
2.7 User Coordinates . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-12
2.7.1 User Coordinates . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-12
2.7.2 Examples of User Coordinate Utilization . . . . . . . . . . . . . . . . . . . . . 2-13
2.7.3 Selecting a User Coordinate Number . . . . . . . . . . . . . . . . . . . . . . . . 2-14
2.8 Tool Tip Operations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-15
2.8.1 TCP Fixed Operations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-15
2.8.2 TCP Change Operations. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-17
3 Teaching
3.1 Preparation for Teaching . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1
3.1.1 Checking Emergency Stop Buttons . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1
3.1.2 Setting the Teach Lock . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1
3.1.3 Registering Job Names. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2
# Characters that Can Be Used in Job Names . . . . . . . . . . . . . . . . 3-2
# Registering Job Names . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2
3.2 Teaching . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3
3.2.1 Teaching Display Screens . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3
3.2.2 Motion Type and Play Speed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-4
# Joint Motion Type. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-4
# Linear Motion Type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-5
# Circular Motion Type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-5
# Spline Motion Type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-7
3.2.3 Teaching Steps . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-8
# Registering Move Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-8
# Registering Reference Point Instructions. . . . . . . . . . . . . . . . . . 3-13
# Registering Timer Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . 3-14
3.2.4 Overlapping the First and Last Steps . . . . . . . . . . . . . . . . . . . . . . . . 3-16
3.3 Checking Steps . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-17
3.3.1 FWD/BWD Key Operations. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-17
# Precautions When Using FWD / BWD Operations . . . . . . . . . . 3-17
# Selecting Manual Speed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-19
# Moving to Reference Point. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-20
# Test Operations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-20
3.4 Modifying Steps . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-22
3.4.1 Displaying the Job Content Display for Editing . . . . . . . . . . . . . . . . . 3-25
# Currently Called Up Job . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-25
# Calling Up Other Jobs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-25
3.4.2 Inserting Move Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-26
3.4.3 Deleting Move Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-28
viii
3.4.4 Modifying Move Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-28
# Modifying Position Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-28
# Modifying Motion Type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-29
3.4.5 Modifying Reference Point Instructions . . . . . . . . . . . . . . . . . . . . . . .3-30
# Deleting Reference Point Instructions. . . . . . . . . . . . . . . . . . . . .3-30
# Modifying Reference Point Instructions . . . . . . . . . . . . . . . . . . .3-30
3.4.6 Modifying Timer Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-31
# Deleting Timer Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-31
# Modifying Timer Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-31
3.5 Operations After Teaching . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-32
3.5.1 Releasing the teach lock . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-32
4 Playback
4.1 Preparation for Playback . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-1
# Calling a Job . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-1
# Registering the Master Job . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-1
# Calling the Master Job . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-3
4.2 Playback. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-5
4.2.1 The Playback Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-5
# Setting Display or Non-Display of Cycle Time . . . . . . . . . . . . . . .4-6
4.2.2 Playback . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-6
# Selecting the start device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-6
# Selecting Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-7
# Start Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-7
# About the Operation Cycle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-7
4.2.3 Special Playback Operations. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-10
# Low Speed Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-10
# Limited Speed Operations . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-11
# Dry Run Speed Operations. . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-11
# Machine Lock Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-12
# Check Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-12
# Check Run and Weaving Prohibit . . . . . . . . . . . . . . . . . . . . . . . .4-13
# Cancel All Special Operations . . . . . . . . . . . . . . . . . . . . . . . . . .4-13
4.3 Stop and Restart . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-14
4.3.1 Hold . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-14
# Using the Playback Panel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-14
# Using an External Input Signal (Specific) . . . . . . . . . . . . . . . . . .4-14
4.3.2 Emergency Stop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-15
4.3.3 Restart After Emergency Stop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-17
4.3.4 Stop by Alarm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-17
4.3.5 Others . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-18
# Temporary Stop By Mode Change . . . . . . . . . . . . . . . . . . . . . . .4-18
# Temporary Stop By the PAUSE Instruction . . . . . . . . . . . . . . . .4-18
ix
4.4 Modifying Play Speed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-18
4.4.1 Modifying With Speed Override . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-18
# Setting Speed Overrides . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-20
# Modifying Play Speed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-20
# Modifying Speed Override Ratio . . . . . . . . . . . . . . . . . . . . . . . . 4-21
# Releasing Speed Override Settings . . . . . . . . . . . . . . . . . . . . . . 4-21
4.5 Playback With Reserved Start . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-22
4.5.1 Preparation for Reserved Start . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-22
# Enabling Reserved Start . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-23
# Registering Reserved Start I/O Signal . . . . . . . . . . . . . . . . . . . . 4-24
# Registering Jobs to Stations . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-25
# Deleting Registered Jobs from Stations. . . . . . . . . . . . . . . . . . . 4-26
4.5.2 Playback from Reserved Start . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-27
# Start Operation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-27
# Checking Job Reservation Status . . . . . . . . . . . . . . . . . . . . . . . 4-28
# Resetting Job Reservation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-29
4.5.3 Hold Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-30
# [HOLD] on the Playback Panel . . . . . . . . . . . . . . . . . . . . . . . . . 4-30
# Hold by External Input Signal (Specific). . . . . . . . . . . . . . . . . . . 4-30
# Hold at the Station . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-31
4.6 Displaying Job Stack . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-32
5 Editing
5.1 Editing Jobs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-1
5.1.1 Displays Related to Job . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-1
# JOB HEADER DISPLAY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-1
# Job Content Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-2
# Command Pos Display. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-3
# Job List Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-3
# Job Capacity Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-4
5.1.2 Editing Jobs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-5
# Copying Jobs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-5
# Deleting Jobs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-7
# Modifying Job Names. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-9
# Editing Comments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-10
# Setting Edit Lock on Individual Job Units . . . . . . . . . . . . . . . . . . 5-11
# Enabling Modification of Position Data Only . . . . . . . . . . . . . . . 5-12
5.2 Editing Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-13
5.2.1 Editing Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-13
# Instruction Group . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-14
# Inserting Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-15
# Deleting Instructions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-16
# Modifying Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-16
5.2.2 Editing Additional Items (Line Edit) . . . . . . . . . . . . . . . . . . . . . . . . . . 5-18
# Modifying Additional Numeric Data . . . . . . . . . . . . . . . . . . . . . . 5-18
# Modifying Additional Items . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-19
# Inserting Additional Items. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-21
# Deleting Additional Items . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-22
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5.2.3 Cut and Paste . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-24
# Setting the Range . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-25
# Copying. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-25
# Cutting. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-26
# Pasting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-26
# Reverse Pasting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-27
5.3 Other Editing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-28
5.3.1 Editing Play Speed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-28
# Modification of Speed Type . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-28
# Relative Modification. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-28
# Modification by TRT (Traverse Time) . . . . . . . . . . . . . . . . . . . . .5-30
5.3.2 Editing Motion Type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-31
5.3.3 Editing Condition Files . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-32
5.3.4 Editing User Variables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-32
# Displaying Byte, Integer, Double-Precision, and
Real Type Variables. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-34
# Setting Byte, Integer, Double-Precision, and
Real Type Variables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-35
# Registering Variable Name . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-36
# Displaying Position Variables . . . . . . . . . . . . . . . . . . . . . . . . . . .5-37
# Setting Position Variables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-38
# Setting Position Variables Using the Number Keys . . . . . . . . . .5-39
# Setting Position Variables Using the Axis Keys . . . . . . . . . . . . .5-41
# Deleting Data Set of Position Variables . . . . . . . . . . . . . . . . . . .5-42
# Checking Positions by Position Variables. . . . . . . . . . . . . . . . . .5-42
# Manipulator Types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-43
5.3.5 Editing Local Variables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-47
# Setting the Number of Local Variables . . . . . . . . . . . . . . . . . . . .5-48
5.3.6 Searching. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-49
# Line Search. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-50
# Step Search . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-51
# Label Search. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-51
# Instruction Search . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-52
# Tag Search . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-53
5.4 Setting the Edit Lock . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-56
5.4.1 Edit Lock For All Jobs (Option) . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-56
6 Convenient Functions
6.1 One-touch Operations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-1
6.1.1 Direct Open . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-1
6.1.2 Reserved Display Call . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-3
# Registering Reserved Displays. . . . . . . . . . . . . . . . . . . . . . . . . . .6-4
# Calling Reserved Displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-4
xi
6.2 Parallel Shift Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-5
6.2.1 Parallel Shift Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-5
6.2.2 Setting the Shift Value . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-7
# Registering Position Variables . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-7
# Coordinates . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-7
# Setting the Shift Value . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-8
6.2.3 Registering Shift Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-9
# SFTON Instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-10
# SFTOF Instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-11
# MSHIFT Instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-12
6.2.4 Continuation of the Parallel Shift Function . . . . . . . . . . . . . . . . . . . . 6-14
6.2.5 Examples of Use . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-15
# Example of Use of Shift Addition/Subtraction . . . . . . . . . . . . . . 6-15
# Example of Use of MSHIFT Instruction . . . . . . . . . . . . . . . . . . . 6-16
6.3 Parallel Shift Job Conversion Function . . . . . . . . . . . . . . . . . . . . 6-17
6.3.1 Parallel Shift Job Conversion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-17
# Coordinates for Conversion . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-17
6.3.2 Operating Methods . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-22
# Specifying the Conversion Items . . . . . . . . . . . . . . . . . . . . . . . . 6-22
# Specifying the Shifting Amount . . . . . . . . . . . . . . . . . . . . . . . . . 6-23
# Executing Conversion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-25
6.4 PAM Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-26
6.4.1 PAM Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-26
# Input Ranges for Adjustment Data . . . . . . . . . . . . . . . . . . . . . . . 6-26
6.4.2 Operating Methods . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-27
# Setting Adjustment Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-27
# Executing the Adjustment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-28
# Editing Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-29
6.5 Mirror Shift Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-31
6.5.1 Mirror Shift . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-31
# Object Job . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-31
# Group Axes Which Become Objects . . . . . . . . . . . . . . . . . . . . . 6-31
# Position Variable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-32
# Parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-32
6.5.2 Operation Method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-32
# Converting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-32
7 Controlling Peripheral Devices

7.1 Floppy Disk Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-1
7.1.1 Floppy Disk Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-1
# Notes on the Use of Floppy Disks and Disk Units . . . . . . . . . . . . 7-2
# Connecting Cables. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-2
# Inserting a Floppy Disk. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-4
7.1.2 PC Card . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-5
# Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-6
# Inserting the PC Card. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-7
xii
7.1.3 File Management . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-8
# Data That Can Be Saved and Save Destination File Names . . . .7-9
# Selecting a Memory Unit. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-12
# Formatting a Floppy Disk . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-13
# Loading . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-14
# Saving . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-17
# Verifying Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-23
# Deleting Files . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-27
# Job Selection Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-29
# How to Select Job and Data Files. . . . . . . . . . . . . . . . . . . . . . . .7-31
8 General Purpose
8.1 Specific Keys . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-1
8.2 Tool Control Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-2
8.3 Work Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-3
8.3.1 TOOLON/TOOLOF Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-3
# Registering TOOLON/TOOLOF Instructions . . . . . . . . . . . . . . . .8-3
# TOOLON. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-3
# TOOLOF . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-3
8.3.2 CALL Instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-4
8.3.3 WVON Instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-5
8.3.4 WVOF Instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-5
9 Using Files
9.1 Weaving Condition File . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-1
9.1.1 Weaving Basic Coordinate System . . . . . . . . . . . . . . . . . . . . . . . . . . .9-1
9.2 Weaving Condition File Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-2
9.3 Operation Method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-6
9.3.1 Weaving File Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-6
9.3.2 Editing Condition Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-6
9.3.3 Cases that Require the Registration of Reference Points . . . . . . . . . .9-6
9.3.4 Prohibiting Weaving. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-8
# Method to Prohibit Weaving During a “CHECK” Operation . . . . .9-8
# Method to Prohibit Weaving During a “TEST RUN” or
[FWD] key Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-8
# Prohibiting Weaving By Means of a Specific Input Signal . . . . . .9-9
10 Table of Work Instructions

11 Table of Basic Instructions
xiii
xiv
1.1 Controller
1 An Introduction to XRC
1.1 Controller
The main power switch is located on the front of the XRC controller. The playback panel is
installed in the upper right corner of the cabinet door and the programming pendant hangs on
a hook below the playback panel.
Main Power Switch SERV

O ON
READ
Y
MODE
PLAY
TEACH EMER
GENC
Y ST
OP
EDIT
LOCK
(OF
F)
(ON)
REMO
TE ALAR
M
Playback Panel HOLD

STAR
T
Programming Pendant
Components Description
Main Power Switch Turns the XRC power ON/OFF.
Door Lock Locks the door.
Playback Panel Equipped with the keys and buttons used for playback of
the manipulator. For details, see " 1.2 Playback Panel ".
Programming Equipped with keys and buttons used for conducting

Pendant manipulator teaching operations and editing jobs. For
details, see " 1.3 Programming Pendant ".
1-1
1.2 Playback Panel
1.2 Playback Panel
1.2.1 Playback Panel Overview

The playback panel is equipped with the buttons used to play back the manipulator.
ALARM
Lights when an
SERVO ON MODE EMERGENCY STOP alarm occurs.
SERVO ON READY READY
PLAY TEACH
Turns ON the servo
power.
EMERGENCY
PLAY and TEACH STOP Button
Sets controller to Play EDIT LOCK
(OFF) ALARM
or Teach mode. (ON) REMOTE HOLD START START Button
Starts playback.
EDIT LOCK
Enables and disables HOLD Button
editing. Stops playback and
REMOTE Button holds at the present
Switches to remote
step in the job.
mode.
1.2.2 Button Description

Playback panel buttons are enclosed in brackets throughout this manual.
[TEACH] on the playback panel
[START] on the playback panel
1-2
1.2 Playback Panel
1.2.3 Playback Panel Buttons

Turns off the servo power.
Enables the servo power ON.

Use this button to turn servo power ON after and emergency stop or servo
overrun condition.
When this button is pressed,
• The lamp will glow when all safety interlocks are closed in Play Mode.
• The lamp will blink in Teach Mode, and the servo power is applied when the
operator grips the deadman switch.
Selects the play mode, which allows playback of a job

after teaching.
Pressing this button places the XRC in Play Mode. The lamp will glow when
in Play Mode.
If Teach Lock is ON, the lamp will not light.
Selects the teach mode to enable manipulator operation

and editing functions using the programming pendant.
Pressing this button places the XRC in Teach Mode. The lamp will glow when
in Teach Mode.
If Edit Lock (option) is ON, the edition function is disabled and the lamp will
not light.
Selects the playback panel or external input signal to perform

the start and mode switching operation.
Operation by remote signal input is possible when lamp is lit.
When lamp is lit, playback panel will not operate.
Lights to indicate that an alarm or error has occurred.

To release the alarm, press [RESET] on the programming pendant.
Starts the manipulator playback operation.

This lamp lights during the playback operation.
Temporarily stops the manipulator playback operation.

This button functions in any mode.
This button lights only while the button is held down. Releasing the button
turns the lamp off. Even though the lamp is not lit, the manipulator will not
start unless the next start instruction is given.
This lamp lights automatically in the following instances to indicate that the
system is in the hold status.
• While the hold signal is input from the HOLD key.
• During a hold request from the external computer while in the remote mode.
• Stop caused by job operation. (For example: wire sticking during the weld-
ing operation.)
Start and axis functions will not operate while this lamp is lit.
1-3
1.3.1 Programming Pendant Overview

The programming pendant is equipped with the keys and buttons used to conduct manipulator
teaching operations and to edit jobs.
MOTOMAN
Menu Area JOB EDIT DISPLAY UTILITY

L
JOB CONTENT R1 C S Status Area
J:TEST S:001 R1 TOOL : 0
0000 NOP
0001 MOVJ VJ=100.00
0002 END
General Purpose
Display Area
=> MOVJ VJ=100.00
>Joint Speed= Page Key
!Turn on servo power
Cursor Key
E.STOP
COORD
SELECT
TOP
MENU
TEACH
LOCK
Select Key
SERVO ON
x Area Key
X++ R-
X- S HIGH x
S- SPEED R+
Y+ y y
Y- L+ B-
L- FST B+
Manual Speed Key
Deadman Switch MAN SPD
Located on the back of the Z- Z+ SLW
z z
programming pendant. When U- U+ T- T+
you squeeze Axis Key
it, the power
INTER 7 8 9 TEST
comes on. SHIFT
LOCK
SHIFT
START
INFORM
4 5 6
ROBOT LIST
BWD FWD
1 2 3
EX AXIS AUX TIMER DELETE INSERT
CANCEL MOTION
0 . - ENTER
TYPE REF PNT MODIFY
Enter Key
YASNAC XRC
Motion Type Key Number Key / Specific Key

Press to input numbers
1-4
1.3.2 Key Description

# Character Keys
The keys which have characters printed on them are denoted with [ ]. is shown as
[ENTER] and is shown as [TEACH LOCK].

The number keys have additional functions along with their number values. Dual function keys
are used in the context of the operation being performed. For example: may be
described in the text as [1] or [TIMER].
# Symbol Keys
The keys which have a symbol printed on them are not denoted with [ ] but depicted with a
small picture, with the exception of the cursor key, which is not shown with a picture.
Cursor
Emergency Stop button
Reserved Display key
Direct Open key
Page key
Area key
# Axis Keys and Number Keys

The keys pictured in the following are referred to as the axis keys and number keys when
described.
# Keys Pressed Simultaneously

When two keys are to be pressed simultaneously, the keys are shown with a “+” sign between
them, such as [SHIFT]+[COORD].
1-5
1.3.3 Programming Pendant Keys
E.STOP Button Turns off the servo power.

When the servo power is turned off, the SERVO ON LED on the program-
ing pendant and the SERVO ON READY lamp will light.
An emergency stop message is displayed on the screen.
Deadman Switch Turns on the servo power.

Deadman switch is active only when the SERVO ON READY lamp is blink-
ing and both the safety plug and Teach Lock are on.
Sets to Teach Lock.

[TEACH LOCK] The LED lights when the Teach Lock is set.
When you set Teach Lock, Start is disabled and mode changes are locked
out until Teach Lock is turned off.
When Teach Lock is off, servo power cannot be turned on using the dead-
man switch.
Moves the cursor in the direction of the arrow.

The size of the cursor and the range /place where the cursor can move will
vary dependent on the display.
If the UP cursor button is pressed when the cursor is on the first line, the
cursor will move to the last line of the job. Conversely, if the cursor is on
the last line of the job and the DOWN cursor button is pressed, the cursor
will jump to the first line of the job.
Cursor
When [SHIFT] is pressed simultaneously:
[SHIFT] + UP
Goes back to the previous page.
[SHIFT] + DOWN
Goes to the next page.
[SHIFT] + RIGHT
Scrolls the instruction area of the job content or play back display to the
right.
[SHIFT] + LEFT
Scrolls the instruction area of the job content or playback display to the left.
[SELECT] Selects menu items such as top menu, pull down menu, etc.
Displays the top menu.

[TOP MENU] When [SHIFT] is pressed simultaneously:
[SHIFT] + [TOP MENU]

When any display appears, the screen changes in the order of the display,
sub-menu and top menu.
1-6
Moves the cursor between “Menu Area” and "General Pur-

pose Display Area".
Area Key
When [SHIFT] is pressed simultaneously:
[SHIFT] + [AREA]
The language can be switched when the bilingual function is valid. (Bilin-
gual function is optional.)
Page Key Displays the next page.

When [SHIFT] is pressed simultaneously with [PAGE], the previous page is
displayed.
The page can be changed when the page appears in the status area.
Displays the content related to the current line.
To display the content of a CALL job or condition file, move the cursor to
the next line and press [DIRECT OPEN]. The file will be displayed for the
Direct Open Key selected line. Display content will vary depending on the type of instruction
used in the job.
Example:
For a CALL instruction, the content of the called job will be displayed.
For an Operation instruction, the content of the condition file will be dis-
played.
For Input/output instructions, the in/output condition will be displayed.
Reserved Display Key Displays the reserved display.

During operation the display, which is registered because it is often seen,
can be called up by pressing this key.
Select the operation coordinate system when the manipula-

tor is operated manually.
Five coordinate systems (joint, rectangular, cylinder, tool and user) can be
[COORD] used. Each time this key is pressed, the coordinate system is switched in
the following order: "JOINT"$"WLD/CYL"$"TOOL"$"USER"
The selected coordinate system is displayed on the status display area.
When [SHIFT] is pressed simultaneously with [COORD], the coordinate

number can be changed when the "TOOL" or "USER" coordinate system is
selected.
Sets the speed for manual operation.

[MAN SPD] This speed is also valid for operations with [FWD] and [BWD].
There are four speed levels (slow, medium, fast, and inching).
Each time [FST] is pressed, manual speed changes in the following order:
"INCH"$" SLOW"$"MED"$"FST"
Each time [SLW] is pressed, manual speed changes in the following order:
"FST"$" MED"$"SLOW"$"INCH"
The selected speed is displayed on the status area.
Changes the speed of axis operation when and axis button

is pressed.
[HIGH SPD] The speed of the manipulator will change to high regardless of the pro-
grammed speed.
Note that only one axis can be operated at high speed. High-speed opera-
tion of multiple axes is not possible.
1-7
Selects the motion type for playback operation.

The selected motion type is shown in the status display area on the
screen.
Each time this key is pressed, the motion type changes in the following
[MOTION TYPE] order:
"MOVJ"$" MOVL"$"MOVC"$"MOVS"
When [SHIFT] is pressed simultaneously with [MOTION TYPE], the motion

mode changes in the following order:
"STANDARD"$" EXTERNAL REFERENCE POINT"*$" CONVEYOR"*
Motion Type can be changed in any mode.
*: These modes are purchased options.
[ROBOT] Changes the robot axis for axis operation.

Pressing this key enables the robot axis operation.
[EX.AXIS] Changes the external axis for axis operation.

Pressing this key enables the external axis operation.
[EX.AXIS] is active for the system with the external axis.
Moves specified axes on manipulator.

Axis Key The manipulator axes only move while the key is held down.
Multiple axes can be operated simultaneously by pressing two or more
keys at the same time.
Axis type (robot or external) is changed as follows:
The manipulator operates in the selected coordinate system.
Moves the manipulator through taught steps in a continuous

motion when [TEST START] and [INTERLOCK] are simulta-
[TEST START] neously pressed.
The manipulator can be moved to check the path of taught steps.
The manipulator operates according to the currently selected operation
cycle: "AUTO","1CYCLE",or "STEP"
If an operating speed exceeds the maximum teaching speed, the operation
proceeds at the maximum teaching speed.
Operation stops immediately when this key is released.
Moves the manipulator through the taught steps while this

[FWD] key is pressed.
Only move instructions are executed (no weld commands).
When [SHIFT] is pressed simultaneously with [FWD], all instructions
except move instructions are executed.
As for the operation of pressing [REF PNT] simultaneously, see the
description of "TEST START".
[BWD] Moves the manipulator through the taught steps in the

reverse direction while this key is pressed.
Only move instructions are executed (no weld commands).
1-8
[INFORM LIST] Displays instruction lists of commands available for job

editing.
[CANCEL] Cancels data input and resets errors.
[DELETE] Deletes registered instructions and data.

[DELETE] functions only when the key lamp is lit.
[INSERT] Inserts new instructions or data.

[INSERT] functions only when the key lamp is lit.
[MODIFY] Modifies taught position data, instructions, and data.

[MODIFY] functions only when the key lamp is lit.
[ENTER] Registers instructions, data, current position of the manipu-

lator, etc.
When [ENTER] is pressed, the instruction or data displayed in the input
buffer line moves to the cursor position to complete a registration, inser-
tion, or modification.
Changes the functions of the other keys.

[SHIFT] Used with [TOP MENU], [COORD], [MOTION TYPE], CURSOR,
RESERVED DISPLAY KEY , NUMBER KEY, Page Key to

access alternate functions.
Refer to the description of each key for the alternate [SHIFT] functions.
[INTERLOCK] Changes the functions of the other keys.

Used with [TEST START], [FWD], NUMBER KEY (number key customize
function)
Refer to the description of each key for the alternate [INTERLOCK] func-
tions.
Number Key Enters the number or symbol when the ">" prompt appears
on the input line.
“.” is the decimal point. “-” is a minus sign or hyphen.
The number keys are also used as function keys. Refer to the explanation
of each key for details.
1-9
1.3.4 Programming Pendant Display

# The Four Display Areas
The programming pendant display area is 40 columns by 12 lines. The display area is made
up of three different sections.
Each display has its own individual title. The title is displayed in the upper left-hand part of the
general purpose display area.
# Status Display Area

The Status Display area shows controller status. The displayed information will vary depend-
ing on the controller mode (Play/Teach).
%GROUP OPERATION AXIS

Displays the active group axis for systems equipped with station axes or several robot axes.
R1 to R3: Robot Axes
B1 to B3: Base Axes
S1 to S6: Station Axes
1-10
&OPERATION CORDINATE SYSTEM

Displays the selected coordinate system.
: Link Coordinate
: XYZ Coordinate
: Cylinder Coordinate
: Tool Coordinate
: User Coordinate
'MANUAL SPEED
Displays the selected speed.
: Inching
: Low Speed
: Medium Speed
: High Speed
(OPERATION CYCLE
Displays the present operation cycle.
: Step
: Cycle
: Continuous
)STATE UNDER EXECUTION
Displays the present system status (STOP, HOLD, ESTOP, ALARM, or RUN).
: Stop Status
: Hold Status
: Emergency Stop Status
: Alarm Status
: Operating Status
*PAGE
Displays the screen where the page is switched.
1-11
# Human Interface Display Area

The human interface display area is used for display information such as the instruction being
input, data, and error messages. The area is made up of three different lines.
%Input Buffer Line

Displays instructions as they are being entered.
&Input Line
Displays data values being entered (only when data input is required).
'Message Line
Displays error messages and dialogs for input. Error messages are given priority if errors
occur during input. Messages longer than one line length will scroll off the screen as you
continue entering data.
1.3.5 Screen Descriptions

# Denotation
The menu displayed in the programming pendant is denoted with { }.
The above menu items are denoted with {JOB}, {EDIT}, {DISPLAY}, AND {UTILITY}.
Menu commands are denoted in the same manner.
1-12
# Screen
The screen can be displayed according to the view desired.
Full Screen View
Upper Screen View
Middle Screen View
Lower Screen View
1-13
1.3.6 Character Input

[SELECT] : Insert a character at the cursor’s location on the input line.
[CANCEL] : Delete all characters on the input line.
Cancels character input, even if no characters have been entered on the input line.
PAGE KEY : Change the data type for input; Letter $ Symbol $ User Word.
[ENTER] : Registers all characters on the input line.
CURSOR:
• When the cursor is on the input line:
[+] : Moves the cursor to the left.
[$] : Moves the cursor to the right.
[,] : Deletes the character to the left of the cursor.
• When the cursor is on the character input display:

[+] : Moves the cursor to the left.
[$] : Moves the cursor to the right.
[-] : Moves the cursor up.
[,] : Moves the cursor down.
# Number Input
Number input is performed with the number key. Numbers include 0-9, the decimal point (.),
and the minus sign/hyphen (-).
Note however, that the decimal character cannot be used in job names.
# Letter Input
Press the page key to display the Letter Input screen. Move the cursor to the desired let-
ter and press [SELECT] to enter the letter.
# Symbol Input
Press the page key to display the Symbol Input screen.

Move the cursor to the desired symbol and press [SELECT] to enter the symbol.
Note that the symbol selection screen is not available for naming jobs since job names can
only have alphanumeric characters.
1-14
1.4 Modes
1.4 Modes
The XRC has two modes:
• Operation Mode
• Operation Location Mode
Each mode is described in this section
1.4.1 Operation Mode

The Operation Mode is the mode in which the manipulator is programmed and operated. The
operation mode is indicated by the mode lamp on the playback panel.
• Teach Mode
Used for teaching new jobs or modifying existing jobs.
• Play Mode
Used to run programmed jobs.
1.4.2 Operation Location Mode

Specifies the control point for operations such as manipulator mode, cycle, servo power, and
calling jobs.
The location mode is indicated by the REMOTE switch on the playback panel.
• Playback panel mode

Remote operation is not possible.
Playback panel / Programming Pendant input is available.
• Remote Mode
Operation via remote input is possible.
The table below shows the modes and the capability within each mode.
The data transfer input function (optional) is available in the remote mode.
1-15
1.4 Modes
Local Mode Remote Mode

Mode Operation
(Remote lamp is OFF) (Remote lamp is ON)
Servo ON Playback Panel / Program- External signal

ming Pendant
Start Playback Panel External signal
Mode change Playback Panel External signal
Cycle change Programming Pendant External signal
Call master job Programming Pendant External signal
1.4.3 Teach Mode Priority

For safety reasons, Teach mode always takes priority in mode switching operations. It is not
possible to switch to other modes via the playback panel or external input when TEACH LOCK
is turned on.
The controller remembers which mode it was in when power was turned off so that when
power is turned back on, the controller is in the same mode.
However, if the mode has already been specified by the playback panel or the external input
when power is turned on, the mode when power was turned off is not effective.
1.4.4 Edit Jobs and Active Jobs

The XRC can call a job stored in the memory at any time in order to edit or execute the job.
Jobs set for editing are called “edit jobs.” The name of the edit job is displayed in the status
display in teach mode. Jobs set for execution are called “active jobs”. The name of the active
job is displayed in the status display area in play mode.
Mode Current Job
Teach mode Edit job
Play mode Active job
When you change the operation mode, the current job changes according to the mode.
For example: If an edit job is open in Teach mode, it will become the active job when the con-
troller is switched to Play mode.
The job type can be changed by switching modes in the following manner:
1-16
1.5 About the Security Mode
Memory
1 2 3
Edit job Execution job Edit job Execution job Edit job Execution job
JOB A JOB A JOB A

Teac Teac
h mod h mod mode
e e Play
Both the edit job and the execution job The edit job is called. Press [PLAY] on the playback panel
are not called. to change to the play mode.
The edit job is automatically becomes
the execution job.
Memory
4 5
Edit job Execution job Edit job Execution job
JOB A JOB B JOB B JOB B

Teac
mode h Mod
Play e
Another job is called to the execution Press [TEACH] on the playback panel
job. to change to the teach mode.
The execution job automatically becomes
the edit job.
The XRC contains a security system know as the security mode. This is a method where only
those operators with an appropriate level can perform operations or change settings. Be sure
that the operator is at the appropriate level before operation.
1.5.1 Types of Security Modes

The following three types of security modes are available.
Also, any operations higher than the edit mode require a user ID. The user ID must contain
between 4 and 8 letters, numbers, or symbols.
• Operation Mode
During the operation mode, the operator can monitor the line operation and start and stop
the manipulator. Repairs, etc. can be performed if any abnormalities are detected.
• Editing Mode
During the edit mode, teaching, robot jog operations, job editing, and editing of various
operation files can be performed.
1-17
• Management Mode
During the management mode, the operator who performs setup and maintenance for the
system can set the machine control parameter, set the time, change the user ID, etc.
Menu & Security Mode
Security Mode
Top Menu Sub Menu
DISPLAY EDIT
JOB JOB Operation Edit
SELECT JOB Operation Operation
CREATE NEW JOB Edit Edit
MASTER JOB Operation Edit
JOB CAPACITY Operation -
RES. START(JOB) Edit Edit
RES. STATUS Operation -
VARIABLE BYTE Operation Edit
INTEGER Operation Edit
DOUBLE Operation Edit
REAL Operation Edit
POSITION(ROBOT) Operation Edit
POSITION(BASE) Operation Edit
POSITION(ST) Operation Edit
IN/OUT EXTERNAL INPUT Operation -
EXTERNAL OUTPUT Operation -
UNIVERSAL INPUT Operation -
UNIVERSAL OUTPUT Operation -
SPECIFIC INPUT Edit -
SPECIFIC OUTPUT Edit -
RIN Edit -
REGISTER Edit -
AUXILIARY RELAY Edit -
CONTROL INPUT Edit -
PSEUDO INPUT SIG Edit Operation
ANALOG OUTPUT Edit -
LADDER PROGRAM Management Management
I/O ALARM Management Management
I/O MESSAGE Management Management
1-18
Security Mode
Top Menu Sub Menu
DISPLAY EDIT
ROBOT CURRENT POSITION Operation -
COMMAND POSITION Operation -
SERVO MONITOR Management -
OPE ORIGIN POS Operation Edit
SECOND HOME POS Operation Edit
DROP AMOUNT Management Management
POWER ON/OFF POS Operation -
TOOL Edit Edit
INTERFERENCE Management Management
USER COORDINATE Edit Edit
HOME POSITION Management Management
MANIPULATOR TYPE Management -
ROBOT CALIB Edit Edit
ANALOG MONITOR Management Management
OVERRUN&S-SENSOR Edit Edit
LIMIT RELEASE Edit Management
ARM CONTROL Management Management
SYSTEM INFO MONITORING TIME Operation Management
ALARM HISTORY Operation Management
I/O MSG HISTORY Operation Management
VERSION Operation -
FD/PC CARD LOAD Edit -
SAVE Operation -
VERIFY Operation -
DELETE Operation -
FORMAT Operation Operation
DEVICE Operation Operation
1-19
Security Mode
Top Menu Sub Menu
DISPLAY EDIT
PARAMETER S1CxG Management Management
S2C Management Management
A1P Management Management
RS Management Management
S1E Management Management
SETUP TEACHING COND Edit Edit
OPERATE COND Management Management
DATE/TIME Management Management
GRP COMBINATION Management Management
SET WORD Edit Edit
RESERVE JOB NAME Edit Edit
USER ID Edit Edit
SET SPEED Management Management
KEY ALLOCATION Management Management
RES. START(CNCT) Management Management
1.5.2 Modifying the Security Mode

Operation
From the Top Menu display, select {SECURITY} under the menu*1 Select the security
mode to be modified*2 Input user ID Press [ENTER]*3
Explanation
*1 The current security mode is displayed in the title of the top menu screen.
1-20
*2 When the selected security mode is higher than the currently set mode, the user ID
input status display is shown.
At the factory, the user ID number below is preset.

• Edit Mode: [00000000]
• Management Mode: [99999999]
*3 The selected security mode’s input ID is checked. If the correct user ID is input, the
security mode is modified.
1-21
1-22
2.1 Robot Axes and Coordinates
2 Manipulator Coordinates
Names for Robot System Axes

The external axes of the XRC are divided into base and station axes. The relative individual axes of the robot sys-
tem are divided by their function into robot, base, and station axes.
Robot axis
This is the axis for the
manipulator itself.
Station axis
This is any axis other than the ro-
bot and base axes. It indicates the
Base axis
tilt or rotating axis of the fixture.
This is the axis that moves the entire manipulator.
It corresponds to the traveling axis.
It controls the path of traveling manipulators.
2-1
2.1.1 Types of Coordinates

The following coordinates can be used to operate the manipulator:
• Joint Coordinates
Each axis of the manipulator moves independently.
• Rectangular Coordinates
The manipulator, regardless of its position, moves parallel to any of the X-, Y-, and Z-axes.
• Cylinder Coordinates
The q axis moves around the S-axis. The R-axis moves parallel to the L-axis arm. For vertical motion, the
manipulator moves parallel to the Z-axis.
• Tool Coordinates
The effective direction of the tool mounted in the wrist flange of the manipulator is defined as the Z-axis. This
axis controls the coordinates of the end point of the tool.
• User Coordinates
The manipulator moves parallel to the axes of the user coordinates.
In any coordinate system, it is possible to change only the wrist orientation at a fixed TCP (tool center point)
position. This is called the TCP fixed function.
-AXIS -AXIS
-AXIS -AXIS
-AXIS
-AXIS -AXIS
Rectangular Coordinates Cylinder Coordinates
Z- A x i s Y- A x i s
X- A x i s
X-Axis
Y- A x i s
Z- A x i s
Tool Coordinates User Coordinates
2-2
2.2 General Operations
2.2.1 Selecting a Coordinate System

# Motion Type Key
Select a coordinate using the following procedure:
Press [MOTION TYPE]. Each time this key is pressed, the coordinate is switched in the following order:
Check the selection in the status area of the display.
Joint$
$Rectangular(Cylinder)$
$Tool$
$User
2.2.2 Selecting Manual Speed

Manual speed can be set to fast, medium, slow, or inching. In addition, high speed is also possible using the
[HIGH SPD]. The manual speed set is also effective for [FWD] / [BWD] operations in addition to the axis opera-
tions.
When the manipulator is operated with the programming pendant, the highest speed of the Tool Center Point
is limited to 250 mm/sec.
# Selecting with Manual Speed Keys

Press [FST] or [SLW]. Each time [FST] is pressed, manual speed is changed in the following order. Confirm the
speed in the status display area.
• Each time [FST] is pressed, the manual speed changes in the following order: INCH, SLOW, MED, and FST.
INCH SLW MED FST
• Each time [SLW] is pressed, the manual speed changes in the following order: FST, MED, SLOW, and INCH.
FST MED SLW INCH
2-3
# Using the High Speed Key

Pressing [HIGH SPD] while the axis keys are being held down makes the manipulator operate at high speed.
[HIGH SPD] has no effect if the manual speed is set to INCH.
2.2.3 Axis Operations

Pressing an axis key in the teach mode makes it possible to move the respective axis of the manipulator and sta-
tion to a desired position. The motion of each axis depends on the specified coordinate system.
The axes move only while the axis key is being pressed.
# Switching the Group Axis to be Operated

The coordination robot system (option function) with two or more axes, switches the group axis in the job content
display by the following procedure:
When the job content is displayed, the group axes which are registered in the displayed job will be operated.
<Example>
Case that the group axes registered in the displayed job is R1 + S1
Press the group axes key. The station number is shown in the status display area and station axis operation
becomes possible.
The station axis operation is shown below:
X + / X - : the first axis
Y + / Y - : the second axis
Z+ / Z - : the third axis
To return to the robot axes from the station axes, press [ROBOT].
2-4
2.3 Joint Coordinates
2.3 Joint Coordinates
When operating in joint coordinates mode, the S, L, U, R, B, and T axes of the manipulator move independently.
The motion of each axis is described in the table below.
Axis Motion in Joint Coordinates
Axis Operation
Axis Name Motion
Key
Basic S-Axis Main unit rotates right and left.

X- X+
Axes S- S+
L-Axis Lower arm moves forward and

Y- Y+
L- L+ backward.
U-Axis Upper arm moves up and

Z- Z+ down.
U- U+
Wrist R-Axis Wrist rolls right and left.

Axes x x
R- R+
B-Axis Wrist moves up and down.

y y
B- B+
T-Axis Wrist turns right and left.

z z
T- T+
When two or more axis keys are pressed at the same time, the manipulator will perform compound movement.
SUPPLE-
MENT However, if two different directional keys for the same axis are pressed at the same time (such as [S-] + [S+]),
none of the axes operate.
2-5
2.4 Rectangular Coordinates
AXIS
Z+
U+
AXIS
x
R+
y -AXIS
B+
-AXIS
Z- x z
U- T+
-AXIS R- y
B-
Y- z
L- T-
Y+
L+
-AXIS
X- X+
S- S+
In the rectangular coordinates, the manipulator moves parallel to the X-, Y-, or Z- axes. The motion of each axis is
described in the following table:
Axis Motion in Rectangular Coordinates
Axis Operation
Axis Name Motion
Key
Basic X- Moves parallel to X-axis.

X- X+
Axes Axis S- S+
Y- Moves parallel to Y-axis.

Y- Y+
Axis L- L+
Z- Moves parallel to Z-axis.

Axis Z- Z+
U- U+
Wrist Axes TCP Control Motion is executed. See Section " 2.8
Tool Tip Operations ".
2-6
When two or more keys are pressed at the same time, the manipulator will perform compound moves. How-
ever, if two different directional keys for the same axis are pressed at the same time (such as [X-] + [X+]), none
of the axes operate.
-AXIS
-AXIS
-AXIS
-AXIS -AXIS
X- X+ Z+
S- S+ U+
Y+
L+
-AXIS
Z-
Y- U-
L-
Moves parallel to X- or Y-axis Moves parallel to Z-axis
2-7
2.5 Cylinder Coordinates
2.5 Cylinder Coordinates
In the cylinder coordinates, the manipulator moves as follows. The motion of each axis is described in the following
table.
Axis Motion in Cylinder Coordinates
Axis Operation
Axis Name Motion
Key
Basic θ-Axis Main unit rolls around S-axis.

X- X+
Axes S- S+
r-Axis Moves perpendicular to Z-axis.

Y- Y+
L- L+
Z-Axis Moves parallel to Z-axis.

Z- Z+
U- U+
Wrist Axes TCP Control Motion is executed. See " 2.8 Tool
Tip Operations ".
ever, if two different directional keys for the same axis are pressed at the same time (such as [Z-] + [Z+]), none
-AXIS
-AXIS
-AXIS
-AXIS
2-8
2.6 Tool Coordinates
X+ -AXIS
S+ Y+
L+
Y-
L-
-AXIS
Y- Y+
L- L+
X-
S-
Rolls around θ-axis Moves perpendicular to r-axis
2.6.1 Axis Motion

In the tool coordinates, the manipulator moves parallel to the X-, Y-, and Z-axes, which are defined at the tip of the
tool. The motion of each axis is shown in the following table:
Axis Motion in Tool Coordinates
Axis Operation
Axis Name Motion
Key
Basic X- Axis Moves parallel to X-axis.

X- X+
Axes S- S+
Y- Axis Moves parallel to Y-axis.

Y- Y+
L- L+
Z- Axis Moves parallel to Z-axis.

Z- Z+
U- U+
Wrist Axes TCP Control Motion is executed. See " 2.8 Tool
Tip Operations ".
2-9
X-Axis
X-Axis
Z-Axis
Y- A x i s Y- A x i s
Y- A x i s
Z-Axis X-Axis
Z-Axis
The tool coordinates are defined at the tip of the tool, assuming that the effective direction of the tool mounted on
the manipulator wrist flange is the Z-axis. Therefore, the tool coordinates axis direction moves with the wrist.
In tool coordinates motion, the manipulator can be moved using the effective tool direction as a reference regard-
less of the manipulator position or orientation. These motions are best suited when the manipulator is required to
move parallel while maintaining the tool orientation with the workpieces.
Z+
U+
Z-
U-
X-
S-
X+
S+
For tool coordinates, the tool file should be registered in advance. For further details, refer to the “YASNAC
XRC INSTRUCTIONS”.
2-10
2.6.2 Selecting the Tool Number

Tool numbers are used to specify a tool when more than one tool is used on the system.
You may select from registered tool files when you switch tools on the manipulator.
This operation can be performed only when numbers of the tool is more than one.
To use several tool files with one manipulator, set the following parameter.
S2C261: Tool number switch specifying parameter
1: Can be switched
0: Cannot be switched
See “Concurrent I/O.Parameter” for details.
Operation
Press [COORD] and set to [TOOL] *1 Press [SHIFT] + [COORD]*2 Select the desired tool number
Explanation
*1 When [COORD] is pressed, the status area displays JOINT$ XYZ $ TOOL $ USER.

M
JOB CONTENT R1 C S
*2 The Tool Number Select Display is shown.

M
TOOL NO SELECT R1 C S
0 : TORCH MT-3501
1 : TORCH MTY-3501
2 : TORCH MTY-3502
2-11
2.7 User Coordinates
2.7.1 User Coordinates

In the user coordinates, the manipulator moves parallel to each axis of the coordinates which are set by the user.
Up to 24 coordinate types can be registered. Each coordinate has a user number and is called a user coordinate
file. The motion of each axis is described in the following table:
The figure and the table below describe the motion of each axis when the axis key is pressed.
Axis Motion in User Coordinates
Axis Name Axis Key Motion
Basic X- Axis Moves parallel to X-axis.

X- X+
Axes S- S+
Y- Axis Moves parallel to Y-axis.

Y- Y+
L- L+
Z- Axis Moves parallel to Z-axis.

Z- Z+
U- U+
Wrist axes TCP Control Motion is executed. See " 2.8 Tool
Tip Operations ".
2-12
-AXIS
X- X+
S- S+
Y+
L+
-AXIS
Y- -AXIS
L- -AXIS
-AXIS
Moves parallel to X or Y-axis

-AXIS
-AXIS -AXIS -AXIS

Z+
U+
S TAT I O N
Z-
U-
-AXIS
Moves parallel to Z-axis
2.7.2 Examples of User Coordinate Utilization

The user coordinate settings allow easy teaching in various situations. For example:
• When multiple positioners are used, manual operation can be simplified by setting the user coordinates for
each fixture.
User coordinates Fixture
Fixture Fixture
User coordinates
• When performing arranging or stacking operations, the incremental value for shift can be easily programmed
by setting user coordinates on a pallet.
2-13
• When performing conveyor synchronizing operations, the moving direction of the conveyor is specified.
Conveyor
2.7.3 Selecting a User Coordinate Number

Follow the procedure below to select the desired coordinate system from among the registered user coordinates.
Operation
Press [COORD] and set to [USER]*1 Press [SHIFT] + [COORD]*2 Select the desired user number
Explanation
*1 When [COORD] is pressed, the status area displays JOINT $ XYZ $ TOOL $ USER.

U M
JOB CONTENT R1 C S
*2 The User Coordinate Number Select Display appears.

U M
USER COORD SELECT R1 C S
1 : JIG
2 : WORK1
3 : PALLET
4 :
5 :
6 :
7 :
8 :
9 :
!
For more information on registration of the user coordinates, refer to “YASNAC XRC INSTRUCTIONS”.
2-14
2.8 Tool Tip Operations
2.8.1 TCP Fixed Operations

A TCP fixed operation can only change the wrist orientation at a fixed TCP position in all coordinate systems
except the joint coordinates. The motion of each axis is described in the following table.
Axis Motion in Control Point Fixed Operations
Axis Name Axis Key Motion
Basic Axes Control points move. These move-

X- X+
S- S+ ments differ depending on rectangular,
cylinder, tool and user coordinates.
Y- Y+
L- L+
Z- Z+
U- U+
Wrist Axes Wrist axes move by fixed control points.

x x
R- R+ These movements differ depending on
rectangular, cylinder, tool and user
coordinates.
y y
B- B+
z z
T- T+
Tool center point
2-15
Torch Welding Gun Spot Welding
Turning of each wrist axis differs in each coordinate system.
• In the following case, wrist axis rotations are based on the X-, Y-, or Z-axis.
-AXIS
-AXIS
-AXIS
-AXIS
-AXIS
-AXIS
• In tool coordinates, wrist axis rotations are based on X-, Y-, or Z-axis of the tool coordinates.
-AXIS
-AXIS
-AXIS
• In user coordinates, wrist axis rotations are based on X-, Y-, or Z-axis of the user coordinates.
-AXIS
-AXIS
-AXIS
Z-AXIS
-AXIS
-AXIS
2-16
2.8.2 TCP Change Operations

The tool tip position is registered in a tool file. The control point controls axis operations and it is set as the dis-
tance from the flange face. The TCP change operation is an axis operation that involves selecting the desired tool
file from a list of registered files, and then manipulating the axes while changing the control point. This coordinate
can be performed with all coordinates except the joint coordinates. The axis operation is the same as that of the
TCP fixed operation.
<Example 1>TCP Change Operation with Multiple Tools

The control points for Tool 1 and Tool 2 are taken as P1 and P2, respectively. When Tool 1 is selected to perform
axis operation, Tool 1 control point P1 controls the operation. Tool 2 follows Tool 1 and is not controlled by axis
operation. On the other hand, Tool 2 is selected to perform axis operation, Tool 2 control point P2 controls axis
operation. In this case, Tool 1 follows Tool 2.
Tool 1 Tool 2
P1 P2 P1 P2
Workpiece Workpiece
Selection of Tool 1 and axis operations with controlling P1 Selection of Tool 2 and axis operations with controlling P2
<Example 2>TCP Change Operation with a Single Tool

The two angles of the workpiece that the tool is holding are taken as control points P1 and P2 respectively. By
selecting two control points alternately, the workpieces can be moved as shown below:
Workpiece Workpiece
P1
P1 P2
P2
TCP fixed operation with P1 selected TCP fixed operation with P2 selected
For registration of the tool file, refer to “YASNAC XRC INSTRUCTIONS”.
2-17
2-18
3.1 Preparation for Teaching
3 Teaching
To ensure safety, the following operations should always be performed before teaching:
• Check the emergency stop buttons to be sure they function properly.

• Set the teach lock.
• Register a job.
3.1.1 Checking Emergency Stop Buttons

The Servo On buttons on both the playback panel and the programming pendant should be lit
while the power is on for the servo system. Perform the following operation to ensure that the
emergency stop buttons are functioning correctly before operating the manipulator.
Operation
Press E. STOP Confirm the servo power is turned off*1 Press [SERVO ON
READY]*2
Explanation
*1 The SERVO ON buttons on both the playback panel and the programing pendant light
while servo supply is turned on. When the emergency stop button is pressed and the
servo power is turned off, both SERVO ON button lamps will turn off.
*2 After confirming correct operation, press [SERVO ON READY] on the playback panel to
turn on the servo power.
3.1.2 Setting the Teach Lock

For safety purposes, always set the teach lock before beginning to teach.
While the teach lock is set, the mode of operation is tied to the teach mode and cannot be
switched using either the playback panel or external input. If the teach lock is not set, the
power cannot be turned on using the deadman switch on the programming pendant.
3-1
Operation
Press [T-LOCK]*1
Explanation
*1 While the teach-lock is set, this key lamp lights.
3.1.3 Registering Job Names

Give your job a name and enter it.
# Characters that Can Be Used in Job Names

Job names can use up to eight alphanumeric and symbol characters. These different types of
characters can coexist within the same job name.
The following rules apply to the designation of names for reserved jobs:
A maximum of six characters can be used for a reserved job name.
When a reserved job name is used, additional characters are added by the system.
<Example>
# Registering Job Names

Operation
Select {JOB} under the top menu Select {CREATE NEW JOB}*1 Input job
name*2 Press [ENTER] Press “EXEC”*3
Explanation
*1 The selection menu is displayed.
*2 Input job names using the character input operation. For information on character input
operation, refer to " 1.3.6 Character Input ".
3-2
3.2 Teaching
*3 Job names are registered to XRC memory. Then, the job content display is shown.
NOP and END instructions at the beginning of the job are registered automatically.
3.2 Teaching
3.2.1 Teaching Display Screens

Teaching is conducted in the job content display. The job content display contains the follow-
ing items:
%Line Numbers
The number of the job line is automatically displayed. Line numbers are automatically
regenerated if lines are inserted or deleted.
&Step Numbers
Step numbers are automatically displayed at the move instruction line. Step numbers are
automatically regenerated if steps are inserted or deleted.
'Instructions, Additional Items, Comments, Etc.
MOVJ VJ = 50.00
Tag Numerical Data

Instruction
Additional Item
3-3
3.2 Teaching
Instructions: These are instructions needed to process or perform an

operation. In the case of MOVE instructions, the instruc-
tion corresponding to the motion type is automatically
displayed at the time position is taught.
Additional items: Speed and time are set depending on the type of
instruction. Numerical or character data is added when
needed to the tags which set conditions.
3.2.2 Motion Type and Play Speed

Motion type determines the path along which the manipulator moves between playback
steps. Play speed is the rate at which the manipulator moves.
Normally the three elements of position data, motion type, and play speed are reg-
istered for the robot axes steps at one time. If the motion type or play speed settings are omit-
ted during teaching, the data used from the previously taught step is automatically used.
# Joint Motion Type

The joint motion type is used when the manipulator does not need to move
in a specific path toward the next step position (such as air cuts to and
from the workpiece). When the joint motion type is used for teaching a robot axis, the
move instruction is MOVJ. For safety purposes, use the joint motion type to teach the first
step.
When [MOTION TYPE] is pressed, the move instruction on the input buffer line changes.
Play Speed Setting Display

• Speeds are indicated as percentages of the maximum rate.
• Setting “0:Speed Omit” sets the speed at previous determination.
Operation
Move the cursor to the play speed Press [SHIFT] + the cursor key simultaneously*1
Explanation
*1 The joint speed moves up and down.
Fast 100.00
50.00
25.00
12.50
6.25
3.12
1.56
Slow 0.78 (%)
3-4
3.2 Teaching
# Linear Motion Type

The manipulator moves in a linear path from one taught step to the next. When the linear
motion type is used to teach a robot axis, the move instruction is MOVL. Linear motion type is
used for work such as welding. The manipulator moves automatically changing the wrist posi-
tion as shown in the figure below.
Play Speed Setting Display (same for circular and spline motion type)
There are two types of displays, and they can be switched depending on the application.
Setting method is same as link speed
Operation
Move the cursor to the play speed Press [SHIFT] + the cursor key simultaneously*1
Explanation
*1 The play speed moves up and down.
Fast 1500.0 Fast 9000

750.0 4500
375.0 2250
187.0 1122
93.0 558
46.0 276
23.0 138
Slow 11 (mm/ Slow 66 (cm/min)
# Circular Motion Type

The manipulator moves in an arc that passes through three points. When circular motion is
used for teaching a robot axis, the move instruction is MOVC.
Single circular
When a single circular movement is required, teach the circular motion for three points, P1 to
P3, as shown in the figure below. If joint or linear motion type is taught at P0, the point before
starting the circular operation, the manipulator moves from P0 to P1 in a straight line.
3-5
3.2 Teaching
Motion type for single circular
Motion type Instruction

P2
Automatically becomes P0 Joint or Linear MOVJ
a straight line
MOVL
P1 Circular MOVC
P0 P1 P3 P4 P2
P3
P4 Joint or Linear MOVJ

MOVL
Continuous Circular
When continuous circular movements must be separated from each other by a joint or linear
motion type step. This step must be inserted between two steps at an identical point. The step
at the end point of the preceding circular move must coincide with the beginning point of the
following circular move.
Motion Type for Continuous Circular
Point Motion Type Instruction

MOVL
Joint or linear
P2 motion type P1 Circular MOVC
P2
P3 P7 P8 P3
P4
P0 P1 P5
MOVL
P6
P5 Circular MOVC
P6
P7

MOVL
Play Speed
The play speed set display is identical to that for the linear motion type.
The speed taught at P2 is applied from P1 to P2. The speed taught at P3 is applied from P2 to
P3.
If a circular operation is taught at high speed, the actual arc path has a shorter radius than
that taught.
3-6
3.2 Teaching
# Spline Motion Type

When performing operations such as welding, cutting, and applying primer; using the spline
motion type makes teaching for workpieces with irregular shapes easier. The path of motion is
a parabola passing through three points. When spline motion is used for teaching a robot axis,
the move instruction is MOVS.
Single Free Curve

When a single free curve movement is required, teach the spline motion for three points, P1 to
P3, as shown in the figure below. If joint or linear motion is taught at point P0, the point before
starting the spline motion, the manipulator moves from P0 to P1 in a straight line.
Motion Type for a Single Free Curve
Point Motion Type Instruction

P2
Automatically becomes MOVL
a straight line
P1 Spline MOVS
P2
P0 P1 P3 P4 P3

MOVL
Continuous Free Curves

The manipulator moves through a path created by combining parabolic curves. This differs
from the circular motion type in that steps with identical points are not required at the junction
between two free curves.
Motion Type for Continuous Free Curves
P2 Identical-point Point Motion Type Instruction

step not required
P5 P6 MOVL
P3
P0 P1 P1 Spline MOVS
P2
P5
P4 P6 Joint or Linear MOVJ
MOVL
When the parabolas overlap, a composite motion path is created.
Start path End path
3-7
3.2 Teaching
Play Speed
The play speed set display is identical to that for the linear motion type.
As with the circular motion type, the speed taught at P2 is applied from P1 to P2, and the
speed taught at P3 is applied from P2 to P3.
Teach points so that the distances between the three points are roughly equal. If there is
any significant difference, an error will occur on playback and the manipulator may operate
in an unexpected, dangerous manner. Ensure that the ratio of distances between steps
m:n is within the range of 0.25 to 0.75mm.
P2
n
P1 P3
m
3.2.3 Teaching Steps

# Registering Move Instructions
Whenever one step is taught, one move instruction is registered. There are two ways to teach
a step. Steps can be taught in sequence as shown in " Fig. Registering Move Instructions ",
or they can be done by inserting steps between already registered steps, as shown in " Fig.
Inserting Move Instructions ". This paragraph explains the teaching of " Fig. Registering
Move Instructions ", the operations involved in registering new steps.
Step 2 Step Insertion Step 2

P1
Step 1 Step 3
Step 1 Step 3
Registering Move Instructions Inserting Move Instructions
Teaching of " Fig. Inserting Move Instructions " is called “Inserting move instruction,” to distin-
guish it from the method shown in " Fig. Registering Move Instructions ". For more details on
this operation, see " 3.4.2 Inserting Move Instructions ". The basic operations for registration
and insertion are the same. The only difference is pressing [INSERT] in the case of insertion.
For registration, the instruction is always registered before the END instruction. Therefore, it is
not necessary to press [INSERT]. For insertion (" Fig. Inserting Move Instructions "),
[INSERT] must be pressed.
3-8
3.2 Teaching
Position Data
Operation
Select {JOB} under the top menu Select {JOB} Move the cursor on the line
immediately before the position where a move instruction to be registered Grasp the
deadman switch.*1 Move the manipulator to the desired position using the axis key
Explanation
*1 Grasp the deadman switch to turn the servo power on.
*2 Use the axis operation key to move the manipulator to the desired position.
Selecting The Tool Number

Operation
Press [SHIFT] + [COORD]*1 Select desired tool number Press [SHIFT] +

[COORD] *2
Explanation
*1 When selecting the “JOINT”, “XYZ/CYLINDER”, or “TOOL” coordinate, press [SHIFT]
+ [COORD] and the tool number selection display will be shown.
*2 Return to the job content display.
3-9
3.2 Teaching
Using Multiple Tools with 1 Robot
When multiple tools are to be used with one robot, set parameter S2C261 to 1.
See " 2.6.2 Selecting the Tool Number " for details on this operation.
Motion Type
Operation
Press [MOTION TYPE]*1 Select the desired motion type
Explanation
*1 When [MOTION TYPE] is pressed, MOVJ $ MOVL $ MOVC $ MOVS are displayed
in order in the input buffer line.
Play Speed
Operation
Move the cursor to the play speed to be set*1 Press [SHIFT] + the cursor key
simultaneously Press [ENTER]*2
Explanation
*1 The joint speed moves up and down.
*2 The MOV instruction is registered.
Follow the above instructions when conducting teaching. (Tool number, motion type, and play
speed do not need to be set to the same values as shown above.)
3-10
3.2 Teaching
The position level can be set at the same time that the move instruction is registered.
Setting Position Level

The position level is the degree of approximation of the manipulator to a taught position.
The position level can be added to move instructions MOVJ (joint motion type) and MOVL (lin-
ear motion type). If the position level is not set, the precision depends on the operation speed.
Setting an appropriate level moves the manipulator in a path suitable to circumferential condi-
tions and the workpiece. If the position level is not set, the precision depends on the opera-
tion speed. Setting an appropriate level moves the manipulator in a path suitable to
circumferential conditions and the workpiece. The relationship between path and accuracy for
position levels is as shown below.
Positioning level 0
Position levels Accuracy
P2 P3
0 Teaching Position
Positioning level 1
Positioning level 2 1 Fine
Positioning level 3 to |
Positioning level 4 4 Rough
P1
Position Level
Operation
Select move instruction (MOVJ or MOVL)*1 Select the position level “UNUSED”.*2
Select “PL=” *3 Press [ENTER] Press [ENTER]*4
Explanation
*1 The motion type is displayed in the input buffer line. When the motion type is selected,
the detailed edit display is shown.
3-11
3.2 Teaching
*2 The selection dialog is displayed.
*3 The position level is displayed in the input buffer line. The position initial value is 1.
*4 To change the position level, select the level above the input buffer line, use the number
key to input the value, and press [ENTER]. The position level’s move instruction is reg-
istered.
To perform the movement steps shown below, set as follows:
P1 P2 P4 P5
P3 P6
3-12
3.2 Teaching
Steps P2, P4, and P5 are simple passing points, and do not require accurate positioning.
Adding PL=1 to 4 to the move instructions of these steps moves the manipulator around the
inner corners, thereby reducing the cycle time.
If complete positioning is necessary as P3 or P6, add PL=0.
<EXAMPLE>
Passing points P2, P4, and P5:
MOVL V=138 PL=3
Positioning point P3 and P6
MOVL V=138 PL=0
# Registering Reference Point Instructions

Reference point instructions (REFP) set an auxiliary point such as a wall point for weaving.
Reference point Nos. 1 to 8 are assigned for each application. Follow the procedure below to
register reference point instructions.
Operation
Select {JOB} under the top menu Select {JOB} Move the cursor *1 Grasp
the deadman switch Press the axis operation key Press [REF PNT]*3
Change the reference point number*4 Press [INSERT]*5 Press [ENTER]*6
Explanation
*1 Move the cursor to the line immediately before the position where the reference point to
be registered.
*2 The servo power is turned on.
*3 The reference point instruction is displayed in the input buffer line.
*4 Move the cursor to the reference point number, and press [SHIFT] + the cursor key to
change the reference point number.
If you use the number keys to input the reference point number, press [SELECT] when
the cursor is on the reference point number. The data input line is displayed. Input the
number and press [ENTER].
3-13
3.2 Teaching
*5 The [INSERT] key lamp lights.

Registering before the END instruction, [INSERT] is not needed.
*6 The REFP instruction is registered.
# Registering Timer Instructions

The timer instruction stops the manipulator for a specified time. Follow the procedure below
to register timer instructions.
Operation
Select {JOB} under the top menu Select {JOB} Move the cursor to inserted
position*1 Press [TIMER]*2 Change the timer value*3 Press [INSERT]*4
Press [ENTER]*5
Explanation
*1 Move the cursor to the line immediately before the position where the timer instruction
is to be registered.
*2 The TIMER instruction is displayed on the input buffer line.
*3 Move the cursor to the timer value and change it by pressing [SHIFT] + the cursor key.
The timer unit of adjustment is 0.01 minutes.
If you use the number keys to input the timer value, press [SELECT] when the cursor is
on the timer value. The data input line is displayed. Input the value and press [ENTER].
*4 The [INSERT] key lamp lights.

When registering before the END instruction, [INSERT] is not needed.
3-14
3.2 Teaching
*5 The TIMER instruction is registered.
Changing Timer Value

Operation
Press [TIMER] Press [SELECT]*1 Input the timer value on the instruction details
edit display*2 Press [ENTER]*3 Press [INSERT]*4 Press [ENTER]*5
Explanation
*1 The TIMER instruction detail edit display is shown.
*2 When is selected, the items available to be changed are displayed in the dialog.
Select the particular item to be changed.
When a number is to be changed, move the cursor to the number and press [SELECT].
The display changes to the number mode, and using the number keys, input the
desired value, and press [ENTER].
*3 The details edit display is closed and the job content display is shown again. Modified
content is displayed in the input buffer line.
3-15
3.2 Teaching
*4 The [INSERT] key lamp lights. When registering before the END instruction, [INSERT]
is not needed.
*5 The TIMER instruction is registered.
3.2.4 Overlapping the First and Last Steps
Why is overlapping the first and last step necessary?
Assume that the job shown below is to be repeated. The manipulator moves from the last
step (Step 6) to the first step (Step 1). If Step 6 and Step 1 are the same position, the
manipulator moves directly Step 5 to Step 1, thereby improving work efficiency.
Step 6
Step 6 after
change
Step 5
Step 1
The position of step 6 is changed
to overlap with step 1.
Step 2 Step 4
Step 3
Operation
Move the cursor to the first step line Press [FWD]*1 Move the cursor to the last
step line*2 Press [MODIFY]*3 Press [ENTER]*4
Explanation
*1 Move the cursor to the first step.
*2 The cursor starts blinking. When the cursor line position and the manipulator position
are different in the job content display, the cursor blinks.
*3 The key lamp lights.
*4 The position data for the first step is registered on the line of the last step. At this time,
only the position data can be changed in the last step. Motion type and play speed do
not change.
3-16
3.3 Checking Steps
3.3 Checking Steps
3.3.1 FWD/BWD Key Operations

Check whether the position of the taught steps is appropriate using [FWD] or [BWD] on the
programming pendant. Each time [FWD] or [BWD] is pressed, the manipulator moves by a
single step.
[FWD]: Moves the manipulator ahead in step number sequence. Only the
move instruction is executed when [FWD] is pressed, but when
[INTERLOCK] + [FWD] are pressed, all instructions are executed.
[BWD]: Moves the manipulator backward a step at a time in reverse step

number sequence. Only the move instruction is executed.
Operation
Move the cursor to the step to be confirmed Press [FWD] or [BWD]*1
Explanation
*1 If [FWD] / [BWD] are continuously pressed, the manipulator reaches the following /
previous step and stops.
Even if [FWD] is pressed, the manipulator does not proceed to a step when an instruction
other than the move instruction is registered. To proceed to a next step, perform either of
the following operations:
When executing instructions other than the move instruction: Press [INTERLOCK] +
[FWD].
When not executing instructions other than the move instruction: Press the cursor
key, move the cursor to the next move instruction and press [FWD].
If you skip over a step, move the cursor to desired position and press [FWD]. The
manipulator moves directly to the step where the cursor is currently positioned.
Change the cursor position.
For safety, set manual speed at or below.
# Precautions When Using FWD / BWD Operations

FWD Movements
• The manipulator moves in step number sequence. Only move instructions are executed
when [FWD] is pressed. To execute all instructions, press [INTERLOCK] + [FWD].
3-17
3.3 Checking Steps
• The manipulator stops after playing a single cycle. It does not move after the END instruc-
tion is reached, even if [FWD] is pressed. However, at the end of a called job, the manipu-
lator moves the instruction next to the CALL instruction.
Called Jobs
Step 4
Step 1 Step 2 Step 3 (RET instruction)
(END instruction)
Manipulator stop
Step 4 Step 7
Step 3 Step 5 Step 6
(CALL instruction) (END instruction)
BWD Movements
• The manipulator moves in reverse step number sequence. Only move instructions are
executed.
• The manipulator stops after playing a single cycle. It does not move after the first step is
reached, even if [BWD] is pressed. However, at the beginning of a called job, the manipu-
lator moves to the instruction immediately before the CALL instruction.
Called Jobs
Step 1 Step 2 Step 3 Step 4 Step 5
Manipulator stops
Step 3
Step 1 Step 2
(CALL instruction)
Circular Movements with FWD/BWD Key Operations

• The manipulator moves in a straight line to the first step of the circular motion type.
• There must be three circular interpolation steps in a row to move the manipulator in an
arc.
• If [FWD] or [BWD] operation is restarted after being stopped to move the cursor or to per-
form search, the manipulator moves in a straight line to the next step.
• If [FWD] or [BWD] operation is restarted after being stopped to move the axis as shown in
the following, the manipulator moves in a straight line to P2, the next circular motion step.
Circular motion is restored from P2 and P3.
Moves with linear motion type
: Motion path for FWD/BWD key operation

P2 : Motion using axis keys
: Motion path during playback
P1 P3
3-18
3.3 Checking Steps
Free Curve Movements with FWD/BWD Operations

• The manipulator moves in a straight line to the first step of free curve motion.
• There must be three free curve motion steps in a row to perform a free curve operation.
• Depending on the position where the [FWD] / [BWD] operation is performed, the alarm
“IRREGULAR DISTANCES BETWEEN TEACHING POINTS” may occur. Note that FWD/
BWD inching operations change the path of the manipulator and caution is therefore
required. Performing these operations also increases the likelihood that the “IRREGU-
LAR DISTANCES BETWEEN TEACHING POINTS” will occur.
• If the [FWD] or [BWD] operation is restarted after being stopped to move the cursor or
perform a search, the manipulator moves in a straight line to the next step.
• If the [FWD] or [BWD] operation is restarted after being stopped to move the axis as
shown in the following, the manipulator moves in a straight line to P2, the next free curve
motion step. Free curve motion is restored from P2 onward. However, the path followed
between P2 and P3 is somewhat different from the path followed at playback.
Linear motion
P2 : Motion path for FWD/BWD key operation

: Motion using axis keys
: Motion path during playback
P1
P3
• If the manipulator is moved to P3 with [FWD], stopped, and then returned to P2 with
[BWD], the path followed between P2 and P3 is different for each of the following: the first
FWD operation, the BWD operation, and the consequent FWD operation.
P2 First FWD
BWD P4
P1
Consequent FWD P3
# Selecting Manual Speed

When [FWD] or [BWD] is pressed, the manipulator moves at the manual speed selected at
that time. The set manual speed can be checked by the MAN SPD lamp on the programming
pendant.
Manual speed is set with [FST] and [SLW]. FWD operation can be performed at a high speed
by pressing [HIGH SPD]. Follow the procedure below to select a manual speed.
3-19
3.3 Checking Steps
• Each time [FST] is pressed, the speed is changed to the next setting in the following
sequence: INCH, SLW, MED, and FST.
[INCH] [LOW] [MED] [FST]
• Each time [SLW] is pressed, the speed is changed to the next setting in the following
sequence: FST, MED, SLW, and INCH.
[FST] [MED] [LOW] [INCH]
• FWD/BWD operation is performed with SLW speed even if INCH is selected.

• [HIGH SPD] is available only for the FWD operation but not for BWD operation.
# Moving to Reference Point

To check the position of a taught reference point, follow the procedure below to move the
manipulator to the reference point.
Operation
Move the cursor to the reference point instruction line to be checked Press [REF PNT]
+ [FWD]*1
Explanation
*1 Move the cursor to the reference point line to be checked. The manipulator moves to
the reference point of the cursor line.
# Test Operations
Playback operations can be simulated in the teach mode with test operations. This function is
convenient for checking continuous paths and operation instructions.
Test operation differs in the following ways from actual playback in the play mode.
• Operation speeds greater than the maximum teaching speed are reduced to the maxi-
mum teaching speed.
• Machine lock is the only special operation available for playback in the play mode.
• Work instruction output, such as arc output, is not executed.
Test operation is performed by pressing [INTERLOCK] and [TEST START]. For safety pur-
poses, these keys will only function while the keys are held down.
3-20
3.3 Checking Steps
Operation
Select {JOB} under the top menu Press {JOB} Press [INTERLOCK] + [TEST
START]*2
Explanation
*1 The test operation job content display is shown.
*2 The manipulator starts the test cycle operation. However, after the operation starts, the
motion continues even if [INTERLOCK] is released. The manipulator moves only while
these keys are held down.
The manipulator stops immediately when [TEST START] is released.
Always check safety conditions before pressing [INTERLOCK] + [TEST START] to start
the manipulator in motion.
3-21
3.4 Modifying Steps
3.4 Modifying Steps
3-22
3.4 Modifying Steps
It is not possible to change a move instruction to a reference point instruction and vice
versa.
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3.4 Modifying Steps
3-24
3.4 Modifying Steps
3.4.1 Displaying the Job Content Display for Editing

# Currently Called Up Job
Operation
Select {JOB} under the top menu. Select {JOB}*1
Explanation
*1 The job content display is shown.
# Calling Up Other Jobs
In any other than the teach mode, press [TEACH] on the playback panel.
3-25
3.4 Modifying Steps
Operation
Select {JOB} under the top menu Select {SELECT JOB}*1 Select the job name
to be called
Explanation
*1 The job list display is shown.
3.4.2 Inserting Move Instructions
Move instructions cannot be inserted when the servo power is not on.
Step where move instruction is to be inserted
Path after insertion
Path before insertion
Operation
Move the cursor to the line before the insert position*1 Press the axis operation key*2
Press [INSERT]*3 Press [ENTER]*4
Explanation
*1
*2 Turn on the servo power, press the axis operation key, and move the manipulator to the
position to be inserted.
3-26
3.4 Modifying Steps
Confirm the move instruction on the input buffer line and set desired motion type and play
speed.
*3 The key will light.
When the inserting position is immediately before the END instruction, [INSERT] is not
needed.
*4 The move instruction is inserted after the cursor line.
Positions where the move instruction are inserted.
The default location for insertions is for “before the next step,” but it is also possible to insert
“after the cursor line.” This setting is performed in the “Move Instruction Register Method.”
<Examples of Inserting a Move Instruction>

When a move instruction is inserted in the job below, it is placed on different lines according to
the setting the check drive condition display.
3-27
3.4 Modifying Steps
3.4.3 Deleting Move Instructions
Step where move instruction is to be deleted
Path before deletion
Path after deletion
Operation
Move the cursor to the move instruction to be deleted*1 Press [DELETE]*2 Press
[ENTER]*3
Explanation
*1
If the manipulator position differs from the cursor position on the display, the cursor blinks.
Stop the blinking by either of the following procedures.
%Press [FWD] and move the manipulator to the position where the move instruction is to
be deleted.
&Press [MODIFY]$ [ENTER] to change the position data of the blinking cursor position to
the current manipulator position.
*2 The key will blink.
*3 The cursor line step is deleted.
3.4.4 Modifying Move Instructions

# Modifying Position Data
Operation
Move the cursor to the MOV instruction to be modified*1 Press the axis operation key*2
Press [MODIFY]*3 Press [ENTER]*4
Explanation
*1 Display the job content display and move the cursor to the move instruction to be
changed.
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3.4 Modifying Steps
*2 Turn on the servo power, press the axis operation key, and move the manipulator to the
position after the changed instruction.
*4 The position data in the present position is changed.
The values of the position variables are not changed. Even MOV instructions for which
position variables have been set are not changed.
# Modifying Motion Type
Modifying only motion type is impossible. The motion type can be modified as a choice for
modifying the position data.
Operation
Move the cursor to the move instruction to be modified *1 Press [FWD]*2 Press
[DELETE]*3 Press [ENTER]*4 Press [MOTION TYPE]*5 Press [INSERT]
Press [ENTER]*6
Explanation
*1 Display the job content display, and move the cursor to the move instruction motion
type to be changed.
*2 Turn on the servo power, press [FWD], and move the manipulator to the cursor’s move
instruction position.
*4 The cursor line step is deleted.
*5 When [MOTION TYPE] is pressed one time, the motion type after the change is
selected. Each time [MOTION TYPE] is pressed, the input buffer line instruction alter-
nates.
*6 The motion type and position data are changed at the same time.
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3.4 Modifying Steps
3.4.5 Modifying Reference Point Instructions

# Deleting Reference Point Instructions
Operation
Move the cursor to the reference point to be deleted Press [DELETE]*1 Press
[ENTER]*2
Explanation
If the manipulator position differs from the cursor position, an error message is displayed.
If this occurs, follow either of the procedures below.
• Press [REF PNT] + [FWD] to move the manipulator to the position to be deleted.
• Press [MODIFY] then [ENTER] to change the reference point position data to the current
position of the manipulator.
*2 The reference point instruction at the cursor line is deleted.
# Modifying Reference Point Instructions

Operation
Move the cursor to the reference point instruction to be modified Move the manipula-
tor with the axis key*1 Press [REF PNT] Press [MODIFY]*2 Press
[ENTER]*3
Explanation
*1 Turn on the servo power and use the axis keys to move the manipulator to the position
after the changed item.
*3 The reference point instruction at the cursor line is changed.
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3.4 Modifying Steps
3.4.6 Modifying Timer Instructions

# Deleting Timer Instructions
Operation
Move the cursor to the timer instruction to be deleted*1 Press [DELETE]*2 Press
[ENTER]*3
Explanation
*1
*3 The timer instruction at the cursor line is deleted.
# Modifying Timer Instructions

Operation
Move the cursor to the timer instruction to be modified Press [TIMER] Move the
cursor to the input buffer line timer value*1 Change the timer value*2 Press
[ENTER]*3
Explanation
*1 Line up the cursor with the input buffer line timer value and press [SHIFT] + the cursor
key to set the data. To use the number keys to input data, move the cursor to the input
buffer line timer value and press [SELECT]. The number value is then input.
*2 This key lamp lights.
*3 The timer instruction at the cursor line is changed.
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3.5 Operations After Teaching
3.5 Operations After Teaching
3.5.1 Releasing the Teach Lock

When the teaching operation is completed, release the teach lock using the programming
pendant.
Operation
Press [LOCK]*1
Explanation
*1 LED of the [TEACH LOCK] is turn off and the teach lock is released.
The message “Caution! TEACH-LOCK mode released” is displayed.
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4.1 Preparation for Playback
4 Playback
Playback is the act of executing a taught job. Before playback operation, first call the job to be
executed.
# Calling a Job
Operation
Select {JOB} under the Top Menu Select {SELECT JOB}*1 Select the desired
job
Explanation
*1 The Job List Display is shown.
*2 The selected job is called, and the job content display is shown.
# Registering the Master Job

If a particular job is played back frequently, it is convenient to register that job as a master job
(master registration). A job registered as the master job can be called more easily than the
method described on the preceding page.
4-1
Only one job can be registered as the master job. Registering a master job automatically
releases the previously registered master job.
Follow the procedure below to register a job as a master job.

Operation
Select {JOB} under the Top Menu Select {SELECT JOB}*1 Select the desired
job
Explanation
*1 The master job display is shown.
*2 The select dialog is displayed.
4-2
*4 The selected job is registered as the master job.
# Calling the Master Job

This operation is to call a master job. The job can be called in the job content display, playback
display, job select display, or the master job display.
Calling from the Job Content, Playback, Job Select Display

Operation
Select {JOB} under the Menu*1 Select {CALL MASTER JOB}*2
Explanation
*1 The Pull Down Menu is displayed.
*2 The master job is called, and the job content display is shown.
4-3
Calling from the Master Job Display

Operation
Select {JOB} under the Top Menu*1 Select {MASTER JOB}*1 Press [SELECT]*2
Select “CALL MASTER JOB”*2
Explanation
*1 The master job display is shown.
*3 The master job is called, and the job content display (during the teach mode), or the
playback display (during the play mode) is displayed.
4-4
4.2 Playback
4.2 Playback
4.2.1 The Playback Display

When [PLAY] on the playback panel is pressed while displaying the job content display, the
playback display appears.
%Job Content
The cursor moves according to the playback operation. The contents are automatically
scrolled as needed.
&Override Speed Settings

Displayed when override speed setting is performed.
'Cycle Time
Displays the working time of the manipulator. Each time the manipulator is started, the pre-
vious cycle time is reset, and a new measurement begins. The setting can be made for dis-
play or no display.
(Start No.
First step in the measurement. Measurement ends when the manipulator stops and the
start button lamp goes off.
)Move Time
Displays the moving time of the manipulator.
*Playback Time
Displays the time from beginning to the end of the measurement. Measurement ends when
the manipulator stops and the start button lamp goes off.
4-5
4.2 Playback
# Setting Display or Non-Display of Cycle Time

Follow the procedure below to set whether or not to display the cycle time on the playback dis-
play.
Operation
Select {DISPLAY} under the Menu Select {CYCLE TIME}*1
Explanation
*1 The cycle time is displayed. Doing the same operation one more time will delete the
cycle time display.
4.2.2 Playback
Playback is the operation by which the taught job is played back. Follow the procedures below
to start the playback operation.
After checking to be sure there is no one near the manipulator, start the playback operation
by following the procedures below.
• Playback Panel (Start Button)

• Peripheral Device (External Start Input)
The procedure to be used to start playback is specified by pressing [REMOTE] on the play-
back panel.
For playback using the playback panel, follow the procedures below.
# Selecting the start device

Operation
Turn off [REMOTE] on the playback panel*1
Explanation
*1 The remote mode is disabled and the teach or play mode is enabled.
4-6
4.2 Playback
# Selecting Mode
Operation
Press [PLAY] on the playback panel*1
Explanation
*1 The play mode is specified.
# Start Operation
Operation
Press [START] on the playback panel*1
Explanation
*1 The start button lamp lights and the manipulator begins operation.
# About the Operation Cycle

There are three types of manipulator operation cycles:
• AUTO:Repeats a job continuously.

• 1 CYCLE: Executes a job once. If there is a called job during execution, it is performed,
after which the manipulator returns to the original job.
• STEP: Executes one step (instruction) at a time.
The operation cycle can be changed using the following:

Operation
Select {CYCLE} under the menu in the top menu display Select the operation cycle to
be changed*1
Explanation
*1 The operation cycle is changed.
4-7
4.2 Playback
Operation Cycle Automatic Setting

The operation cycle is set to “1CYCLE” automatically when the following operation is done.
Selected to PLAY mode (Light ON)
Selected to TEACH mode (Light ON)
Selected to REMOTE mode (Light ON)
Selected to local mode (Light OFF)
Turned the main power on Main Power (ON)
Automatic setting of the operation cycle can be changed by the following operation.
Operation
Select {SETUP} under the top menu Select {OPERATE COND}*1 Select desired
operation*2 Select desired cycle*3
Explanation
*1 The operating condition display is shown. Use the cursor to scroll the screen.
4-8
4.2 Playback
“NONE” setting
The operation cycle is not changed when “NONE” is set.

For example, if the setting is “CYCLE SWITCH IN TEACH MODE = NONE”,
the operation cycle after selecting the teach mode is the same as the one before.
*3 The operation cycle set automatically is changed.
4-9
4.2 Playback
4.2.3 Special Playback Operations

The following special operations can be performed during playback:
• Low Speed Operation

• Limited Speed Operation
• Dry Run Speed Operation
• Machine Lock Operation
• Check Operation
Two or more special operations can be performed at the same time. If multiple operations are
selected, the speed during playback is limited to the speed of the slowest of the operations.
Settings for special operations are done in the special play display.
When displaying the playback screen, move the cursor to the menu area and select {UTILITY}
$ {SETUP SPECIAL RUN}. The special play screen appears.
# Low Speed Operation

The manipulator moves at low speed during the first step after starting. After the operation of
this step, the manipulator stops regardless of the selection of the operation cycle. Low speed
operation is canceled when the manipulator stops. Even if the manipulator is manually
stopped during low speed operation, the low speed is cancelled.
Operation
Select “LOW SPEED START” under the special play set display*1 Select “COM-
PLETE”*2 Press [START] on the playback panel*3
Explanation
*1 The setting alternates between “VALID” and “INVALID”.
*2 Return to the playback display.
*3 Set to “VALID” and start the playback operation. Manipulator moves at a low speed for
the first step and stops. After this, press [START] on the playback panel to execute
each of the remaining steps. The manipulator moves at the speeds taught.
4-10
4.2 Playback
# Limited Speed Operations

The manipulator operates within the limited speed in the teach mode. The limited speed is set
at 250 mm/sec. Therefore, steps with speeds faster than 250 mm/sec are restricted to this
speed limit. However, operation is performed at actual playback speeds for steps under this
limit.
Operation
Select “SPEED LIMIT” under the special play set display *1 Select “COMPLETE”*2
Explanation
*3 Set to “VALID” and start the playback operation. The manipulator moves at limited
speed.
# Dry Run Speed Operations

The dry run speed is a constant speed that is independent of the teaching speeds. When the
dry run operation is started, the manipulator executes all the steps at a constant dry run
speed. Dry run operation is convenient for quick check of a job consisting of slow operations.
The dry run speed is 10% of maximum speed.
Be careful of steps programmed at lower speeds than the dry run speed, because they are
executed at greater speeds than programmed.
Operation
Select the “DRY-RUN SPEED” under the special play set display*1 Select “COM-
PLETE”*2 Press [START] on the playback panel*3
Explanation
*3 Set to “VALID” and start the playback operation. The manipulator moves at dry-run
speed.
4-11
4.2 Playback
Speed
Play Speed
Safety Speed
Dry-RunSpeed
Step
# Machine Lock Operation

In machine lock operation, a job is played back without moving the manipulator to check the
status of input and output.
Operation
Select “MACHINE LOCK” under the special play set display*1 Select “COMPLETE”*2
Explanation
*3 Set to “VALID” and start the playback operation. The manipulator starts machine lock
operation.
# Check Operation
During check operation, the machine runs without issuing work instructions, such as the arc
instruction. It is used primarily to check the path of the program.
Operation
Select “CHECK-RUN” under the special play set display*1 Select “COMPLETE”*2
Explanation
*3 Set to “VALID” and start the playback operation. The manipulator starts check opera-
tion.
4-12
4.2 Playback
# Check Run and Weaving Prohibit

When the check run is executed, and weaving prohibit is specified, the weaving operation is
not executed in the weaving position of the job.
Operation
Select “WEAV PROHIBIT IN CHK-RUN” under the special play set display*1 Select
“COMPLETE”*2 Press [START] on the playback panel*3
Explanation
*3 Set to “VALID” to execute the start operation. The manipulator does not execute the
weaving operation during check run execution.
# Cancel All Special Operations
Operation
Select {EDIT} from the menu Select “CANCEL ALL SELECT” *1
Explanation
*1 The message “All special functions canceled” is displayed.
Special operations are also automatically cancelled if the main power is shut off.
4-13
4.3 Stop and Restart
The manipulator stops in the following conditions:

• Hold
• Emergency Stop
• Stop By Alarm
• Others
• During Each Application
4.3.1 Hold
Pressing [HOLD] on the playback panel causes the manipulator to stop all motion. There are
two ways to hold.
• Playback Panel
• External Input Signal (Specific)
# Using the Playback Panel

Hold
When [HOLD] on the playback panel is pressed, the manipulator stops momentarily.
[HOLD] lamp lights while it is held down. At the same time, [START] lamp goes
OFF.
Release
Press [START] on the playback box. The manipulator restarts its operation, beginning at the
position at which it was stopped.
# Using an External Input Signal (Specific)

Hold
Operation
Turn on the hold signal from an external input*1
Explanation
*1 The manipulator stops momentarily.
The external input signal [HOLD] lamp lights.

The playback panel [HOLD] lamp lights. At the same time [START] lamp lights.
4-14
Release
Operation
Turn off the hold signal from an external input*1
Explanation
*1 Hold is released. To continue the operation, press [START] on the playback panel, or
the external input signal. The manipulator restarts its operation, beginning at the posi-
tion at which it was stopped.
4.3.2 Emergency Stop

At an emergency stop, the servo power supply that drives the manipulator is turned off and
the manipulator stops immediately. An emergency stop can be performed by using any of the
following:
• Playback Panel
• Programming Pendant
Emergency Stop
Operation
Press the emergency stop button *1
Explanation
*1 The servo power turns off and the manipulator stops immediately.
Using the playback panel:
Using the programming pendant:
Emergency Stop Using the Playback Panel
Emergency Stop Using the Programming Pendant
Emergency Stop Using External Input Signal
4-15
Release
Operation
Turn the emergency stop button in the direction of the arrows*1
Explanation
*1 Turn the emergency stop button in the direction of the arrows.
Press [SERVO READY] on the playback panel or the deadman switch on the program-
ming pendant to turn on the servo power supply again.
4-16
4.3.3 Restart After Emergency Stop
• Prior to restarting after an emergency stop, confirm the position for the
next operation and make sure there is no interference with the work-
piece or fixture.
The application of an emergency stop during high speed operations on continuous steps
can result in the manipulator stopping two or three steps prior to the step that is being dis-
played. There is a risk of interference with the workpiece or fixture when the manipulator
is restarted under such conditions.
4.3.4 Stop by Alarm

If an alarm occurs during operation, the manipulator stops immediately, the alarm lamp on the
playback panel lights and the alarm display appears on the programming pendant indicating
that the machine was stopped by an alarm.
If more than one alarm occurs simultaneously, the first four alarms are displayed. The fifth
and subsequent alarms are not displayed, but they can be checked on the alarm history dis-
play. The following operations are available in the alarm status: display change, mode
change, alarm reset, and emergency stop.
Release
Alarms are classified by minor and major alarms.
Minor Alarms
Operation
Press [SELECT]*1
Explanation
*1 Select [RESET] under the alarm display to release the alarm status. When using an
external input signal, turn on the “ALARM RESET” setting.
4-17
4.4 Modifying Play Speed
Major Alarms
Operation
Turn off the main power supply and remove the cause of the alarm*1
Explanation
*1 If a severe alarm, such as hardware failure occurs, servo power is automatically shut
off and the manipulator stops. If releasing does not work, turn off the main power and
correct the cause of the alarm.
4.3.5 Others
# Temporary Stop By Mode Change
When the play mode is switched to the teach mode during playback, the manipulator stops
immediately.
To restart the operation, return to the play mode and perform a start operation.
# Temporary Stop By the PAUSE Instruction

When the PAUSE instruction is executed, the manipulator stops operating.
To restart the operation, perform a start operation. The manipulator restarts from the next
instruction.
4.4.1 Modifying With Speed Override

Speed modifications using the speed override have the following features:
• Speed can be modified during playback.

• The job can be played back at various speeds until the play speed is properly adjusted.
• Speed can be increased or decreased by a ratio of the current play speed. The ratio set-
tings range from 50 to 150% in increments of 1%.
• All play speed values used in the job can be increased or decreased by a constant ratio.
The operation flow override of play speeds is as shown in the following:
4-18
4-19
# Setting Speed Overrides
Operation
Select {UTILITY} under Menu in the playback display Select {SPEED OVERRIDE}*1
Select “ON” or “OFF” under “MODIFY”*2 Set the override ratio*3
Explanation
*1 The playback display becomes the speed override condition.
*2 Each time [SELECT] is pressed when the cursor is on the data of the item “MODIFY”,
“ON” and “OFF” alternate.
Select “ON” to modify the registered play speed during playback.
When “OFF” is selected, the registered play speed is not modified. To change the play
speed temporarily (for example, to experiment with various speeds), select “OFF”.
*3 Line up the cursor with the override ratio and move the cursor up and down to change
the ratio.
If you want to input the ratio number directly, move the cursor to the override ratio and
press [SELECT]. The number input line is displayed. Input the override ratio using the
number keys.
# Modifying Play Speed

Operation
Set speed override Playback the robot*1
Explanation
*1 After the speed override is set, the manipulator starts operating. The play speed is
increased or decreased in the set ratio. When setting “MODIFY” to “ON”, the step’s
play speed is modified when each step is reached.
When one cycle is completed by the END instruction, the speed override setting is
released.
4-20
• Assuming that the manipulator moves from step 1 to step 2, the play speed of step 2 is
not modified if the speed override is released before reaching step 2.
• When the play speed is changed by speed override, the maximum and minimum speed is
limited by the manipulator.
• When setting “MODIFY: ON”, the safety speed operation is performed at the same time.
The manipulator operates at safety speed, however the play speed in memory is modified
as the setting using speed override.
• Play speed set by the SPEED instruction is not modified.
# Modifying Speed Override Ratio

Operation
Select {UTILITY} under the Menu in the playback display Select {SPEED OVERRIDE}
Set the desired speed override ratio with the cursor*1
Explanation
*1 Line up the cursor with the speed ratio and press [SHIFT] + the cursor key to change
the ratio. To set the value directly, first select the speed ratio and the value input status
display will be shown. Use the number keys to input the new ratio. If [CANCEL] is
pressed, the modified ratio is released.
# Releasing Speed Override Settings

Operation
Select {UTILITY} under the Menu in the playback display Select {SPEED OVER-
RIDE}*1
Explanation
*1 The setting of the speed override ratio is released. If it’s released, the speed ratio set-
ting is not displayed on the playback display.
The speed override settings are automatically released in the following cases:
• When dry-run speed operation is set.

• When the mode is changed to any mode other than the play mode.
• When an alarm or error occurs.
• When 1 CYCLE operation is completed using the END instruction.
• When the power supply is turned off.
4-21
4.5 Playback With Reserved Start
4.5.1 Preparation for Reserved Start

In the reserved start function, jobs registered at different stations are played back in the
reserved order using the start buttons on the stations.
Station 3
(Job 3 registered)
Station 1
(Job 1 registered)
Station 2
(Job 2 registered)
For example, in a case where three stations handle three different workpieces, as shown in
the illustration above, the jobs would be registered as follows:
• Job 1 is registered to process workpiece 1 at Station 1

To play back the jobs, prepare workpiece 1 and press the start button on Station 1. The manip-
ulator executes Job 1. Prepare workpieces 2 and 3 while Job 1 is being executed, and press
the start buttons on Stations 2 and 3. Even if Job 1 is being executed at that time, jobs on dif-
ferent stations are reserved in the order that the start buttons were pressed, and will be exe-
cuted in that order. During playback, the status of the reservation can be checked on the start
reservation display.
4-22
# Enabling Reserved Start

The start button on the station is operative when the reserved start function is enabled, and
the following start operations are impossible.
• [START] on the playback panel

• Start operation from external input signal (specific)
Enabling reserved start can not be performed if the EDIT LOCK (option) setting is ON.
Operation
Select {SETUP} under the top menu Select {OPERATE COND}*1 Select
“RESERVED START”*2
Explanation
*1 The operation condition display is shown. The screen is scrolled up/down by the cursor
key when it locates at the top/bottom of the items.
The operation condition display is shown only when the security mode is management
mode.
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*2 Each time [SELECT] is pressed, “PERMIT” and “PROHIBIT” alternates. Select “PER-
MIT”.
The external start and the playback panel start are prohibited even if setting is “PERMIT”
when reserved start is enabled.
Regardless of the operation cycle selected, it is automatically set to 1CYCLE.
# Registering Reserved Start I/O Signal

Register the start I/O signal as a preparation to perform start operation from the station.
This operation can be done only when the operation mode is teach mode and the security
mode is management mode.
Operation
Select {SETUP} under the top menu Select {RES. START(CNCT)}*1 Select
“START IN” or “START OUT” for each station*2 Input desired signal number
Press [ENTER]
Explanation
*1 The reserved start connection display is shown.
*2 The input buffer line is displayed.
4-24
*3 The input/output signal number is registered.
# Registering Jobs to Stations

Register the starting job of each station.
This operation can be done only when the operation mode is teach mode and the setting of
“RESERVED START JOB CHANGE” is “PERMIT” in the operation condition display.
For operation, refer to “Enabling Reserved Start”.
Operation
Select {JOB} under the top menu Select {RES. START(JOB)}*1 Select job name
for each station*2 Select “SETTING START JOB”*3 Select desired job*4
Explanation
*1 The reserved start connection display is shown.
/ indicates that the input/output number is registered.
0 indicates that the input/output number is not registered.
4-25
*3 The job list display is shown

*4 The starting job is registered.
# Deleting Registered Jobs from Stations

Delete the registered job of each station.
This operation can be done only when the operation mode is teach mode and the setting of
“RESERVED START JOB CHANGE” is “PERMIT” in the operation condition display.
For operation, refer to “Enabling Reserved Start”.
4-26
Operation
Select {JOB} under the top menu Select {RES. START(JOB)}*1 Select job name
for each station*2 Select “CANCEL START JOB“*3
Explanation
*1 The reserved start job display is shown.
*3 Registered job is deleted.
4.5.2 Playback from Reserved Start

# Start Operation
Operation
Press [PLAY] on the playback panel*1 Press start button on the station*2
4-27
• While the job is being executed, the start button lamp on the station lamps.
• If the workpiece must be prepared at the station, prepare it before pressing the start but-
ton.
• If the start button of another station is pressed during execution of a job at one station, the
job on the station is reserved and prepares to start. Jobs are reserved and executed in
the order that the start buttons are pressed.
• When a job is reserved, the start button lamp on the station blinks.
• No station job is reserved when it is being executed even if its start button is pressed.
• To suspend a job being executed, perform the Hold operation.
Reservations are cancelled when the start button is pressed again during the job reserva-
tion operation.
# Checking Job Reservation Status

The job reservation status during playback can be checked.
Operation
Select {JOB} under the top menu Select {RES. STATUS}*1
Explanation
*1 The job reservation display is shown.
% STATUS
Reservation status is displayed.
STARTING Indicates the station currently working.
STOP Indicates any station where work has been tem-

porarily stopped by a hold operation.
RESERVE1, Indicates the order in which jobs have been

RESERVE2,... reserved for start.
4-28
& START IN
Input signal status is displayed.
“/”: Input signal ON
“0”: Input signal OFF
# Resetting Job Reservation

The job reservation can be reset.
If “STARTING” is displayed, the job can not be reset.
Operation
Select {JOB} on the job reservation status display Select {RESET RESERVATION} or
{RESET ALL}*1 Select “YES”*2
Explanation
*1 The job reservation display is shown.
When {RESET RESERVATION} is selected, job reservation stated to “RESERVE“
is reset.
When {RESET ALL} is selected, job reservation stated to “STOP” and “RESERVE” is
reset.
All job reservations are reset automatically in the following conditions:

When the reserved start sets to “PROHIBIT”
When another job is called or an edit operation is performed.
4-29
4.5.3 Hold Operation

Pressing [HOLD] on the playback panel causes the manipulator to stop all motion. Hold oper-
ation can be performed by the following buttons or signal.
• [HOLD] on the playback panel

• Hold button for the station axis
# [HOLD] on the Playback Panel

Hold
The manipulator stops temporarily when [HOLD] on the playback panel is pressed.
The [HOLD] lamp lights while it is held down. At the same time, the [START] lamp goes off.
Release
Press the start button on the suspended station. The manipulator restarts its operation from
the position at which it was stopped.
# Hold by External Input Signal (Specific)

Hold
Operation
Input ON signal to the external input (specific) specified for hold operation*1
Explanation
*1 The manipulator stops temporarily.
The hold lamp for the external output signal lights.

The [HOLD] lamp on the playback panel lights and the [START] lamp goes off.
Release
Operation
Input OFF signal to the external input (specific) specified for hold operation*1
Explanation
*1 Hold is released.
To continue the operation, press the start button on the suspended station. The manip-
ulator restarts its operation from the position at which it was stopped.
4-30
# Hold at the Station

Hold
Operation
Press the hold button on the station*1
Explanation
*1 The manipulator stops temporarily.
Release
Operation
Press the hold button on the suspended station*1
Explanation
*1 Hold is released.
To continue the operation, press the start button on the station. The manipulator
restarts its operation from the position at which it was stopped.
4-31
4.6 Displaying Job Stack
The following operation can display the job stack to check the level at which the series of jobs
advance or return during execution of CALL or JUMP instructions.
Stack Level 1 Stack Level 2 Stack Level 3 Stack Level 4
Job call
Job A
Job call
Job B
Job call
Return Job C
Job call
Return Job D
Return
Job calls can be used for up to 8 stack levels.
Operation
Select {DISPLAY} under the Menu in the playback display*1 Select {JOB STACK}*2
Explanation
*1 The pull down menu is displayed.
4-32
*2 The job stack status dialog is displayed. To close the job stack status dialog display,
select {DISPLAY} then {JOB STACK} under the menu once more.
For example, when the playback of Job C is executing, Job C is called from
Job B. Also, Job B is called from Job A.
4-33
4-34
5.1 Editing Jobs
5 Editing
5.1 Editing Jobs
5.1.1 Displays Related to Job

There are three types of job displays. Jobs can be checked and edited in these displays.
• Job Header Display

Comments, data and time of registration, edit prohibit status, and so on are displayed
and edited.
• Job Content Display
The content of the registered job can be displayed and edited. The taught position data is
also displayed.
• Command Position Display
The taught data is displayed.
• Job Capacity Display
The number of registered jobs, amount of memory, number of steps used, etc. is shown.
• Job List Display
The registered job is sorted alphabetically, then displayed, and the job is selected.
# JOB HEADER DISPLAY

Operation
Select {JOB} under the top menu Select {JOB} Select {DISPLAY} under the menu
Select {JOB HEADER} *1
Explanation
*1 The job header display is shown. Scroll the display using the cursor.
5-1
5.1 Editing Jobs
%JOB NAME
Displays the name of the current job.
&COMM
Displays the comments attached to the current job. This field can be edited in this
display.
'DATE
Displays the date and time of the last editing of the job.
(CAPACITY
Displays the amount of memory that is being used to register this job.
)LINES
Displays the total number of move instructions registered in this job.
*STEPS
Displays the total number of move instructions registered in this job.
1EDIT LOCK
Displays whether the edit prohibit setting for this job is at on or off. This field can be
edited at this display.
2TO SAVE TO FD
Displays “DONE” if the contents of the job are saved to a floppy disk since the date
and time of the last editing operation, and displays “NOT DONE” if they are not
saved. The job is marked as “DONE” only if it is saved as an independent job or as a
related job. If it is saved in a CMOS batch operation, it is not marked as “DONE”.
3GROUP SET
Displays the setting status for the group axes that this job controls. If the master axis
is specified, the master axis is highlighted. Nothing is displayed for a system with
only one manipulator.
# Job Content Display

Operation
Select {JOB} under the top menu Select {JOB}*1
Explanation
*1 + (Left): The cursor is moved to the address area.
$ (Right): The cursor is moved to the instruction area.
5-2
5.1 Editing Jobs
%Address Area
This area displays line numbers and step numbers.
&Instruction Area
This area displays instructions, additional items, and comments. Line editing is pos-
sible.
# Command Pos Display

Operation
Select {ROBOT} under the top menu Select {COMMAND POSITION}*1
Explanation
*1 Edit operations cannot be conducted from this display, but the taught play speed and
position data can be viewed on this display.
%Interpolation
Displays the motion type.
&Speed
Displays the play speed.
'Command Position
Displays the tool file number and position data that has been taught for this job.
Steps which have no position data, such as move instructions which use position
variables, are marked with an asterisk (*).
(Current Data
Displays the current tool file number and position of the manipulator.
# Job List Display

Operation
Select {JOB} under the top menu Select {SELECT JOB}
Explanation
5-3
5.1 Editing Jobs
%Job Names
The registered job name is displayed.
If a job has an error in the content, its name blinks.
# Job Capacity Display

Operation
Select {JOB} under the top menu Select {JOB CAPACITY}
%Number of Jobs
Displays the total number of jobs currently registered in the memory of XRC.
&Used Memory/Remaining Memory
Displays the total amount of memory used by the jobs, and the amount of remaining
memory.
'Number of Used Steps/Number of Remaining Steps
Displays the total number of registered steps, and the number of remaining steps.
5-4
5.1 Editing Jobs
5.1.2 Editing Jobs

This section explains how to manage the jobs in the teach mode without moving the manipu-
lator.
Edit operations are restricted when the edit lock is applied.
Editing Move Instructions
See " 3 Teaching " for basic information on editing move instructions.
It is not possible to add, delete, or modify move instructions which have position data. See
" 3.4 Modifying Steps " for details.
The following MOV instruction edit operations are explained in this section:
For move instructions:

• Insertion or deletion of move instruction
• Modification of motion type or play speed for move instructions
• Setting, modification, or deletion of UNTIL statements (interruption conditions based
on input signals
• Setting and deletion of NWAIT instructions
For move instructions using position variables:
• Insertion and deletion of move instruction.
# Copying Jobs
This operation is used to copy registered jobs and use them to create new jobs. It can be
done using either the job content display or the job list display.
On the Job Content Display

On the job content display, the current edit job becomes the copy source job.
Operation
Select {JOB} under the top menu Select {JOB}*1 Select {JOB} under the
menu*2 Select {COPY JOB} Input the new job name*3 Press [ENTER]*4
5-5
5.1 Editing Jobs
Explanation
*3 The name of the copy source job is displayed on the input line. It’s possible to partially
change this name to enter a new name.
If the copy source job name is not to be used, press [CANCEL] to delete the characters
on the input line, then enter a new job name.
See " 1.3.6 Character Input " for information on letter input operations.
*4 The confirmation dialog is displayed.

If “YES” is selected, the job is copied and the new job is displayed.
If “NO” is selected, the job copy is not executed, and the process is cancelled.
5-6
5.1 Editing Jobs
On the Job List Display

The operation of selecting the copy source job from the registered jobs is executed using the
job list display.
Operation
Select {JOB} under the top menu Select {SELECT JOB}*1 Use the cursor to
move to the copy position Select {JOB} under the menu Select {COPY JOB}*2
Explanation
*2 Next operation for copying job is the same as the previous page “Job Content Display”.
Once the copy is completed, it returns to the job list display.
# Deleting Jobs
This operation is used to delete jobs that are registered on the XRC. It can be performed in
either the job content display or the job list display.

On the job content display, the current edit job is deleted.
Operation
Select {JOB} under the top menu Select {JOB}*1 Select {JOB} under the
menu*2 Select {DELETE JOB}*3
Explanation
5-7
5.1 Editing Jobs

When “YES” is selected, the edited job is deleted. When deletion is completed, the job
content display is shown.
When “NO” is selected, the job deletion is cancelled.

On the job list display, select the job to be deleted from the list of job names.
Operation
Select {JOB} under the top menu Select {JOB SELECT}*1 Move the cursor to
the job to be deleted Select {JOB} under the menu Select {DELETE JOB}*2
Explanation
*2 The following operation is the same as those in the prior page’s “On the Job Content
Display” section.
If “NO” is selected, the job deletion is stopped.
5-8
5.1 Editing Jobs
# Modifying Job Names

This operation is used to modify the name of a job that is registered. The operation can be
performed in either the job content display or the job list display.

Operation
Select {JOB} under the top menu Select {JOB}*1 Select {JOB} under the menu
Select {RENAME JOB}*2 Input the job name*3 Press [ENTER]*4
Explanation
*3 Input the new job name on the input line.

The name of the copy source job is displayed on the input line. It is possible to partially
change this name to enter a new name.
If the copy source job name is not to be used at all, press [CANCEL] to delete the char-
acters on the input line, then enter a new job name.
5-9
5.1 Editing Jobs

When “YES” is selected, the job name is changed and a new job name is displayed.
When “NO” is selected, the job name is not changed, and the process is cancelled.

On the job list display, select the job whose name is to be modified from the list of job names.
Operation
Select {JOB} under the top menu Select {SELECT JOB}*1 Move the cursor to
the name to be changed Select {JOB} under the menu Select {RENAME
JOB}*2
Explanation
*2 Next operation for renaming job is the same as the previous page “Job Content Dis-
play”.
# Editing Comments
Comments of up to 32 characters can be affixed to jobs to identify them more specifically.
Comments are displayed and edited on the job header display. Editing comments are viewed
with the job header display.
Operation
Select {JOB} under the top menu Select {JOB} Select {DISPLAY} under the
menu Select {JOB HEADER}*1 Select “COMM.” Input comments*2
Press [ENTER]*3
5-10
5.1 Editing Jobs
Explanation
*1 The job header display is shown.
*2 For jobs that are already registered, comments are displayed on the input line. It is
possible to partially change comments to enter new comments.
If the comment is not to be used at all, press [CANCEL] to delete the characters on the
input line, then enter a new comment.
*3 The input line comment is registered and is displayed in the “COM” area on the job
header display.
# Setting Edit Lock on Individual Job Units

In order to prevent inadvertent changes in registered jobs or data, it is possible to apply an
edit lock to individual jobs. When a job is protected from editing, the job cannot be edited or
deleted. Edit lock is set and cancelled in the job header display.
Operation
menu Select {JOB HEADER}*1 Select “EDIT LOCK” and set the edit prohibit*2
5-11
5.1 Editing Jobs
Explanation
*1 The job header display is shown.
*2 Each time [SELECT] is pressed, the setting alternates between “ON” (edit disabled)
and “OFF” (edit enabled).
# Enabling Modification of Position Data Only

It is possible to set conditions which allow changes to position data in jobs which are locked.
Operation
Select {SETUP} under the top menu Select {TEACHING COND}*1 Select
“STEP ONLY CHANGING” and setting is permitted*2
Explanation
*1 Teaching condition display is shown.
Teaching condition display is shown only when the security mode is editing mode or man-
agement mode.
*2 Each time [SELECT] is pressed, the setting alternates between “PROHIBIT” and “PER-
MIT”.
5-12
5.2 Editing Instructions
The content of editing differs depending on where the cursor is in the address area or instruc-
tion area.
%When the cursor is in the address area

Instructions can be inserted, deleted, or modified.
&When the cursor is in the instruction area
Already-registered instructions can be modified, inserted, or deleted.
5.2.1 Editing Instructions
This editing operation is done when the cursor is in the address area.
This section explains the following operations:
• Inserting instructions in jobs

• Deleting registered instructions
• Modifying registered instructions
When inserting or modifying instructions, input the instruction with the function keys such as
[TIMER], etc. or using the instruction list dialog. The selected instruction is displayed on the
input buffer line with the same additional items as registered previously.
5-13
# Instruction Group
The instructions are divided into the group by processing or each work.
Group Contents Example
I/O Instructions Controls input and output DOUT, WAIT
Control Instruc- Controls processing or each work JUMP, TIMER

tions
Operating Performs arithmetic calculation ADD, SET

Instructions
Move Instruc- Moves the manipulator MOVJ, REFP

tions
Shift Instructions Shifts the teaching point SFTON, SFTOF
Work Instruc- Operates arc welding or handling, etc. ARCON, WVON

tions
Instruction List Dialog
By pressing [INFORM LIST] , the instruction group list dialog is displayed.
The instruction list dialog is displayed by selecting the group.
The instruction list dialog is returned to the instruction group list dialog if “..” is selected.
5-14
# Inserting Instructions
Operation
Move the cursor to the address area in the job content display*1 Press [INFORM
LIST]*2 Select the instruction group*3 Select the instruction Press
[INSERT] and [ENTER]*4
Explanation
*1 Move the cursor to the line just before where the instruction is to be inserted.
*2 The INFORM command list is displayed, and an underline is displayed beneath the line
number in the address area.
*3 The instruction list dialog is displayed. The instruction is displayed on the input buffer
line with the same additional items as registered previously.
*4 The instruction displayed in the input buffer line is inserted.
5-15
# Deleting Instructions
Operation
Move the cursor to the address area in the job content display*1 Move the cursor to
the deleting line in the address area Press [DELETE] and [ENTER]*2
Explanation
*1 Move the cursor to the line just before where the instruction is to be deleted.
*2 The instruction is deleted and the following lines move up.
# Modifying Instructions
Operation
Move the cursor to the address area in the job content display*1 Press [INFORM
LIST]*2 Select the new instruction group*3 Select the instruction Press
[MODIFY] and [ENTER]*4
Explanation
*1
*2 The INFORM command list is displayed. Move the cursor to the instruction list dialog
and the address area cursor becomes and under bar.
5-16
*3 The instruction list dialog is displayed. The selected instruction is displayed on the input
buffer line with the same additional items as registered previously.
*4 Current instruction is modified to the instruction displayed in the input buffer line.
5-17
5.2.2 Editing Additional Items (Line Edit)

The line edit function can be used to edit only the additional items of a registered instruction.
This section explains the following operations:
• Modifying additional numeric data

• Modifying additional items
• Inserting additional items
• Deleting additional items
This edit instruction is to be performed when the cursor is in the instruction area.
# Modifying Additional Numeric Data

Operation
Move the cursor to the line where the number data is to be modified in the job content dis-
play *1 Press [SELECT]*2 Move the cursor to the number data to be modified
Select the numeric data by moving the cursor up/down*3 Press [ENTER]*4
Explanation
*1 Selected line is displayed on the input buffer line.
The cursor moves to the input buffer line.
5-18
*2 If you want to input the number data directly, press [SELECT]. The input buffer line is
displayed. Input the number data and press [ENTER]
*3 The number data is modified.
# Modifying Additional Items

Operation
Move the cursor to the address area in the job content display*1 Press [SELECT]*2
Move the cursor to the INFORM command Press [SELECT]*3 Move the
cursor to the additional item to be modified Press [SELECT]*4 Select new addi-
tional item*5 Press [ENTER]*6 Press [ENTER]*7
Explanation
5-19
*2 The detail edit display is shown.
*4 The additional item is modified.
*5 The detail edit display is closed, and the job content display is shown.
*6 Contents of the input buffer line are registered on the cursor line of the instruction area.
5-20
# Inserting Additional Items
Operation
Move the cursor to the line where the additional item to be inserted*1 Press
[SELECT]*2 Move the cursor to the instruction Press [SELECT]*3 Move
the cursor to the additional item to be inserted Press [SELECT]*4 Select insert-
ing additional item*5 Press [ENTER]*6 Press [ENTER]*7
Explanation
*2 The cursor moves to the input buffer line.
5-21
*5 The additional item is inserted.
When the additional item needs the number data, move the cursor to “NUMBER” and
press [SELECT]. The input buffer line is displayed. Input the number data and press
[ENTER].
*6 The detail edit display is closed, and the job content display is shown.
# Deleting Additional Items
This operation can not be used for the additional item which is locked.
Operation
Move the cursor to the line where the additional item to be deleted Press [SELECT]*1
Move the cursor to the instruction Press [SELECT]*2 Move the cursor to
the additional item to be deleted Press [SELECT]*3 Select “UNUSED”*4
Press [ENTER]*5 Press [ENTER]*6
5-22
Explanation
*4 The additional item is deleted.
*5 The detail edit display closes, and the job content display is shown.
5-23
5.2.3 Cut and Paste

Cut and paste is a function that allows the use of a buffer to edit a job. There are four opera-
tions associated with this function.
Copy :Copies a specified range to the buffer.

Cut :Copies a specified range from a job to the buffer, and
deletes it in a job.
Paste :Inserts the contents of the buffer into a job.
Reverse :Reverses the order of the contents of the buffer, and
inserts them into a job.
.
The buffer takes space from the job field. For this reason, if a copy, paste, or reverse oper-
ation is performed when there is very little memory left for a specific job, it is possible that
there is not enough memory for the buffer, and an error will occur. If this happens, either
eliminate unnecessary jobs in order to free more memory, or break the amount of data into
smaller segments using multiple cut and paste operations.
5-24
# Setting the Range

After setting the range, Copy and Delete can be performed.
Operation
Move the cursor to the address area in the job content display*1 Press [SHIFT] +
[SELECT]*2 Move the cursor to the end line3
Explanation
*1
*2 The range specification begins, and the address is displayed in reverse.
*3 Moving the cursor effects to the range. Up to the line specified by the cursor is the
range.
# Copying
Before copying, the range to be copied has to be specified.
Operation
Select {EDIT} under the menu*1 Select {COPY}*2
5-25
Explanation
*2 The specified range is copied to the buffer.
# Cutting
Before cutting, the range to be cut has to be specified.
Operation
Select {EDIT} under the menu*1 Select {CUT}*2
Explanation
*2 The confirmation dialog is displayed. When “YES” is selected, the specified range is
deleted and copied to the buffer.
When “NO” is selected, the cutting operation is cancelled.
# Pasting
Before pasting, the range to be pasted has to be stored in the buffer.
Operation
Move the cursor the line immediately before the desired position in the job content display
Select {EDIT} under the menu*1 Select {PASTE} Select “YES”*2
5-26
Explanation
*2 When “YES” is selected, the contents of the buffer are inserted to the job.
When “NO” is selected, the pasting operation is cancelled.
# Reverse Pasting
Before pasting, the range to be pasted has to be stored in the buffer.
Operation
Move the cursor to the line immediately before the desired position in the job content dis-
play Select {EDIT} under the menu Select {REVERSE PASTE}*1 Select
“YES”*2
Explanation
*2 When “YES” is selected, the contents of the buffer are reverse pasted to the job.
When the “NO” is selected, the pasting operation is cancelled.
5-27
5.3 Other Editing
5.3 Other Editing
5.3.1 Editing Play Speed

There are two ways to modify play speed:
• Modification of Speed Type
• Relative Modification
# Modification of Speed Type

This method is used to modify the speed type (such as VJ, V, VR, etc.).
Type of
Explanation
Play Speed
VJ Joint Speed Normal robot axes
V Control Point Speed
VR Posture Angle Speed
VE Base Axis Speed
# Relative Modification
All steps are selected regardless of the play speed type. This method is used to change all
steps by a specified percentage. This is called relative modification.
5-28
5.3 Other Editing
The speed of the entire job or specified section can be changed.
Operation
Select {JOB} under the top menu Select {JOB} Move the cursor to the address
area Press [SHIFT] + [SELECT] in the speed modify start line*1 Select {EDIT}
under the menu Select {CHANGE SPEED} *2 Item setting operation Select
“EXEC”*3
Explanation
*1 Specify the range as described in “Setting the Range” for Cut and Paste operation.
*2 The speed modification display is shown.
%START LINE NO.

Displays the first line number of the section to be modified.
&END LINE NO.
Displays the last line number of the section to be modified.
'MODIFICATION TYPE
Selects the confirmation before changing: “CONFIRM” or “NO CONFIRM”.
Each time [SELECT] is pressed when the cursor is on this item, the setting alter-
nates between “CONFIRM” and “NO CONFIRM”.
(SPEED KIND
Selects the speed type.
When [SELECT] is pressed when the cursor is on this item, selection dialog is dis-
played. Select the speed type to be changed.
)SPEED
Specifies the speed value.
When [SELECT] is pressed when the cursor is on this item, the mode changes to
number input mode. Input the speed value and press [ENTER].
*3 The speed begins to change.

If “MODIFICATION TYPE” is set to “CONFIRM”, the confirmation dialog “Modifying
speed”, is displayed. Press [ENTER] to change the speed on the first line and search
for the next speed. Press the UP/DOWN cursor button to keep the speed on the first
line and search for the next speed.
If “MODIFICATION TYPE” is set to “NOT CONFIRM”, all the speeds of the specified
section are changed.
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5.3 Other Editing
# Modification by TRT (Traverse Time)

Modifications made by TRT have the following characteristics:
• By setting the time required to execute a move instruction (moving time) to a desired
value, the speeds can be modified.
• It is possible to measure the moving time without actually moving the manipulator.
For example, when the movement from lines 5 through 20 currently requires 34 seconds, and
you want to reduce this to 15 seconds, this function is used.
Operation
area Press [SHIFT] + [SELECT] in the move time measure start line*1 Select
{EDIT} under the menu Select {TRT} *2 Item setting operation Select
“EXEC”*3
Explanation
*1 Specify the range as described in “Setting the Range” for Cut and Paste operation.
*2 The TRT display is shown.
%START LINE NO.

Displays the first line number of the section to be measured and modified.
&END LINE NO.
Displays the last line number of the section to be measured and modified.
'MOVING TIME
The moving time needed to move from the first number to last number is measured
and displayed.
(SETTING TIME
Set the desired moving time.
When [SELECT] is pressed when the cursor is on this item, the input buffer line is
displayed. Input the desired moving time and press [ENTER].
*3 The speed is changed according to the setting.
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5.3 Other Editing
• If a step has specific speed data and SPEED or ARCON instructions are present, the
speed data for those steps are not changed.
• If the speed data is limited by the maximum value, the following message is displayed.
Maximum Speed
5.3.2 Editing Motion Type

Operation
area Select the line to be modified*1 Press [SHIFT] + the cursor key simulta-
neously*2 Press [ENTER]*3
Explanation
*1 The instruction on the cursor is displayed in the input buffer line.
*2 The motion type in the input buffer line changes.

The modification of the speed according to the modification of the motion type is calcu-
lated by the ratio to maximum speed at each speed.
Joint Speed: MAX=100.0%

Linear Speed: MAX=9000cm/min
(e.g.)
Joint Speed: 50% = Linear Speed: 4500cm/min
Linear Speed: 10% = Linear Speed: 900cm/min
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5.3 Other Editing
*3 The instruction on the cursor line is replaced with one on the input buffer line.
5.3.3 Editing Condition Files

Condition files are prepared in order to set the conditions for the manipulator to execute
instructions. The desired conditions are saved in the condition file, and a file number is
assigned.
Multiple condition files are provided. More than one pattern can be set up in each condition
file. The patterns are listed by “condition numbers.”
Refer to XRC Instructions for information regarding the contents and editing methods for
the condition file.
Condition Files
Application A Application B Application C
Condition Condition Condition

Condition Condition Condition
Number 1 Condition Number 1 Number 1 Condition
Number 2 Number 2 Number 2 Condition
Number 3 Number 3
Number 4
5.3.4 Editing User Variables

User variables are used for temporary storage for counters, calculations and input signals. It
is possible to edit which variables are used for what purpose for each job. Since the same
user variable can be used in multiple jobs, save the numerical values as common references
for the jobs.
User variables have the following applications:
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5.3 Other Editing
• Controlling of the number of workpieces

• Controlling of the number of jobs
• Sending/receiving of information between jobs
User variable values are maintained even when the power is turned off. The data formats for
user variables are as described in the following table:
User Variables
Variable No.
Data Format Functions
(pcs)
Byte Type Range of storable values is from 0 to 255.

B000 to B099
Can store I/O status.
(100)
Can perform logical operations (AND, OR, etc.)
Integer Type I000 to I099 Range of storable values is from -32768 to 32767.
(100)
Double-precision D000 to D099 Range of storable values is from -2147483648 to

Type (100) 2147483647.
Real Type R000 to R099 Range of storable values is from -3.4E+38 to 3.4E+38.
(100) Accuracy: 1.18E-38 < x <=3.4E38
Position Robot P000 to P127 Can store position data in pulse form or in XYZ form.
Type (128) XYZ type variable can be used as target position data for
move instructions, and as incremental values for parallel
Base BP000 to BP127 shift instructions.
(128)
Station EX000 to EX127

(128)
• Play Speed V:
MOVL V=I000
The variable I000 is used for speed V with this move instruction.
The unit for V is 0.1mm per second.
For example, if I000 were set as 1000, the following would be true:
I000=1000 $ unit for V is 0.1 mm/sec $ V=100.0mm per second
Note that, depending on the unit being used, the value of the variable and the value of the
actual speed on occasion might not match.
• Play Speed VJ:

MOVL VJ=I000
The unit for VJ is 0.01%.
I000=1000 $ unit for VJ is 0.01% $ VJ=10.00%.
• Timer T:
TIMER T=I000
The unit for T is 0.01 seconds.
I000=1000 $ unit for T is 0.01 seconds $ T=10.00 seconds.
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5.3 Other Editing
# Displaying Byte, Integer, Double-Precision, and Real Type Variables

Operation
Select {VARIABLE} under the top menu Select desired variable type*1 Move the
cursor to the desired variable no.*2
Explanation
*1 Select any variable among {BYTE}, {INTEGER}, {DOUBLE}, and {REAL} under the sub
menu.
The variable display is shown. (Following is a case that BYTE TYPE is selected.)
*2 When the desired variable number is not displayed, move the cursor with either of the
following operations.
(Operation 1)
Move the cursor on the variable no. and press [SELECT]. And then input the variable
no. using the number key and press [ENTER].
(Operation 2)
Move the cursor to the menu area and select {EDIT} $ {SEARCH}. And then input the
variable no. with the number key and press [ENTER].
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5.3 Other Editing
# Setting Byte, Integer, Double-Precision, and Real Type Variables

Operation
Select {VARIABLE} under the top menu Select desired variable type*1 Move
the cursor to the desired variable No.*2 Move the cursor to the data of the variable*3
Press [SELECT] Input the desired number Press [ENTER]*4
Explanation
*1 Select any variable among {BYTE}, {INTEGER}, {DOUBLE}, and {REAL} under the sub
menu.
*2 When the desired variable number is not displayed, move the cursor with either of the
(Operation 1)
Move the cursor on the variable no. and press [SELECT]. Then input the variable no.
using the number key and press [ENTER].
(Operation 2)
Move the cursor to the menu area and select {EDIT} $ {SEARCH}. Then input the vari-
able no. with the number key and press [ENTER].
*3 The value input status display is shown.
*4 Input value is set to the variable on the cursor position.
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5.3 Other Editing
# Registering Variable Name

Operation
Select {VARIABLE} under the top menu Select desired variable*1 Move the cur-
sor to desired variable number*2 Select “NAME”*3 Input name Press
[ENTER]*4
Explanation
*1 Select any variable type from among byte type, integer type, double precision type, real
type, robot position type, base position type, and station position type.
*2 If desired variable number is not displayed, move the cursor by either of following oper-
ations.
• Select the variable number, input desired variable number and press [ENTER]
The cursor moves to the variable number to be input.
• Move the cursor to the menu area and select {EDIT}${SEARCH}. Input desired variable
number and press [ENTER].
The cursor moves to the variable number to be input.
Refer to " 1.3.6 Character Input " for the character input operation.
*4 The variable name is registered.
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5.3 Other Editing
# Displaying Position Variables

Operation
Select {VARIABLE} under the top menu Select desired position variable type*1
Press the page key*2
Explanation
*1 The position variable display of desired type among robot type, base type, and station
type is shown.
*2 Select the desired number by pressing PAGE KEY .

If [SHIFT] is pressed simultaneously, the display returns to previous page.
When the desired variable number is not displayed, move the cursor with either of the
(Operation 1)
Move the cursor to the variable no. and press [SELECT]. Then input the variable no.
using the number key and press [ENTER].
(Operation 2)
Move the cursor to the menu area and select {EDIT} $ {SEARCH}. Then input the vari-
able no. with the number key and press [ENTER].
5-37
5.3 Other Editing
# Setting Position Variables

The table in the following shows the types of position variables and setting methods.
The setting of position variables is done in the teach mode.

Turn the servo power on when setting the variables with the axis keys.
Types of Position Variables and Setting Methods
BPxxx EXxxx
Pxxx (Robot Axes)
(Base Axes) (Station Axes)
TYPE
Pulse XYZ
Pulse Type XYZ Type Pulse Type
Type Type
Select coordinates from

base, robot, user, tool.
Z-Axis
Using the number keys
45000 7 8 9
4 5 6
1 2 3
0 . -
Y- A x i s
Setting X-Axis
Method
Using the axis keys

X++ x
R- x
X-- S
R+
S
Y+ y y
Y- L+ B-
L- B+
Z- Z+ z z
U- U+ T- T+
5-38
5.3 Other Editing
# Setting Position Variables Using the Number Keys
Pulse Type
Operation
Select the variable data type*2 Select {PULSE} Move the cursor to desired data
to be input and press [SELECT] Input the value Press [ENTER]*3
Explanation
*1 The desired variable display is shown (robot, base, or station).
PULSE
BASE
ROBOT
USER
TOOL
MASTER TOOL
If the position variable was set before, confirmation dialog is displayed for data clear. If
“YES” is selected, the data is cleared.
5-39
5.3 Other Editing
*3 Set the value in the cursor position.
XYZ Type
Operation
Select {VARIABLE} under the top menu Select desired position variable type
Select the variable data type*1 Select desired coordinates except PULSE Move
the cursor to desired data to be input and press [SELECT] Input the value Press
[ENTER]*2
Explanation
PULSE
BASE
ROBOT
USER
TOOL
MASTER TOOL
*2 Set the value in the cursor position.
Setting of “<TYPE>”
Each time [SELECT] is pressed when the cursor is on the setting data in the input
buffer line, the settings alternate.
5-40
5.3 Other Editing
About “<TYPE>”
• It is not necessary to set a type if the position variable is to be used for parallel shift
operations.
• When the position variable is used with a move instruction such as “MOVJ P001”, it
is necessary to set a type. For details on types, refer to " Manipulator Types ".
Current Position Display (XYZ) shows the current setting of a type.
# Setting Position Variables Using the Axis Keys

Pulse Type
Operation
Press [SHIFT] + [ROBOT] *1 Move the manipulator with the axis key*2 Press
[MODIFY] Press [ENTER]
Explanation
*1 When you need an external axis position, press [SHIFT]+[EX.AXIS].
When there are two or more robot axis, base axis, or a station axis, specify the axis
with following operation.
• (Robot Axis)
Each time [SHIFT] + [ROBOT] is pressed, the axis displayed on the status line changes:
R1 $ R2 $ R3.
• (Base or Station Axis)
Each time [SHIFT]+[EX.AXIS] is pressed, the axis displayed on the status line changes:
B1$ B2 $ B3 $ S1 $ S2 $ S3 $ S4 $ S5 $ S6
*2 Move the manipulator or the external axis to the desired position to be set to position
variable.
XYZ Type
Operation
Move the manipulator with the axis key*2 Press [MODIFY] Press [ENTER]
Explanation
*1 Move the manipulator to the desired position to be set to position variable.
*2 Move the manipulator or the external axis to the desired position to be set to position
variable.
5-41
5.3 Other Editing
# Deleting Data Set of Position Variables

Operation
Select {DATA} under the menu*1 Select {CLEAR DATA}*2
Explanation
*1 The pulldown menu is displayed.
*2 The displayed page position variable data is deleted.
# Checking Positions by Position Variables

Operation
Press [FWD]*2
Explanation
*1 Selected axis moves to the position specified by the variable.
*2 Move to the variable position where the selected axis has been set.
The selected axis (manipulator, base, or station) moves directly to the set variable position.
Before pressing [FWD], check that the surrounding area is safe.
5-42
5.3 Other Editing
# Manipulator Types
When robot axis position data is described in the XYZ format, a number of solutions are
obtained from the manipulator’s structure when moving it to the described position. In order to
select the appropriate solution, it is necessary to specify the robot type. This robot is called
“Type.” There are up to six types in XRC system. These types also vary according to the robot
models.
• Flip/No Flip: R-Axis Position

• R-Axis Angle
• T-Axis Angle
• Front/Back: Relationship Between the S-Axis and Control Point
• Upper Arm/Lower Arm: Type Comprised of the L- and U-Axis
• S-Axis Angle
These six types are described in the following:
• Flip/No Flip
This shows the R-Axis position.
When the R-axis is in the position at A as shown in the following diagram, it is known as
“Flip;” when it is in the B position, it is called “No Flip.” However, in a robot in which the R-
axis can move more than ±180∞ even in position A. It is necessary to specify whether the
R-axis is from -90∞ to 90∞, or from 270∞ to 360∞, or from -360∞ to -270∞. The same is
true for the B position. This is set at the following “R-Axis Angle”.
Flip No Flip
0 0
A B
-90 < θ R < = 90 90 < θ R < = 270

270 < θ R < = 360, -360 < θ R < = -270 -270 < θ R < = -90
θ R is the angle when the R-axis home position is 0°.
This configuration is required for SK, K, SV model robots. It is not required for the S model
robot.
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5.3 Other Editing
• R-Axis Angle
This specifies whether the R-axis angle is less than ±180∞ or greater than ±180∞.
R < 180° R >= 180°
0 0
360 -360
-180 180
-180 < θ R <= 180 -180 < θ R < 180,-360 <= θ R <180
θ R is the angle when the R-axis home position is 0°.
This configuration is required for SK, K, SV and S model robots.
• T-Axis Angle
The T-axis is specified for manipulators which have three wrist axes. T-Axis Angle speci-
fies whether the T-axis angle is less than ±180∞ or greater than ±180∞.
T <180° T >= 180°
0 0
360 -360
-180 180
-180 <θ T <=180 180 < θ T < 180,-360 <= θ T < -180
θ T is the angle when the T-axis home position is 0°.
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5.3 Other Editing
These configurations specify positions of the R-, B-, and T-axis.

This configuration is required for SK, K, and SV model robots. It is not required for the S
model robot.
• Front/Back
This specifies where in the S-axis rotation center the B-Axis rotation center locates when
viewing the L-axis and U-axis from the right-hand side. When viewed from the right-hand
side, the right of the S-axis rotation center is called the front, and the left is called the
back.
Right-hand side
(S-Axis 0 )
S-Axis 0° S-Axis 180°
Back Front Back Front
The diagram above shows the S-axis at 0° and at 180°. This is the configuration when the
L-axis and the U-axis are viewed from the right-hand side. This configuration is required
for SK, K, SV and S model robots.
• Upper Arm/Lower Arm

This specifies a type comprised of L-axis and U-axis when the L-axis and U-axis are
viewed from the right-hand side.
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5.3 Other Editing
Right-hand side
Upper Arm Lower Arm
This configuration is required for SV and S model robots. It is not required for SK and K
model robots.
• S-Axis Angle
This specifies whether the S-axis angle is less than ±180∞ or greater than ±180∞.
S<180° S >= 180°
0 0
360 -360
-180 180
-180° < θ S <= 80° -180° < θ S <= 360°

-360° < θ S <= -180°
θ S is the angle when the S-axis home position is 0°.
This configuration is required for the robots which have working envelopes greater than
±180°.
5-46
5.3 Other Editing
5.3.5 Editing Local Variables

User variables and local variables can be used in the storage of counters, calculations, and
input signals. The data format is the same as that of user variables. As shown in the table
below, the letter L is affixed to the variable number to indicate a local variable.
Local Variables
Data Format Variable No. Functions
Byte Type Range of storable values is from 0 to 255.

LB000 to
Can store I/O status.
LB444
Can perform logical operations (AND, OR, etc.)
Integer Type Ll000 to Range of storable values is from -32768 to 32767.

LI444
Double-Precision LD000 to Range of storable values is from -2147483648 to

Type LD444 2147483647.
Real Type LR000 to Range of storable values is from -1.70141E+38 to

LR444 1.70141E+38.
Position Robot LP000 to Can store position data in pulse form or in XYZ form. XYZ
Type Axes LP444 type variables can be used as target position data for
move instructions, and as incremental values for parallel
Base LBP000 to shift instructions.
Axes LBP444
Station LEX000 to
Axes LEX444
Local variables differ from user variables in the following four ways:
• Used in One Job Only
With user variables it is possible to define and use one variable in multiple jobs, but local
variables are used only in the one job in which they are defined, and cannot be read from
other jobs. Accordingly, local variables do not affect other jobs, so it is possible to define a
variable number (such as LB001) separately in different jobs, and use it in different ways
in each of these jobs.
User Variable
B001
Job 1 Job 2 Job 3

Job 1 Job 2 Job 3 Local Variable Local Variable Local Variable
LB001 LB001 LB001
User Variables Local Variables
• Able to Use Any Number of Variables

The number is set in the job header display. When the number is set, the area for the
value is saved in memory.
The memory area where local variables can be set is limited to 540 bytes.
5-47
5.3 Other Editing
• Not Able to Display the Variable Contents

To display the local variable contents, user variables are needed.
For example, to view the contents of local variable LP000, save it temporarily as user vari-
able P001. Then execute the instruction SET P001 LP000, and view the position variable
display for P001.
• Enabled Only During the Execution of the Defined Job

The contents of the local variables are enabled only during the execution of the defined
job.
The local variable field is assured when the defined job is called (when the job is executed
by a CALL or JUMP instruction, or the job is selected by the menu). Once the job is com-
pleted by the execution of a RET, END, or JUMP instruction, the local variable data that
was set is disabled. However, if a job which uses local variables itself calls a separate job,
then is returned to by use of a RET instruction, the data that was present prior to the
CALL instruction remains in effect and can be used.
Precautions for Variables and Units

As was the case with user variables, note that, depending on the value of the unit being
used, the value of the variable and the value of the actual speed or time an occasion might
not match.
# Setting the Number of Local Variables

To use any of the variables in a job, setting is done in the job header display. When setting the
number of variables, only save it in that memory area.
Only when expanding the “LANGUAGE LEVEL” is it possible to use local variables. Refer
to Instructions and Maintenance “3.13 Instruction Level Setting” for details on setting the
language level.
Operation
menu Select {JOB HEADER}*1 Select the number of local variables to be set*2
Input the number of variables Press {ENTER}*3
5-48
5.3 Other Editing
Explanation
*1 The job header display is shown. Scroll the display using the cursor.
*2 The number input status is displayed.
*3 The number of local variables are set.
5.3.6 Searching
When performing editing or confirmation, a search for the job or step can be done. The
search can be done when the cursor is in either the address or instruction area in the job con-
tent display.
Operation
Select {JOB} under the top menu Select {JOB}*1 Select {EDIT} under the
menu*2 Select {SEARCH}*3 Select the searching type
Explanation
*1 The job content display is displayed.
5-49
5.3 Other Editing
Searching is an operation by which the cursor is moved to a specific step and instruction in the
edit job. A target point can be instantaneously searched out without using the cursor.
# Line Search
This function moves the cursor to the desired line number.
Operation
Select “LINE SEARCH” *1 Input desired line number Press [ENTER]*2
Explanation
5-50
5.3 Other Editing
*2 Move the cursor to the line number and the display is shown.
# Step Search
This function moves the cursor to the desired step number (move instruction).
Operation
Select “STEP SEARCH”*1 Input the step number Press [ENTER]*2
Explanation
*2 Move the cursor to the input step and the display is shown.
# Label Search
This function searches for the desired label and the instruction using that label.
Operation
Select “LABEL SEARCH”*1 Input desired label name*2 Press [ENTER]*3

Use the cursor to continue searching*4
Explanation
5-51
5.3 Other Editing
*2 At this time, search can be conducted by entering any one character of the label. For
example, to search for the “START” label, enter only “S”, and the search can be done.
*3 The label is searched out and the cursor is on its line number.
*4 It is possible to continue searching by pressing the cursor key.

To end searching, select {EDIT} $ {END SEARCH} on the menu and press [SELECT].
# Instruction Search
This function moves the cursor to a desired instruction.
Operation
Select “INSTRUCTION SEARCH”*1 Select desired instruction group Select

desired instruction*2 Use the cursor to continue searching*3
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5.3 Other Editing
Explanation
*1 The INFORM command list is displayed.
*2 The instruction is searched out and the cursor is on its line number.

# Tag Search
This function moves the cursor to the desired tag.
Operation
Select “TAG SEARCH”*1 Select desired instruction group Select desired tag*2
Press [SELECT]*3 Use the cursor to continue searching*4
5-53
5.3 Other Editing
Explanation
*1 The instruction list dialog is displayed.
*2 The tag list dialog for selected instruction is displayed.
*3 Move the cursor to the selected tag and the display is shown.
5-54
5.3 Other Editing

5-55
5.4 Setting the Edit Lock
5.4 Setting the Edit Lock
The edit lock function can be set to avoid problems with inadvertent changes in registered
jobs or data. There are two types of edit lock features:
• Edit lock by individual job unit

• Edit lock for all jobs
Refer to " Setting Edit Lock on Individual Job Units " of “5.1.2 Editing Jobs”, for further infor-
mation on the edit lock function for individual jobs.
The application of an edit lock for all jobs can be performed only with systems that are
equipped with the optional EDIT LOCK switch on the playback panel.
5.4.1 Edit Lock For All Jobs (Option)

The application of an edit lock for all jobs can be performed only with systems that are
equipped with the optional EDIT LOCK switch on the playback box.
Turn the EDIT LOCK key to the ON position. The edit lock is set, and all editing operations are
prohibited. The key can be removed at this time.
OFF ON OFF ON
EDIT EDIT
LOCK LOCK
Key cannot removed
When the EDIT LOCK key is turned to the OFF position, the edit lock state is released.
OFF ON
EDIT
LOCK
5-56
6.1 One-touch Operations
6 Convenient Functions
6.1.1 Direct Open

The direct open function immediately shows the job content display or condition file contents
of a the job called with the CALL instruction. Move the cursor to the required job name or con-
dition file name and simply press DIRECT OPEN KEY to display the contents of the file.
Direct open can be used for the following displays:
• Job content display for a job name directly specified by a CALL instruction
• Condition file display for a file name directly specified by a work instruction
• Command position display for a move instruction
• I/O display with an I/O instruction (when I/O numbers are specified)
6-1
<Example> Example Using Direct Open
Operation
Move the cursor to the job name or condition file to be changed in the job content display
Press DIRECT OPEN KEY *1
Explanation
*1 This key lamp lights and the job content display or the condition file display is shown.
When the DIRECT OPEN KEY key is pressed once more, the key lamp turns off,
and the former job content display is shown.
6-2
The direct open function cannot be used again while a directly opened display is shown.
If another display is selected while the direct open function is effective, the function is auto-
matically cancelled and its lamp goes out.
6.1.2 Reserved Display Call

When operating while referring to other displays, the operation can become complicated. The
“Reserved Display Call” is a function which registers and shows the display during the opera-
tion by only pressing RESERVED DISPLAY CALL KEY .
• The reserved display call function can be used in the teach mode or display mode.
However, a display which is only used in the teach mode cannot be shown in the display
mode, and vice-versa.
• A display only used in the security mode cannot be shown in another mode.
<Example> Calling the Reserved Display
In this example, the position variable display for setting the parallel shift is registered as the
reserved display. The movements in the parallel shift job are checked by confirming the shift
data on the reserve screen while watching the movement sequence on the job content dis-
play. When the check is complete, the display returns to the job content display.
6-3
# Registering Reserved Displays
Operation
Call the display to be registered.*1 Press [SHIFT] + RESERVED DISPLAY CALL KEY
*2
Explanation
*1 For example, select {VARIABLE} $ {POSITION(ROBOT)} under the top menu, and the
position variable display is shown.
*2 The shown display (in this case, the position variable display) is registered as the
reserved display.
# Calling Reserved Displays

Operation
Press RESERVED DISPLAY CALL KEY *1
Explanation
*1 This key lamp lights and the registered reserved display is shown. Press RESERVE
DISPLAY CALL KEY again. This key lamp turns off and the previous display is
shown.
• If another display is selected while a reserved display is on the screen, the reserved dis-
play call is automatically cancelled and the [RESERVED DISPLAY CALL] lamp goes out.
• The reserved display call function cannot be used for some displays (for example, the
character input temporary display, external storage screen, etc.).
6-4
6.2 Parallel Shift Function
6.2.1 Parallel Shift Function

Parallel shift refers to the shifting of an object from a fixed position in such a way that all points
within the object move an equal distance. In the model for parallel shift shown in the following,
the shift value can be defined as the distance 12 (three-dimensional coordinate displace-
ment). The parallel shift function is relevant to the actual operation of the manipulator because
it can be used to reduce the amount of work involved in teaching by shifting a taught path (or
position).
In the example in the figure below, the taught position A is shifted in increments of the dis-
tance (this is actually a three-dimensional XYZ displacement that can be recognized by the
robot) in order to enable the operation that was taught at position A to also be performed at
positions B through G.
A B C D E F G
L
Teaching position
The block from the SFTON to the SFTOF instructions is subject to the shift operation.
6-5
Line Instruction
0000 NOP
0001(001) MOVJ VJ=50.00
0002(002) MOVL V=138
0003 SFTON P444UF# (1)
0004(003) MOVL V=138
0005(004) MOVL V=138 Shifted Block
0006(005) MOVL V=138
0007 SFTOF
0008(006) MOVL V=138
1 2 3 4 5 6
When shifting an entire series of operations, the range to be shifted by the shift instruction can
be set using the method indicated above, but the method shown in the following, in which just
the part to be shifted is made into a separate job, can also be used.
SFTON P 444
CALL JOB: 444 Job to be shifted
SFTOF
6-6
6.2.2 Setting the Shift Value

# Registering Position Variables
The XRC has 128 position variables (P000 to P127); these can be used to define parallel shift
values. When using the parallel shift function it is necessary to measure the distance between
the teaching point and the shift destination position (XYZ displacement of each coordinate)
and then register this in advance as a position variable.
When the shift instruction is executed in playback, the operation is performed at a location
shifted from the taught position by the amount registered for the specified position variable.
The position variable display is shown in the following.
# Coordinates
The shift value for parallel shift is X, Y, and Z increment in each coordinates. There are four
coordinates: base coordinates, robot coordinates, tool coordinates, and user coordinates. In
systems with no travel axes, the base coordinates and robot coordinates are the same.
Tool coordinates
Robot coordinates
User coordinates
Base coordinates
User coordinates
6-7
# Setting the Shift Value

When setting the shift value for the position variables, use the current position (coordinates) of
the manipulator in the display.
The shift value is the X, Y, and Z difference between the shift position and teaching position
and the difference in angular displacement RX, RY, And RZ (normally set at “0”). If shifting is
executed at equal pitch intervals, for example for palletizing, find the difference between the
teaching position and the final shift position, then divide by the number of pitch intervals (num-
ber of divisions) to calculate the shift value per pitch.
L1
L2
L1
L2=
Number of pitche
Teaching position Final shift position
The posture of the wrist is defined by the angular displacement of the coordinates of the wrist
axes. Consequently, if the shift value is specified with X, Y, and Z only (RX, RY, RZ=0), the
wrist is shifted while maintaining the same posture as at the teaching point. Since shifting is
normally performed without changing the posture, there is no need to specify an angular dis-
placement for the wrist. The motion when a parallel shift is performed is shown in the follow-
ing:
6-8
Shift without changing the wrist posture

(RX,RY,RZ=0)
Teaching posture
Shift with wrist posture change
(RX,RY,RZ ≠ 0)
Shift value
The shift value is calculated on the position data display for the coordinates in which the shift
is performed. Since this is normally performed in the user coordinates, the position data dis-
play for the user coordinates is used.
6.2.3 Registering Shift Instructions

To register the instruction, move the cursor to the address area in the job content display dur-
ing teach mode.
Operation
area*1
Explanation
6-9
# SFTON Instruction
This is the instruction that starts a parallel shift.
Operation
Move the cursor to the position before where the SFTON instruction is to be registered*1
Press [INSTRUCTION LIST]*2 Select [SHIFT] Select the SFTON instruc-
tion*3 Modify the additional items, number values*4 Press [INSERT] and then
[ENTER]*5
Explanation
*1
*3 The SFTON instruction is displayed in the input buffer line.
*4 If additional items are needed to edit continuously, perform the operation of 5* Editing
Additional Item”.
(Adding or Modifying Additional Items)

• When changing the position variable number, move the cursor to the position vari-
able number and press [SHIFT] + [CURSOR] to increase and decrease the value.
When using the number key, if [SELECT] is pressed, the input line is displayed.
Input using the number key and press [ENTER] to modify the number value in the
input buffer line.
• When inserting [SHIFT] + [COORD], move the cursor to the instruction at the top of
the input buffer line, press [SELECT], and the detail edit display is shown.
6-10
Line up the cursor with ”UNUSED” and press [SELECT]. The select dialog is dis-
played. Line up the cursor with the coordinate system to be added, and press
[SELECT].
After the coordinate system addition is completed, press [ENTER]. The detail edit
display closes and the job content display is shown.
*5 The instruction displayed in the input buffer line is registered.
# SFTOF Instruction
This is the instruction that ends a parallel shift.
Operation
Move cursor to inserting line*1 Press [INFORM LIST] Select “SFTOF” instruc-
tion*2 Select [SHIFT] Press [INSERT] and then [ENTER]*3
6-11
Explanation
*1
*3 The SFTOF instruction is displayed in the input buffer line.
*4 The SFTOF instruction is registered.
# MSHIFT Instruction
When a parallel shift of the wrist posture is attempted, the manipulator may not necessarily be
shifted to the target posture in the following cases.
• Posture displacement (Rx, Ry, Rz) is specified to the shift value set by the
user.
• When a displacement between two points is calculated using an INFORM
operating instruction (ADD instruction, SUB instruction, etc.), and a pos-
ture displacement (Rx, Ry, Rz) is specified in the shift value.
In such cases, the MSHIFT instruction can be used to automatically calculate the optimum
shift value for an operation to reach the target shift position and posture. With an MSHIFT
instruction, the shift value between the reference position and target position (shift position)
when parallel shift is performed is determined in the specified coordinate system, and set as
the specified position variable.
Operation
Move the cursor to inserting line*1 Press [INFORM LIST]*2 Select [SHIFT]
Select “MSHIFT” instruction*3 Change the number data or additional items*4
Press [INSERT] and then [ENTER]*5
6-12
Explanation
*1
*3 The MSHIFT instruction is displayed in the input buffer line.
*4 If additional items are needed to edit continuously, perform the operation of “6.2.2 Edit-
ing Additional Item”.
(Adding or Modifying Additional Items)

When changing the position variable number, move the cursor to the position variable
number and press [SHIFT] + CURSOR to increase and decrease the value.
When using the number keys to input, press [SELECT] and the input line is displayed.
Input using the number key and press enter to modify the number value in the input
buffer line.
When inserting [SHIFT] + [COORD], move the cursor to the instruction at the top of the
input buffer line, press [SELECT], and the detail edit display is shown.
6-13
Line up the cursor with “BF” and press [SELECT]. The select dialog is displayed.
Line up the cursor with the coordinate system to be changed, and press [SELECT].
Once the coordinate system modification is complete, press [ENTER]. The detail edit
display closes and the job content display is shown.
*5 The instruction displayed in the input buffer line is registered.
6.2.4 Continuation of the Parallel Shift Function
• If the shift function is cancelled through a job editing operation after

execution of a parallel shift instruction, the job must be started again
from the beginning.
Because no shift is performed when the operation is restarted, there is a possibility of

interference between the workpiece and fixture.
If any of the following operations are performed after executing a parallel shift instruction, the
shift function is cancelled.
• Job editing operation (changing, deleting, adding)

• Cursor position change (step, line, etc.) in the job
• Job copy, job name change
• Registering a new job, deleting a job, or modifying a selected job
• Restart after the alarm occurs
• When control power is turned off
6-14
The parallel shift function remains in effect even if the control power supply is turned off.
6.2.5 Examples of Use

# Example of Use of Shift Addition/Subtraction
Workpiece Stacking Operation
Line Instruction
0000 NOP
0001 SET B00 0 Make the first shift value zero.
0002 SUB P000 P000
0003 *A
0004 MOVJ Step 1
0005 MOVL Step 2
0006 ’Gripping workpiece
0007 MOVL Step 3
0008 MOVL Step 4
0009 SFTON P000 UF#(1) Shift start
0010 MOVL Shift position Step 5
0011 ’Releasing workpiece
0012 SFTOF Shift end
0013 ADD P000 P001 Add the shift value for the next operation.
0014 MOVL Step 6
0015 MOVL Step 7
0016 INC B000
0017 JUMP *A IF B00<6
0018
SFTON P000 UF#(1)

Since the shift data is retained in memory,
SFTOF the same data can be used (with subtraction
SUB P000 P001 instead of addition) to perform a workpiece
unloading operation.
1,7 3 4,6
2
Workpiece
6-15
# Example of Use of MSHIFT Instruction
Line Instruction Explanation
0000 NOP
0001 MOVJ VJ=20.00 Move the manipulator to the reference position.
0002 GETS PX000 $PX000 Set the reference position as position variable P000.
0003 MOVJ VJ=20.00 Move the manipulator to the target position.
0004 GETS PX001 $X000 Set the target position as position variable P00.
0005 MSHlFT PX010 BF PX000 PX00 Set shift value, and set it as position variable P010.
0006 END
6-16
6.3 Parallel Shift Job Conversion Function
6.3.1 Parallel Shift Job Conversion

If the manipulator and base positions are moved after a job has been taught, the entire job
has to be modified. The parallel shift conversion function shortens the modification time
required in cases like this by shifting all steps of the job by the same value to create a new job.
When parallel shift conversion is performed, all job steps are shifted by the same value.
Steps Outside the Motion Range

/OV is displayed for steps which result in a position outside the working envelope of the
manipulator. When the position is corrected, /OV display disappears.
Position Variable
Position variables are not subject to parallel shift job conversion.
Not Converted Job

The following jobs can not be converted. If conversion is attempted, no operation is per-
formed.
# Coordinates for Conversion

When performing parallel shift job conversion, it is necessary to specify the coordinates in
which the conversion is to be performed. The shift coordinates can be selected from the fol-
lowing:
• Base Coordinates
• Robot Coordinates
• Tool Coordinates
• User Coordinates (24 types)
• Master Tool Coordinates (R1+R2 job)
• Joint Coordinates
In the case of an ordinary job for which group axes are registered, shift conversion is per-
formed in accordance with the selected coordinate system. The relationship between group
combinations and coordinates are shown in the table as follow.
6-17
Relationship Between Group Combinations and Coordinates at Conversion
Group Explanation
Combination
in Job Usable Coordinate System
R Shift performed on basis of selected coordinates
Base coordinates, robot coordinates, tool coordinates, user coordinates
R(B) Shift performed on basis of selected coordinates
%Base The base axis is shifted by the specified amount and the tool
Coordinates center point of the manipulator is shifted by the specified
amount in the base coordinates.
&Robot The base axis is shifted by the specified amount.

Coordinates The tool center point of the manipulator is shifted by the speci-
fied amount in the robot coordinates. These shifts are carried
out independently.
'Tool The base axis is shifted by the specified amount.

Coordinates The tool center point of the manipulator is shifted by the speci-
fied amount in the tool coordinates. These shifts are carried
out independently.
(User The base axis is shifted by the specified amount and the tool
Coordinates center point of the manipulator is shifted by the specified
amount in the user coordinates.
S Shift is performed on the basis of pulse values regardless of the coordinates.
R+S The manipulator is shifted in the selected coordinates.

The station axis is shifted on the basis of pulse values regardless of the coordinates.
Base coordinates, robot coordinates, tool coordinates, user coordinates
R(B)+S The manipulator is shifted in the selected coordinates, as in %-( above.

The station axis is shifted on the basis of pulse values regardless of the coordinates.
R+R Two manipulators are shifted in the selected coordinates.
Base coordinates, robot coordinates, tool coordinates, user coordinates, master

tool coordinates*1
R(B)+R(B) Two manipulators are shifted in the selected coordinate system, as in %-( above.
Two base axes are also shifted.
*1 In the master tool coordinates, conversion only occurs at the “slave” from the stand-
point of the SMOV instruction.
6-18
Base Coordinates
The base axis is shifted by B and the tool center point of the manipulator is shifted by A in the
base coordinates.
Base Coordinates
Base
Robot Coordinates
The base axis is shifted by B. The tool center point of the manipulator is shifted by A in the
robot coordinates. These shifts are carried out independently.
Robot Coordinates
Base Coordinates
6-19
Tool Coordinates
The base axis is shifted by B and the control point of the manipulator is shifted by A in the tool
coordinates.
Base Coordinates
Tool Coordinates
User Coordinates
The base axis is shifted by B and the tool center point of the manipulator is shifted by A in the
user coordinates.
User Coordinates
Base Coordinates
6-20
Converting R1+R2 Jobs with Master Tool Coordinates

R1+R2 coordinated jobs can be subjected to parallel shift job conversion in the master tool
coordinates. Only steps taken at the “slave” from the standpoint of the SMOV instruction are
subject to conversion.
R2
R1
X-Axis
Y-Axis Master Tool Coordinates
Z-Axis
6-21
6.3.2 Operating Methods

# Specifying the Conversion Items
Operation
Select {JOB} under the top menu Select {JOB CONTENT}*1 Select {UTILITY}
under the menu Select {PARALLEL SHIFT JOB}*2 Specify the conversion
items*3
Explanation
*2 The parallel shift job conversion display is shown.
*3 Following items are specified.
%Original job
Selects the job before conversion. The job which is shown in the job content display
is set initially. To change the job do the following things.
Press [SELECT] when the cursor is on the original job name. The job list display is
shown. Select the desired job.
&Conversion Step Section (Start Step $ End Step)

Specifies the step section of the original job. All the steps are set initially. If there is
no steps in the original job, “***” is displayed. To change the section do the following
things.
Press [SELECT] when the cursor is on the section. The input buffer line is displayed.
Input the step number and press [ENTER].
'Converted Job
Specifies the converted job. If this is not specified(“********” is displayed), the original
job is converted. To change the job do the following things.
Press [SELECT] when the cursor is on the original job name. The job list display is
shown. Select the desired job.
(Conversion Coordinates
Selects the conversion coordinates. Press [SELECT] when the cursor is on the coor-
dinates. The selection dialog is displayed. Select the desired coordinates.
When the user coordinates are selected, the input buffer line is displayed. Input the
desired user coordinate number and press [ENTER].
6-22
# Specifying the Shifting Amount

There are two methods for specifying the shifting amount.
• Input the shifting amount by numerical value directly.

• Calculate the shifting amount by teaching the original base point and converted base
point.
Numerical Value Input

Operation
Display the parallel shift job conversion display Select the shifting direction*1
Input the shifting amount Press [ENTER]*2
Explanation
*2 The shift amount is set.
6-23
Calculation by Teaching
Operation
Display the parallel shift job conversion display Select “TEACH SETTING” in the item
of “BASE POINT”*1 Select “BASE POINT(SRC)” Move the manipulator by the
axis operation Press [MODIFY] and [ENTER]*2 Select “BASE POINT(DEST)”
Press [MODIFY] and [ENTER]*3 Select “EXEC”*4
Explanation
*1 The conversion base point display is shown.
*2 The original base point is set.
*3 The conversion base point is set.
6-24
*4 The difference is calculated by the two teaching points and set as a shifting amount.
# Executing Conversion
Operation
Display the parallel shift job conversion display Select “EXEC”*1
Explanation
*1 The confirmation dialog is displayed when the converted job is not specified. Select
“YES” then the conversion is executed. The job content display is shown when the con-
version is completed.
If an alarm occurs during conversion, conversion is suspended.
6-25
6.4 PAM Function
6.4 PAM Function
6.4.1 PAM Function

The function for position adjustment during playback (PAM: Position Adjustment by Manual)
allows position adjustment by simple operations while observing the motion of the manipulator
and without stopping the manipulator.
The following data can be adjusted by key input at the programming pendant.
• Taught Point
• Operation Speed
• Positioning Level
# Input Ranges for Adjustment Data

The input ranges for adjustment data are indicated in the following table.
Data Input Range
Number of Steps for Adjustment Up to 10 steps can be adjusted at the same time.
Position Adjustment Range (X, Y, Z) Unit: mm, two decimal places valid, maximum ±10mm
Speed Adjustment Range (V) Unit: %, two decimal places valid, maximum ±50%
PL Adjustment Range 0 to 4
Adjustment Coordinates Robot coordinates, base coordinates, tool coordinates,

user coordinates (Default coordinates: robot coordinates)
The input ranges for adjustment data can be changed by the following parameters:
S3C413: Position adjustment range (unit: mm)
S3C414: Speed adjustment range (unit: 0.01%)
S3C415: Adjustment coordinate specification
For details, refer to the “Concurrent I/O.Parameter”.
• Base axis and station axis data cannot be adjusted.

• Adjustment when a TCP instruction is executed performed by adjusting the data of the
taught tool.
• When the coordinates for adjustment are user coordinates, an error occurs if teaching
has not been performed in the user coordinates.
• If an attempt is made to adjust “PL” when there is no “PL” in the step subject to the adjust-
ment, an error occurs.
• Position variable and reference point steps cannot be adjusted. An error occurs if adjust-
ment is attempted.
• An attempt to adjust the speed at a step that has no speed tag will cause an error.
6-26
6.4 PAM Function
6.4.2 Operating Methods

# Setting Adjustment Data
Operation
Select {JOB} under the top menu Select {JOB}*1 Select {UTILITY} under the
menu Select {PAM}*2 Set adjustment data*3
Explanation
*1 The job content display (teach mode or playback mode) is displayed.
*2 The PAM status display is shown.
*3 Set adjustment data.

%Adjustment Job
Set the job name to be adjusted.
Line up the cursor, and press [SELECT] to show the job list display. Line up the cur-
sor and press [SELECT] to set the adjusted job.
&Input Coordinates
Set the desired coordinates.
Line up the cursor and press [SELECT] to display the select dialog. Line up the cur-
sor with the desired coordinate system and press select to set the input coordinates.
'Step Number
Set the step number to be adjusted.
Line up the cursor and press [SELECT] to show the number input status display.
Input the step number and press [ENTER] to set the value.
(XYZ Coordinate Adjustment

Set the direction and amount of the X, Y, and Z coordinates.
Line up the cursor with the data to be adjusted, and press [SELECT] to show the
number input status display. Input the number data and press [ENTER] to set the
adjusted data.
6-27
6.4 PAM Function
)V Coordinate Adjustment
Set the speed.
Line up the cursor and press [SELECT] to show the number input status display.
Input the number data and press [ENTER] to set the adjusted data.
*PL
When the position level of the job to be adjusted for the step set in ' is already
decided, the data can be modified. When the position level is not decided, [-] is dis-
played, and cannot be set. To modify the position level, line up the cursor, press
[SELECT], input the number value and press [ENTER].
If editing of the job is prohibited ([EDIT LOCK] on the playback panel is turned on), an error
occurs when the job is selected. An error also occurs on selection of jobs for station axes
only or jobs without group axes.
# Executing the Adjustment

Execute
Operation
Select “END”*1 Select “YES”*2
Explanation
*2 In the teach mode the job adjustment can be immediately executed. In the play mode,
the job can be adjusted just before execution (move operation).
When the job adjustment is completed, the set data shown in the PAM status display is
cleared. However, if the step’s adjusted position exceeds the soft limit, an error occurs
in that step only, and the data on the display cannot be cleared.
6-28
6.4 PAM Function
Execution Cancel
In the play mode, during the adjustment wait status, “CANCEL” is displayed in the PAM status
display. To cancel the adjustment process, line up the cursor and press [SELECT]. Also, if a
problem occurs before executing, the process is automatically cancelled.
• If the mode is changed
• If an alarm or error occurs
• If the power is cut off
# Editing Data
Clearing Data
If there is a mistake made when adjusting the data, or if the need to adjust the step becomes
unnecessary, the data can be cleared.
Operation
Move the cursor to the line of the data to be cleared*1 Select {EDIT} under the menu
Select {LINE CLEAR}*2
6-29
6.4 PAM Function
Explanation
*1
*2 The line data is cleared.
Copying Data
When wanting to input the same data as was set previously, perform the following operation.
Operation
Line up the cursor with the part to be copied. Select {EDIT} under the menu*1
Select {LINE COPY} Line up the cursor with the line where the item is to be copied
Select {EDIT} under the menu Select {LINE PASTE}*2
Explanation
*2 The desired data is copied to the line. However, if the line where the data is to be cop-
ied does not have a PL value, it cannot be copied.
6-30
6.5 Mirror Shift Function
6.5.1 Mirror Shift

Two robots can be used to draw, etc. on a symmetric path. The job is taught to one of the
robots and then mirror shift is executed, after which the other robot can also perform the job.
Mirror Shift
R +S Coordinated Job New Mirror Shifted Job

In another robot and station axis, A job is made with the S, and T axes
a common coordinated job is taught. signs reversed.
R Ax is R Axis
T Axis T Axis
S Ax is S Axis
Movement in Job Before Mirror Shift After mirror shifting,the S, R, and T

axes signs (+/-) are reversed.
# Object Job
Jobs and relative jobs without group axes cannot be converted.
# Group Axes Which Become Objects

When the job group axes in the multiple group axis system are specified, the specified job
conversion and origin job conversion group axes should be the same.
• Robot Axis: Same model
• Base Axis: Same model
• Station Axis: Same model
6-31
# Position Variable
The position variable does not become an object of the mirror shift.
# Parameter
The axes which should be shifted (sign is reversed) are specified in the following parameter:
S1CxG065: Mirror shift sign reversing axis specification
6.5.2 Operation Method

# Converting
The job conversion job content display is shown.
Called Job
Operation
Select {JOB} under the top menu Select {JOB}
Other Called Jobs

Operation
Select {JOB} under the top menu Select {SELECT JOB} Select the job to be
called
Explanation
Converting Execution
Operation
Select {UTILITY} under the menu Select {MIRROR SHIFT}
6-32
%SOURCE JOB
The conversion origin job name is selected.
Line up the cursor with the name and press [SELECT]. When the job list display is
shown, select the job to be converted, and press [SELECT].
&SOURCE CTRL GROUP
The conversion origin job control group is displayed.
'DESTINATION JOB
Select the converted job name.
Line up the cursor with the name and press [SELECT] to show the character input
status display. The conversion origin job name is displayed in the input line. When
not using the conversion origin job name, press [CANCEL] and input the new job
name.
(DEST CTRL GROUP
If the job name is set as the same as the origin job name, the control group is also
the same. To change the control group of the new job, line up the cursor with the
control group and press [SELECT] to display the select dialog. Select the control
group and press [SELECT].
)EXEC
Line up the cursor and press [SELECT] to execute the conversion.
When the specified job conversion name is set, that job is converted. When the
specified job conversion name is not set, the origin job is converted.
6-33
6-34
7.1 Floppy Disk Unit
7 Controlling Peripheral Devices
7.1.1 Floppy Disk Unit

The floppy disk unit YASNAC FC2, specially designed for the XRC, is available as an option.
(The conventional floppy disk unit YASNAC FC1 can also be used.)
The floppy disk unit is used to save various data and parameters on a 3.5-inch floppy disk.
The floppy disk unit YASNAC FC2 is shown below.
TYPE
YASNAC SERIAL
DATE P/N
FC2
RS-232C
FUSE 0.5A
F
US
AC100V
MRC
POWER
OFF ON ERC
Front view Rear view
Floppy Disk Unit YASNAC FC2
7-1
# Notes on the Use of Floppy Disks and Disk Units

The following are basic rules to be observed when using a floppy disk unit or floppy disks:
Floppy Disks
• Floppy disks should be handled very carefully to prevent loss of data recorded on them.
• Since data on floppy disks are recorded magnetically, keep them away from magnets or
any magnetized object.
• A 3.5 inch floppy disk has a sliding protective cover that prevents the exposure of the
recording disk coated in magnetic film. Do not manually open the sliding cover; the
recording disk could be soiled or damaged if touched.
• A 3.5 inch floppy disk taken out of its plastic case should not be carried in a pocket or left
on an instrument because it may gather dust. The use of a dirty floppy disk could result in
a malfunction of the floppy disk unit. When not in use, a floppy disk should be kept inside
the plastic case.
• Floppy disks kept inside plastic cases cannot be bent easily. However, store them in a box
to further ensure they will not accidentally be broken or bent.
Floppy Disk Units

• The floppy disk unit is a precision mechanism and should be handled as such. Do not jar
or shock the floppy disk unit.
• Do not expose the floppy disk unit to an environment that includes a large amount of iron
particles or similar materials for any extended period of time. Failure to follow this instruc-
tion could badly affect the reliability of the unit because it uses a magnetic recording
mechanism. When the unit is not in use, it should be stored in a location that is free from
iron particles or similar materials.
# Connecting Cables
Connect the floppy disk unit and the YASNAC XRC using the special connection cable.
Programming Pendant
A floppy connector and floppy power plug socket are installed on the inside of the sub-panel of
the playback panel. Insert the power cable and RS-232C cable into the specified connector.
The cable may be connected while the power to the controller is turned on.
7-2
Connecter for Floppy Disk Unit

(RS-232C)
Floppy Disk Unit

A connector and power plug socket for the XRC are installed on the rear side of the floppy disk
unit. Insert the power cable and RS-232C cable into the specified connector.
• The power supply receptacle must have a grounding. Ground it neatly.
Failure to ground equipment may result in injury from electric shock.
Controller Selection
The YASNAC FC2 can be used with the XRC as well as with the YASNAC MRC and ERC.
Select XRC using the MRC/ERC selector switch on the rear panel of the YASNAC FC2. When
using the XRC flip the switch to the MRC side.
RS-232C
RS-232C cable connector
FUSE 0.5A
MRC ERC selector switch

Power plug socket (100 VAC)
AC100V
for connection to YASNAC MRC
MRC
ERC
Back of YASNACFC2
The YASNAC FC2 has a power switch on its front panel. Flip the switch to the on position to
turn on the power. A lamp inside the switch lights when the power is supplied.
7-3
Confirm that there is no floppy disk inside the slot before turning the power on or off.
YASNAC
FC2
POWER
OFF ON
YASNAC FC2
Power switch POWER
OFF ON
# Inserting a Floppy Disk

The floppy disk insertion slot has an opening on the front panel of the floppy disk unit. The
opening is protected by a cover. Gently press a knob on the cover to open the cover. A floppy
disk should be inserted straight into the slot; never force it at an angle. Refer to the illustration
below for the correct inserting direction. When the disk has been inserted correctly, it clicks
into position. To remove the floppy disk, press the eject button at the upper right corner.
Eject button
YASNAC
FC2
Access lamp
POWER
OFF
ON
A purchased floppy disk cannot be used before it is formatted. Refer to “Formatting a

Floppy Disk” of “7.1.2 File Management.”
The access lamp lights during data transmission. Data can be destroyed if the eject button
is pressed while the access lamp lights. Never press the eject button while the access
lamp lights.
7-4
7.1.2 PC Card
Insert the PC card (ATA Flash) in the PC card slot on the XCP01 board in advance.
• Turn OFF the power supply before opening the XRC doors.
Failure to observe this warning may result in electric shock.
• Do not touch any terminals of the SERVOPACK (including converter) and

control power supply unit.
Failure to observe this warning may result in electric shock.
• To prevent anyone inadvertently turning ON the power supply during

installing/removing the PC card, put up a warning sign such as "DO NOT
TURN ON THE POWER" at the primary power supply (knife switch, wiring
circuit breaker, etc.) and at the YASNAC XRC and related controllers
and use accepted lockout/tagout procedures.
Failure to observe this caution may result in electric shock or injury.
• Do not touch the regeneration resistors. They are very hot.
Failure to observe this caution may result in burn injuries.
• After the PC card is completely inserted, carefully check that no tools

are left inside the YASNAC XRC and that the doors are securely closed.
Failure to observe this caution may result in electric shock or injury.
7-5
The following PC card is recommended for the XRC.

"SA020MF2SDSAA" (Type II, Flash ATA card) made by MITSUBISHI PLASTICS INDUS-
TRIES, LIMITED (provided by YASKAWA).
The following illustration shows the appearance of the PC card.
Connector
PC card Type II
The following commercially available PC cards can be used.

%"Flash Packer 10MB" made by EPSON
&Compact Flash Card "PCCF-10MB" made by I.O DATA
'Compact Flash Card "PCCF-15MB" made by I.O DATA
(Compact Flash Card "PCCF-20MB" made by I.O DATA
)FLASH MEMORY CARD (12MB) made by TDK
For & to (, a card adapter for a compact flash is necessary.
# Precautions
Observe the following precautions when using the PC card.
• Handle the PC card with care to protect the stored data.
• Do not use or keep the PC card in places where strong static electricity or electronic noise
may occur.
• Do not remove the PC card or turn OFF the power when accessing the PC card (writing-
in or reading-out the PC card data). The data in the PC card may be lost.
• Back up the data from the PC card to other media such as floppy disks or hard disks.
7-6
# Inserting the PC Card

Turn OFF the power when inserting the PC card.
Insert the PC card in the CN04 (PC card slot) of the XCP01 board so that the product label is
on the right as shown in the following illustration. The card cannot be inserted in any other
position. Do not forcibly insert the card. After inserting the card, attach an anti-drop guard so
that the PC card will not fall out of the slot.
To remove the PC card, turn the power OFF and press the eject button.
The following illustration shows how to install the PC card.
An anti-drop guard
JZNC-XRK01
XCP01 CPS-150F
Eject button XCP01

CPS-150F
CN05
CN04 for PC card

CN04/CARD
CN05/SV
CN04
Product
SW
label
0 1 2 3 4
BAT
CN03
PC card
CN03/RS232C
SOURCE
PWR ON
+5V
CN02
+24V Attach the anti-drop guard here.
OHT
CN02/PP
CN01
CN01/IO
System control board: JANCD-XCP01 board
Installing a PC Card
7-7
7.1.3 File Management

The flowchart below shows file transfer and file management. The operations are performed
with the programming pendant.
7-8
# Data That Can Be Saved and Save Destination File Names

The floppy disk display is shown below. Data that can be saved are classified into eight
groups. The table on the next page lists the data of the eight groups. The table also shows dif-
ferent file names provided for saving different types of data.
Data saved at an external memory unit can be reloaded into the memory of the XRC. Data
belonging to the data groups marked with “#” on the FD/PC CARD display (shown below)
have restrictions which apply to reloading into memory because they include system-related
information.
Refer to “YASNAC XRC Instructions” for the method to reload into the memory any data
belonging to the data groups marked with “#“ on the FD/PC CARD display,
The numbers % through 2 in the above display correspond to the numbers % through 2 in
the table on the next page.
• If the operator selects ' “BATCH USER MEMORY”, all data belonging to groups % and
& are saved as one file.
• When ' “BATCH USER MEMORY”, 1 “BATCH CMOS”, or 2 “ALL CMOS AREA” is
selected, jobs are also saved, but the job headers of the saved jobs are not saved to an
external memory unit. Saving of job headers is only completed if % “JOB” is selected to
save the data.
File Name Save Load

Data That Can Be Saved
(Saved Data) EDIT MAN EDIT MAN
2 ALL CMOS AREA ALLCMSxx.HEX 0 0 X X
1 BATCH CMOS CMOSxx.HEX 0 0 X X
' BATCH USER MEMORY JOBxx.HEX 0 0 0 0
% JOB Single job JOBNAME.JBI 0 0 0 0
Related job (Job+Condition) JOBNAME.JBR 0 0 0 0
7-9
File Name Save Load

21 ' Tool data TOOL.CND 0 0 0 0
Weaving data WEAV.CND 0 0 0 0
User coordinate data UFRAME.CND 0 0 0 0
Converted data VAR.DAT 0 0 0 0
&FILE/
GENERAL Arc start condition data ARCSRT.CND 0 0 0 0
DATA Arc end condition data ARCEND.CND 0 0 0 0
Welder Condition Assist Data ARCSUP.DAT 0 0 0 0
Welder Characteristic Data WELDER.DAT 0 0 0 0
Welder Characteristic Defini- WELDUDEF.DAT
0 0 0 0
tion Data
Shock Detection Level Data SHOCKLVL.CND 0 0 0 0
Servo Gun Pressure Power SPRESS.CND
0 0 0 0
Data
Servo Gun Dry Spot SPRESSCL.CND
0 0 0 0
Pressure Data
Spot Gun Characteristic Data SGUN.DAT 0 0 0 0
Spot Welder Characteristic SWELDER.DAT
0 0 0 0
Data
Short/Full Open Position Data STROKE.DAT 0 0 0 0
( PARAMETER BATCH ALL.PRM 0 0 X 0
Robot matching parameter RC.PRM 0 0 X 0
System definition parameter SD.PRM 0 0 X 0
Coordinate origin parameter RO.PRM 0 0 X 0
System matching parameter SC.PRM 0 0 X 0
ClO parameter CIO.PRM 0 0 X 0
Function definition parameter FD.PRM 0 0 X 0
Application parameter AP.PRM 0 0 X 0
Transmission(general) param- RS.PRM
0 0 X 0
( PARAME- eter
TER Sensor parameter SE.PRM 0 0 X 0
Servo parameter SV.PRM 0 0 X 0
Servo motor parameter SVM.PRM 0 0 X 0
Operation Control Parameter AMC.PRM 0 0 X 0
Servo Power Block SVP.PRM
0 0 X 0
Parameter
Motion Function Parameter MF.PRM 0 0 X 0
Motion Transmission RSM.PRM
0 0 X 0
Parameter
PC Definition Parameter PCD.PRM 0 0 X 0
Concurrent I/O program CIOPRG.LST 0 0 X 0
) I/O DATA
I/O name data IONAME.DAT 0 0 X 0
7-10
File Name Save Load

User Word Registration UWORD.DAT 0 0 X 0
SV monitor signals SVMON.DAT 0 0 X 0
Variable Name VARNAME.DAT 0 0 X 0
*SYSTEM Second home position HOME2.DAT 0 0 X 0
DATA Alarm history data ALMHIST.DAT 0 0 X 0
Home position calibrating ABSO.DAT
0 0 X 0
data
System Information SYSTEM.SYS 0 0 X 0
EDIT: Edit Mode

MAN: Management Mode
7-11
# Selecting a Memory Unit
Operation
Select {FD/PC CARD} Select {DEVICE}*1 Select “DEVICE” *2 Select the

device to be modified*3
Explanation
*1 The device select display is shown.
*3 The device is modified.
7-12
# Formatting a Floppy Disk

A floppy disk cannot be used before it has been formatted. A floppy disk that is formatted dif-
ferently from the XRC recording format needs to be reformatted before it can be used. Follow
the procedure below to format a floppy disk.
The YASNAC FC1, which accepts 2DD floppy disks only, always formats a floppy disk into the
720 KB format. The YASNAC FC2 accepts both 2DD and 2HD floppy disks.
• Be aware that all preexisting data on a floppy disk are lost when it is formatted.
• Floppy disks that are used with the XRC should have the MS-DOS format. Other record-
ing formats are unacceptable.
Operation
Select {FD/PC CARD} under the top menu Select {FORMAT}*1 Select
“FLOPPY TYPE”*2 Select “EXEC”*3 Select “YES” *4
Explanation
*1 The floppy format display is shown.
*2 Each time [SELECT] is pressed, the “2DD” and the “2HD” will be alternately displayed.
At this time, the format size corresponding to the floppy type is automatically modified.
• 2DD: 720K
• 2HD: 1.2MB
2HD floppy disk format can be changed. To change, line up the cursor and press
[SELECT]. Each time [SELECT] is pressed, the “1.2MB” and “1.4MB” will be alter-
nately displayed.
When the format type is “2DD”, the format size is specified to 720KB.
7-13
*4 The floppy disk starts formatting.
# Loading
To upload data from the external memory unit to the memory of the XRC, follow the procedure
in the following.
Loading the Job

Operation
Select {FD/PC CARD} under the top menu Select {LOAD}*1 Select “JOB”*2
Select the job to be loaded*3 Press [ENTER]*4 Select “YES”*5
Explanation
*1 The floppy disk display is shown.
7-14
*3 The selected job is marked with “5“.
*5 The job starts loading, and the transmission display is shown.
7-15
To cancel loading, press [SELECT].

Once the load operation is completed or cancelled, the job list display is shown.
Loading Files
Operation
Select {FD/PC CARD} under the top menu Select {LOAD}*1 Select the file
group to be loaded*2 Select the file to be loaded *3 Press [ENTER]*4
Select “YES”*5
Explanation
*2 The file select display is shown.
*3 The selected data is marked with “5“. The “/” mark in the display shows the file which
exists in the external memory unit (floppy disk).
7-16
*5 The data starts loading, and the transmission display is shown.

Once loading is completed or cancelled, the file select display is shown.
# Saving
To download data from the memory of the XRC to the external memory unit, perform the fol-
lowing procedure.
Saving the Job

Operation
Select {FD/PC CARD} under the top menu Select {SAVE}*1 Select “JOB”*2
Select the job to be saved*3 Press [ENTER]*4 Select “YES”*5
7-17
Explanation
7-18
*5 The job starts saving, and the transmission display is shown.
To cancel the save operation, and press [SELECT].

Once saving is completed or cancelled, the job list display is shown.
File Saving
Operation
Select {FD/PC CARD} under the top menu Select {SAVE}*1 Select the file group
to be saved*2 Select the file to be saved*3 Press [ENTER]*4 Select
“YES”*5
Explanation
7-19
*5 The data starts saving and the transmission display is shown.
7-20

If loading is completed or canceled, the file select display is shown.
Saving the CMOS data

To save all user’s programs (BATCH USER MEMORY), all data in the CMOS (BATCH CMOS),
or all data in the CMOS area (ALL CMOS AREA), a single floppy disk may not be sufficient. In
that case, the operator must provide another floppy disk when so instructed by a message on
the display.
Operation
Select {FD/PC CARD} under the top menu Select {SAVE}*1 Select “BATCH
USER MEMORY”*2 Select “EXEC”*3 Select “YES”*4 Insert the floppy disk.*5
Explanation
*2 The following display is shown. Please insert the first floppy disk in the external mem-
ory unit.
7-21
*3 The confirmation dialog is shown.
*4 The file starts saving, and the transmission display is shown.
To cancel the save operation, press [SELECT].
Files can be created as long as there is still space remaining on the floppy disk.
Each file created on the floppy disk is given a file name that includes a serial number (in
order of creation).
JOB 1E. HEX

1
2 Serial numbers in the order of creation.
The character “E” is attached to the name of the last
E
J0B:all user’s programs (BATCH USER MEMORY)
CMOS: all data in CMOS(BATCH CMOS)
ALCMS: all CMOS area (ALL CMOS AREA)
An error will occur if the operator inserts a floppy disk having the unused area of 2KB or
less. Replace it with another floppy disk.
*5 If more data need to be saved when the first floppy disk is full, a message appears to
prompt the operator to supply another floppy disk. Remove the current floppy disk,
insert another one, and move the cursor to “EXEC” and press [SELECT].
7-22
After saving is completed, the floppy disk display is shown.
Overwriting On Existing Files

If the floppy disk contains a file with the same name as the one to be created by the saving
process, the confirmation dialog is displayed.
When overwriting the file, move the cursor to “YES” and press [SELECT]. The file in the floppy
disk is deleted and the forwarded data is saved. When not overwriting the file, move the cursor
to “NO” and press [SELECT]. The save operation can be continued while replacing the new
floppy disk.
# Verifying Data
Follow the procedure below to verify data in the memory of the XRC with similar data saved at
the external memory unit.
This function cannot be executed with “BATCH CMOS” or “ALL CMOS AREA” specified.
7-23
Verifying the Job

Operation
Select {FD/PC CARD} under the top menu Select {VERIFY}*1 Select “JOB”*2
Select the job to be verified*3 Press [ENTER]*4 Select “YES”*5
Explanation
7-24
*5 The job starts verifying and the transmission display is shown.
To cancel the verifying operation, press [SELECT].

After verifying is completed or cancelled, the job list display is shown.
Verifying the Condition File / Universal Data

Operation
Select {FD/PC CARD} under the top menu Select {VERIFY}*1 Select the file
group to be verified*2 Select the file to be verified*3 Press [ENTER] *4
Select “YES”*5
Explanation
7-25
*3 The selected data is marked with “5”.
*5 The data starts verifying and the transmission display is shown.
7-26
To cancel the verifying operation, press [SELECT].

Once the verifying is completed or cancelled, the data list display is shown.
# Deleting Files
Follow the procedure below to delete a file or files on a floppy disk in the floppy disk unit.
Delete the Job

Operation
Select {FD/PC CARD} under the top menu Select {DELETE}*1 Select “JOB”*2
Select the job to be deleted*3 Press [ENTER]*4 Select “YES”*5
Explanation
7-27
*3 The selected job is marked with “5”.
*5 Once deleting is completed, the floppy disk display is shown.
Delete the File

Operation
Select {FD/PC CARD} under the top menu Select {DELETE}*1 Select the file
group to be deleted*2 Select the file to be deleted*3 Press [ENTER]*4
Select “YES”*5
Explanation
7-28
*5 Once deleting is completed, the floppy disk display is shown.
# Job Selection Mode

The selection of jobs to be loaded, saved, compared, or deleted can be performed in different
selection modes described below:
• Select SINGLE Mode
Only the selected job can be loaded, saved, or verified.
• Select RELATED Mode
The selected job and related jobs data and files can be loaded, saved, or verified.
7-29
Switch select mode

Operation
Press the page key in the floppy disk job list display*1
Explanation
*1 Each time the page key is pressed the display switches back and forth between
the “SINGLE SELECT MODE” and “RELATED SELECT MODE”.
7-30
# How to Select Job and Data Files

The method of selecting a job and various data files when loading, saving, verifying, and
deleting are described in the following:
• Individual Select
Jobs and data files are selected individually one at a time.
• Batch Select
Jobs and data files are selected all at one time.
Batch selection can be performed as in the following:
Operation
Select {EDIT} under the menu in either the floppy disk job list display or the file select dis-
play*1 Select {SELECT ALL}*2
Explanation
*2 All jobs are selected.
When {EDIT} $ {CANCEL SELECT} is selected, the selected item batch operation is
cancelled.
7-31
7-32
8.1 Specific Keys
8 General Purpose
8.1 Specific Keys
The function keys [f • 1] to [f • 4] for tool control are assigned to the number keys as described
below.
TOOLON TOOLON JOB

2 3
f·3 f·4
TOOLOF TOOLOF JOB

· -
f·1 f·2
Registers the TOOLON instruction.

2 If [INTERLOCK] is pressed simultaneously, the TOOLON operation is exe-
f·3 cuted.
Registers the TOOLOF instruction.

· If [INTERLOCK] is pressed simultaneously, the TOOLOFF operation is exe-
f·1 cuted.
Registers the CALL instruction for the reserved job TOOLONxx.

3
f·4
Registers the CALL instruction for the reserved job TOOLOFxx.

-
f·2
8-1
8.2 Tool Control Settings
8.2 Tool Control Settings
The following setting can be performed on the general diagnosis display.

Operation
Select {GENERAL} under the top menu Select {GENERAL DIAGNOSIS}*1

Select the setting data of "WORKING ABORT PROCESS"*2
Explanation
*1 The general diagnosis display is shown.
L
GENERAL DIAGNOSIS R1 C S
Å WORKING ABORT PROCESS :C O N T
Select "CONT" to continue the work operation when the manipulator is restarted after it
stops for any reason during the work operation.
Select "STOP" to stop the work operation if the manipulator stops. When the manipula-
tor is restarted, it moves without doing any work. Use the work start instruction to
restart the work instruction.
*2 Each time [SELECT] is pressed, "CONT" and "STOP" is alternately displayed. The dis-
playing state is the currently setting.
WORKING ABORT PROCESS :S T O P
8-2
8.3 Work Instructions
8.3.1 TOOLON/TOOLOF Instructions

# Registering TOOLON/TOOLOF Instructions
This instruction is to perform TOOLON/TOOLOFF. The function keys are [f • 3] (TOOLON), [f •
1] (TOOLOF).
TOOLON TOOLOF
2 ·
f·3 f·1
Operation
Select {JOB} under the top menu Select {JOB CONTENT} Press [f • 3] or
[f • 1]*1 Press [INSERT] Press [ENTER]
Explanation
*1 The instruction is displayed in the input buffer line. Or press [INFORM LIST] to display
the instruction box and select the TOOLON/TOOLOF instruction.
=> T O O L O N
!
# TOOLON
Turns ON the start work command (specific output relay #5270) and waits for the work start
response (specific input relay #4170). The next instruction is executed when the work
response turns ON. The work start response relay turns ON immediately after the start work
command is output.
# TOOLOF
Turns ON the end work command (specific output relay #5271) and waits for the work end
response (specific input relay #4171).The next instruction is executed when the work end
response turns ON.
The work end response relay turns ON immediately after the end work command is output.
The work command is programmed to hold after the work start command turns ON and to
turn OFF when the work end command turns ON.
When restarting, turn on the work instruction when "WORKING ABORT PROCESS" is set to
"CONT". Do not turn off the work instruction when "STOP" is set.
8-3
START WORK END WORK INHB WORK CONT #7040

WORK INST
HOLD
START WORK
WORK START
RESPONSE
END WORK
WORK END
RESPONSE
8.3.2 CALL Instruction

Calls a reserved job TOOLONxx or TOOLOFxx. Press the function keys [f • 4](TOOLON JOB)
and [f • 2](TOOLOF JOB) for registration.
Operation
Select {JOB} under the top menu Select {JOB CONTENT} Press [f • 4] or
[f • 2]*1 Select the job name and edit*2 Press [INSERT] Press [ENTER]
Explanation
*1 The instruction is displayed in the input buffer line.
=> C A L L JOB:T O O L O N
!
*2 The input line is displayed.
=> CALL JOB:T O O L O N

> TOOLON_
Modify the job name and press [ENTER]. (In the following example, 12 is entered.)
=> CALL JOB:T O O L O N 1 2

!
8-4
8.3.3 WVON Instruction

This instruction starts the weaving motion. Specify conditions in the weaving condition file
when you register the WVON instruction.
Operation
Select {JOB} under the top menu Select {JOB CONTENT} Press [INFORM
LIST] Select the WVON instruction*1 Select the file number and edit*2
Press [INSERT] Press [ENTER]
Explanation
*1 The WVON instruction is displayed in the input buffer line.
=> W V O N W E V # ( 1 )
!
*2 The input line is displayed.
= > W V O N W E V # (1)
> Weaving_file_no.=
Input weaving file number and press [ENTER]. (In the following example, 2 is entered.)
=> W V O N W E V # ( 2)
!
8.3.4 WVOF Instruction

This instruction ends the weaving motion.
Operation
Select {JOB} under the top menu Select {JOB CONTENT} Press [INFORM
LIST] Select the WVOF instruction*1 Press [INSERT] Press [ENTER]
Explanation
*1 The WVOF instruction is displayed in the input buffer line.
=> W V O F
!
8-5
8-6
9.1 Weaving Condition File
9 Using Files
9.1 Weaving Condition File
9.1.1 Weaving Basic Coordinate System

Weaving is performed based on the following coordinate system. This coordinate system is
generated automatically according to the conditions described in a weaving condition file.
Wall direction
Advance direction
Horizontal direction
Weaving condition file
Wall Direction: Z direction of the robot axis

Horizontal Direction: The direction of approach point from the wall
Advance Direction: The direction which moves from the weaving start point to the end point
The approach point is a point indicated by a step immediately before the step where weav-
ing starts.
Z Axis
Wall direction
Approach point
Horizontal
direction
9-1
9.2 Weaving Condition File Display
Depending on the mouthing and shape of the workpiece, a definition of the above coordi-
nate system may not be sufficient to generate a weaving pattern. In that case, register the
reference point REFP1 or REFP2. For details, refer to “Cases that Require the Registra-
tion of Reference Points”.
Weaving Condition File Display
%WEAVING COND NO. (1 to 16)

Displays a weaving condition file number between 1 and 16. Up to 16 weaving conditions
can be stored.
&MODE
There are three weaving modes: single oscillation, triangular oscillation, and L-shape oscil-
lation. Each mode can be specified with or without smoothing.
0 With smoothing
1 Without smoothing
0 : Single 1 : Triangular 2 : L-shape
oscillation oscillation oscillation
Weaving Modes Smoothing
9-2
'SPEED
Specifies how the oscillation speed is defined.
0: Defined by the frequency.
1: Defined by the moving time for each weaving section.
(AMPLITUDE
Specifies the oscillation amplitude if “MODE &” is set to “0: SINGL”. If a triangle below has
been taught, the oscillation at the welding start point takes place parallel to the oblique side
of the triangle.
Amplitude
)FREQUENCY
Specifies the weaving frequency if “SPEED” is set to “0: FREQ”. Note that the maximum
frequency is determined by the amplitude as illustrated in the graph below. Specify a fre-
quency within the allowable range. Note that the graph only indicates tentative values.
Am plit ude 60
(mm)
50
40
30
20
10
0 1 2 3 4 5
Frequency(Hz)
M ax im um F r eq u e n c i e s f o r D i f f e r e n t A mpl i t u d e s
*PATTERN
If “MODE &” is set to “0:SINGLE”. the angle must be specified.
Wall direction
Angle : 0.1 to 180.0

Horizontal
Angle direction
We a v i n g m o d e : S i n g l e o s c i l l a t i o n
If “MODE &” is set to “1:TRY” or “2:L”, the following information on the triangle must be
specified: vertical distance, horizontal distance, and angle.
9-3
Wall direction
Angle
Vertical Angle : 0.1 to 180.0
distance Vertical/horizontal distance:
0.1 to 25.0mm
Horizontal direction
Horizontal
distance Weaving mode: Triangular or
L-shape oscillation
1ANGLE
The oscillation angle as measured from the welding line. Range: from -90(deg.) to
+90(deg)
Advance direction
View A
Angle
+
0
Angle
-
View A
2TIMER (Timer mode)

As shown below, a single weaving cycle is divided into three or four sections. A timer count
can be specified for pauses at a point (node) between sections.
Wall direction Wall direction Wall direction
Horizontal Horizontal Horizontal

direction direction direction
Single Triangular L-shape
oscillation oscillation oscillation
Set one of the following timer modes:
0: Weaving stops but manipulator moves.

1: Manipulator stops.
0: Weaving stops but manipulator moves 1: Manipulator pauses
9-4
3MOVING
If “Speed '” is set to “1: MOVING TIME”, the moving time specified here determines the
moving speed in each of the weaving sections of 2.
6TIMER (timer count)

If “Speed '” is set to “1: MOVING TIME”, a timer count specified here determines the dura-
tion of a pause (weaving stop or manipulator pause) at a node between two sections of 2.
WEAVING CONDITION (option)

During weaving, the manipulator can remain in one place. This is called hover weaving.
This function specifies whether to perform hover weaving or not.
• SET
0: OFF Hover weaving is not performed.
1: ON Hover weaving is performed. Hover weaving finishes after the timer expires or
when a signal is input.
• TIME
If “SET” above is set to “1”, hover weaving finishes when this timer expires.
• INPUT SIGNAL
If “SET” above is set to “1”, hover weaving finishes when there is a general purpose input
signal specified.
In hover weaving, the start and end points are the same, and therefore the weaving vector
cannot be determined. For this reason, the user needs to register a reference point (REFP
3) to define the advance direction.
Wall direction
REFP 3
Advance direction
Weaving start point

Weaving end point Horizontal direction
H o v e r We a v i n g
9-5
9.3 Operation Method
9.3.1 Weaving File Display
Operation
Select {ARC WELDING} under the top menu Select {WEAVING} Display the
desired file number*1
Explanation
*1 During the teach mode, select {ARC WELDING} and select {WEAVING} under the sub-
menu. The weaving condition file display is shown.
• Use the page key to call the desired file
Use the page key to call the next file
Use [SHIFT]+ page key to call the pre file number
9.3.2 Editing Condition Data

Operation
Move the cursor to the item to be edited Input the value using the number key
9.3.3 Cases that Require the Registration of Reference

Points
The registration of the reference point REFP1 or REFP2 is not usually required. They are
required only with a special workpiece condition, etc.
The REFP1, which defines the wall direction, is a point on the wall surface or its expansion
plane. The REFP2, which defines the horizontal direction, is a point at the right or left side of
the wall.
9-6
REFP1 REFP2
On the wall surface or At the right or left side of the wall
its expansion plane
Wall
Wall
REFP2
REFP1
Wall direction Wall direction
REFP2
REFP1
Advance Advance
direction direction
Horizontal
direction
For information on registering REFP, refer to " Registering Reference Point Instructions ".
< Example 1 > REFP1 is registered because the wall direction is not parallel to the Z axis of
the robot coordinate.
Z axis
Example
Wall direction
003 MOVL V=120.0

SENSON COMARC CAF#(1)
REFP1 004 REFP 1
005 MOVL V=16.7
SENSOF COMARC AEF#(1)
< Example 2 > REFP2 is registered because the approach point is at another side of the
wall.
Example
Wall
Approach point Approach point 009 MOVJ VJ=25.00
010 MOVL V=120.0
SENSON COMARC CAF#(1)
REFP2
011 REFP 2
012 MOVL V=16.7
SENSON COMARC AEF#(1)
9-7
9.3.4 Prohibiting Weaving

If the weaving instruction is registered during the “CHECK” operation in the play mode or
“TEST RUN” or [FWD] key operation in the teach mode, weaving is executed as well as other
move instructions. However, in some cases when weaving is not wanted because a work-
piece collides, etc., follow the procedure below to prohibit weaving.
# Method to Prohibit Weaving During a “CHECK” Operation

Operation
Press the AREA KEY Select {UTILITY} Select {SPECIAL PLAY}
Select prohibit weaving during the “CHECK” operation*1
Explanation
*1 The special play display is shown.
# Method to Prohibit Weaving During a “TEST RUN” or [FWD] key

Operation
Operation
Press the AREA KEY Select {UTILITY} Select {SPECIAL TEACH}
Select prohibit weaving during the FWD/TEST RUN operation*1
Explanation
*1 The special teach display is shown.
9-8
# Prohibiting Weaving By Means of a Specific Input Signal

The specific input signal 4047 is used.
The specific input signal can prohibit weaving at any time during a play operation, regardless
of whether or not it is a check operation.
9-9
9-10
10 Table of Work Instructions
• < > indicates numerical or alphabetical data.

• If multiple items are shown in one section, select one of the items.
General-Purpose Instruction
Function Turns ON work tools (work commands).
Displayed only when using

TOOLON Format TOOL1, TOOL2
multiple manipulators.
Example TOOLON
Function Turns OFF work tools (work commands).

TOOLOF Format TOOL1, TOOL2
Example TOOLOF
Function Starts weaving.

RB1, RB2, RB3
WVON Format
WEV# (<weaving condition file num-
1 to 16
ber>)
Example WVON# WEV# (1)
Function Ends weaving.

RB1, RB2, RB3
WVOF Format
None
Example WVOF
10-1
10-2
11 Table of Basic Instructions
• <> indicates numerical or alphabetical data.

• If multiple items are shown in one section, select one of the items.
Move Instruction
Function Moves to the taught point with joint motion type.

Position data, These data do
Base axis position data, not appear on
Station axis position data the display.
VJ=<play speed> VJ:
MOVJ 0.01 to
Format
100.00%
PL=<positioning level> PL:0 to 4
NWAIT
UNTIL statement
Example MOVJ VJ=50.00 PL=2 NWAIT UNTIL IN#(16)=ON
Function Moves to the taught point with linear motion type.

V=<play speed>, V:0.1 to 1500.0
VR=<play speed of the posture>, mm/sec
VE=<play speed of external axis> 0.6 to 9000.0
MOVL cm/min
Format VR:0.1 to 180.0
deg/sec
VE:0.01 to
100.00%
NWAIT
UNTIL statement
Example MOVL V=138 PL=0 NWAIT UNTIL IN#(16)=ON
Function Moves to the taught point with circular motion type.

MOVC V=<play speed>, Same with
Format
VR=<play speed of the posture>, MOVL.
VE=<play speed of external axis>
NWAIT
Example MOVC V=138 PL=0 NWAIT
11-1
Move Instruction
Function Moves to the taught point with spline motion type.

MOVS V=<play speed>, Same with
Format VR=<play speed of the posture>, MOVL.
NWAIT
Example MOVS V=120 PL=0
Moves the specified increment from the current position with linear
Function
motion type.
P<variable number>,
BP<variable number>,
EX<variable number>
V=<play speed>, Same with
VR=<play speed of the posture>, MOVL.
NWAIT
UNTIL statement
IMOV BF,RF,TF,UF# (<user coordinate number>) BF:
Format base coordi-
nates
RF:
robot coordi-
nates
TF:
tool coordi-
nates
UF:
user coordi-
nates
Example IMOV P000 V=138 PL=1 RF
Function Defines a reference point(e.g. wall point for weaving).

REFP
Format <reference point number> wall point 1 for
weaving :1
wall point 2 for
weaving :2
Example REFP 1
Function Sets play speed.

VJ=<play speed(%)>, VJ:Same with
V=<play speed>, MOVJ.
SPEED
Format VR=<play speed of the posture>, V,VR,VE:
VE=<play speed of external axis> Same with
MOVL.
Example SPEED VJ=50.00
11-2
I/O Instructions
Function Turns the external output signals ON and OFF.

OT# (<output number>),
OGH# (<output group number>),
OG# (<output group number>)
DOUT Number of addressed output signals:

Format
OT#(xx)=1;OGH#(xx)=4(per group);
OG#(xx)=8(per group)
OGH#(xx) is not subject to parity check; only

the binary specification is allowed.
Example DOUT OT#(12) ON
Function Outputs a pulse signal as an external output signal.

OT# (<output number>)
T=<time(sec)> 0.01 to 655.35
PULSE sec.
Format
0.30 sec
unless other-
wise specified
Example PULSE OT# (10) T=0.60
Function Sets input signals in variables.

B<variable number>
IN# (<input number>),
IGH# (<input group number>),
IG# (<input group number>),
OT# (<output number>),
OGH# (<output group number>),
OG# (<output group number>),
SIN# (<specific input number>),
SOUT# (<specific output number>)
DIN Format Number of addressed input signals:

IN#(xx)=1;IGH#(xx)=4(per group);
IG#(xx)=8(per group)
Number of addressed output signals:

OT#(xx)=1;OGH#(xx)=4(per group);
OG#(xx)=8(per group)
IGH#(xx) and OGH#(xx) are not subject to par-

ity check; only the binary specification is
allowed.
DIN B016 IN#(16)
Example
DIN B002 IG#(2)
Waits until the external input signal status matches the specified
Function
status.
IN# (<input number>),
IG# (<input group number>)
WAIT
Format <status>,B<variable number>
T=<time(sec)> 0.01 to 655.35
sec
WAIT IN# (12)=ON T=10.00
Example
WAIT IN# (12)=B002
11-3
I/O Instructions
Outputs the specified voltage to the general-purpose analog out-
Function
put port.
AOUT AO# (<output port number>)
Format
<output voltage(V)> -14.1 to 14.0
Example AOUT AO# (2) 12.7
Function Starts the analog output corresponding to the speed.

AO#(<output port number>) 1 to 12
BV = <basic voltage> -14.00 to 14.00
V = <basic speed> 0.1 to 150.0
ARATION mm/sec
Format
1 to 9000 cm/
min
OFV = <offset voltage> -14.00 to
+14.00
Example ARATION AO#(1) BV=10.00 V=200.0 OFV=2.00
Function Ends the analog output corresponding to the speed.

ARATIOF AO#(<output port number>) 1 to 12
Format
Example ARATIOF AO#(1)
Control Instructions
Function Jumps to the specified label or job.

<label number>,JOB:<job name>,
IG# (<input group number>),
JUMP
Format B<variable number>,
I<variable number>,D<variable number>
IF statement
Example JUMP JOB:TEST1 IF IN#(14)=OFF
Function Indicates a jump destination.

* <jump destination> 8 characters or
Format
(label) less
Example *123
Function Calls the specified job.

JOB:<job name>,IG# (<input group number>),
B<variable number>,I<variable number>,
Format D<variable number>
CALL
IF statement
CALL JOB:TEST1 IF IN# (24)=ON
CALL IG#(2)
Example
(The job is called by the patterns of input signal. In this example,
Job 0 cannot be called.)
Function Returns to the called job.
RET IF statement
Format
Example RET IF IN#(12)=OFF
Function Declares the end of a job.

END
Format
Example END
11-4
Control Instructions
Function No operation.
NOP
Format
Example NOP
Function Stops for the specified time.

TIMER T=<time> 0.01 to 655.35
Format
sec
Example TIMER T=12.50
Evaluates the specified condition and makes a judgment accord-
Function ingly. Described after an instruction that specifies a certain action.
Format:<Item1>=,<>,<=,>=,<,><Item2>
IF
statement <Item1>
Format
<Item2>
Example JUMP *12 IF IN#(12)=OFF
Monitors the specified input signal during an action and stops the
Function action when the specified signal status is observed. Described
after an instruction that specifies a certain action.
UNTIL
statement IN# (<input number>)
Format
<status>
Example MOVL V=300 UNTIL IN#(10)=ON
Function Instructs a pause.

PAUSE IF statement
Format
Example PAUSE IF IN#(12)=OFF
Function Displays a comment entered on the job header display.

’ <comment>
Format
(comment)
Example Draws 100mm size square.
Shift Instructions
Function Starts a shift operation.

P<variable number>, BF,RF,TF, BF:
UF#(<user coordinate number>), base coordi-
EX<variable number> nates
RF:
robot coordi-
SFTON
Format nates
TF:
tool coordinates
UF:
user coordi-
nates
Example SFTON P001 UF#(1)
Function Stops a shift operation.

SFTOF
Format
Example SFTOF
11-5
Shift Instructions
Obtains the parallel shift value between the reference position and
the shift target position by the elements of the specified coordinate
system and in consideration of the Cartesian displacements and
Function
postural change, and stores the obtained element values in the
specified position variable.
Format: MSHIFT <Data1><Coordinate><Data2><Data3>
data1 PX<variable number>
coordi- BF,RF,TF, BF:
nate UF# (<user coordinate number>) base coordi-
nates
MSHIFT RF:
robot coordi-
nates
Format TF:
tool coordinates
UF:
user coordi-
nates
Example MSHIFT PX000 RF PX001 PX002
Operating Instruction
Adds Data1 and Data2, and stores the result in Data1.
Function
Format:ADD<Data1><data2>
Data1 Data1 must
ADD always be a vari-
Format able.
Data2
Example ADD I012 I013
Subtracts Data2 from Data1, and stores the result in Data1.
Function
Format:SUB<Data1><data2>
Data1 Data1 must
SUB always be a vari-
Format able.
Data2
Example SUB I012 I013
Multiplies Data1 by Data2, and stores the result in Data1.
Format:MUL<Data1><data2>
Data1 can be an element in a position variable.

Function
Pxxx(0):all axis data, Pxxx(1):X-axis data,
Pxxx(2):Y-axis data, Pxxx(3):Z-axis data,
MUL Pxxx(4):Tx-axis data, Pxxx(5):Ty-axis data,
Pxxx(6):Tz-axis data
Data1 Data1 must
always be a vari-
Format able.
Data2
MUL I012 I013
Example
MUL P000 (3) 2 (Multiply the Z-axis data by 2.)
11-6
Divides Data1 by Data2, and stores the result in Data1.
Format:DIV<Data1><data2>
Data1 can be an element in a position variable.

Function
Pxxx(0):all axis data, Pxxx(1):X-axis data,
Pxxx(2):Y-axis data, Pxxx(3):Z-axis data,
DIV Pxxx(4):Tx-axis data, Pxxx(5):Ty-axis data,
Pxxx(6):Tz-axis data
Data1 Data1 must
always be a vari-
Format able.
Data2
DIV I012 I013
Example
DIV P000 (3) 2 (Divide the Z-axis data by 2)
Function Increments the value of the specified variable by 1.
INC B<variable number>,I<variable number>
Format
Example INC I043
Function Decrements the value of the specified variable by 1.

DEC B<variable number>,I<variable number>
Format
Example DEC I043
Obtains the AND of Data1 and Data2, and stores the result in
Function Data1.
Format:AND<Data1><data2>
AND
Data1 B<variable number>
Format
Example AND B012 B020
Obtains the OR of Data1 and Data2, and stores the result in Data1.
Function
Format:OR<Data1><data2>
OR Data1 B<variable number>
Format
Example OR B012 B020
Obtains the NOT of Data1 and Data2, and stores the result in
Function Data1.
Format:NOT<Data1><data2>
NOT
Format
Example NOT B012 B020
Obtains the exclusive OR of Data1 and Data2, and stores the result
Function in Data1.
Format:XOR<Data1><data2>
XOR
Format
Example XOR B012 B020
11-7
Sets Data2 to Data1.
Function
Format:SET<Data1><data2>
Data1 Data1 must
SET always be a vari-
Format able.
Data2
Example SET I012 I020
Function Sets data to an element in a position variable.

P<variable number> (<element number>),
BP<variable number> (<element number>),
SETE
Format EX<variable number> (<element number>)
D<variable number>,
<double-precision integer type constant>
Example SETE P012 (3) D005
Function Extracts an element in a position variable.

D<variable number>
GETE P<variable number> (<element number>),
Format
BP<variable number> (<element number>),
EX<variable number> (<element number>)
Example GETE D006 P012 (4)
Function Sets a status variable to the specified variable.

B<variable number>,I<variable number>,
D<variable number>,R<variable number>,
PX<variable number>
GETS Format
$B<variable number>,$I<variable number>, System variable
$D<variable number>,$R<variable number>,
$PX<variable number>
GETS B000 $B000
Example GETS I001 $I[1]
GETS PX003 $PX001
Converts the position variable (Data2) into a position variable of the
specified coordinate system, and stores the converted variable in
Function
Data1.
Format:CNVRT<Data1><Data2><coordinate>
Data1 PX<variable number>
Data2 PX<variable number>
BF,RF,UF# (<user coordinate number>),MTF BF:
base coordi-
CNVRT nates
RF:
Format robot coordi-
nates
UF:
user coordinates
MTF:tool coordi-
nates for the
master
Example CNVRT PX000 PX001 BF
11-8
Starting with the variable number in Data1, clears (sets to zero) as
Function many variables as specified by a number in Data2.
Format:CLEAR<Data1><Data2>
Data1 B<variable number>,I<variable
number>,
D<variable number>,R<variable
number>
Data2 <number of variable>,ALL,STACK ALL:Clears vari-
ables of the vari-
CLEAR able number in
Format Data1 and of all
the variable
numbers that
follow.
STACK:Clears
all variables in
the job call
stack.
CLEAR B000 ALL
Example
CLEAR STACK
Obtains the sine of Data2, and stores the result in Data1.
Function
Format:SIN<Data1><data2>
Data1 R<variable number> Data1 must
SIN always be a real
Format type variable.
Data2 <constant>,R<variable number>
Example SIN R000 R001 (Sets the sine of R001 to R000)
Obtains the cosine of Data2, and stores the result in Data1.
Function
Format:COS<Data1><data2>
COS always be a real
Format type variable.
Example COS R000 R001 (Sets the cosine of R001 to R000)
Obtains the arc tangent of Data2, and stores the result in Data1.
Function
Format:ATAN<Data1><data2>
ATAN always be a real
Format
type variable.
Example ATAN R000 R001 (Sets the arc tangent of R001 to R000)
Obtains the square root of Data2, and stores the result in Data1.
Function
Format:SQRT<Data1><data2>
SQRT always be a real
Format
type variable.
Example SQRT R000 R001 (Sets the square root of R001 to R000)
11-9
Creates a user coordinate using the position data for the given
three points as definition points. <Data1> indicates the definition
Function point ORG position data, <Data2> the definition point XX position
data, and <Data3> the definition point XY position data.
Format: MFRAME <user coordinate> <Data1> <Data2> <Data3>
MFRAME
UF#(<user coordinate number>) 1 to 24
Data1 PX <variable number>
Format
Example MFRAME UF#(1) PX000 PX001 PX002
Obtains the matrix product of Data2 and Data3, and stores the
Function result in Data1.
Format: MULMAT <Data1> <Data2> <Data3>
MULMAT Data1 P <variable number>
Format Data2 P <variable number>
Data3 P <variable number>
Example MULMAT P000 P001 P002
Obtains the inverse matrix of Data2, and stores the result in Data1.
Function
Format: INVMAT <Data1> <Data2>
INVMAT Data1 P <variable number>
Format
Data2 P <variable number>
Example INVMAT P000 P001
11-10
YASNAC XRC
OPERATOR’S MANUAL
FOR GENERAL PURPOSE
TOKYO OFFICE
New Pier Takeshiba South Tower, 1-16-1, Kaigan, Minatoku, Tokyo 105-0022, Japan
Phone 81-3-5402-4511 Fax 81-3-5402-4580
MOTOMAN INC. HEADQUARTERS
805 Liberty Lane West Carrollton, OH 45449, U.S.A.
Phone 1-937-847-6200 Fax 1-937-847-6277
MOTOMAN INC. TROY FACILITY
1050 S. Dorset, Troy, OH 45373, U.S.A.
Phone 1-937-440-2600 Fax 1-937-440-2626
MOTOMAN INC. COLUMBUS OFFICE
Dublin Tech Mart 5000 Blazer Memonal Parkway Dublin, OH 43017-3359, U.S.A.
Phone 1-614-718-4200 Fax 1-614-718-4222
YASKAWA ELECTRIC EUROPE GmbH
Am Kronberger Hang 2, 65824 Schwalbach,Germany.
Phone 49-6196-569-300 Fax 49-6196-888-301
Motoman Robotics AB
Box 504 S38525 Torsås, Sweden
Phone 46-486-48800 Fax 46-486-41410
Motoman Robotec GmbH
Kammerfeldstraβe1,85391 Allershausen, Germany
Phone 49-8166-900 Fax 49-8166-9039
YASKAWA ELECTRIC KOREA CORPORATION
Kfpa Bldg #1201, 35-4 Youido-dong, Yeongdungpo-Ku, Seoul 150-010, Korea
Phone 82-2-784-7844 Fax 82-2-784-8495
YASKAWA ELECTRIC (SINGAPORE) PTE. LTD.
151 Lorong Chuan, #04-01, New Tech Park Singapore 556741, Singapore
Phone 65-282-3003 Fax 65-289-3003
YATEC ENGINEERING CORPORATION
Shen Hsiang Tang Sung Chiang Building 10F 146 Sung Chiang Road, Taipei, Taiwan
Phone 886-2-2563-0010 Fax 886-2-2567-4677
BEIJING OFFICE
Room No. 301 Office Building of Beijing Intemational Club, 21 Jianguomenwai Avenue, Beijing 100020, China
Phone 86-10-6532-1850 Fax 86-10-6532-1851
SHANGHAI OFFICE
27 Hui He Road Shanghai 200437 China
Phone 86-21-6553-6600 Fax 86-21-6531-4242
YASKAWA JASON (HK) COMPANY LIMITED
Rm. 2909-10, Hong Kong Plaza, 186-191 Connaught Road West, Hong Kong
Phone 852-2803-2385 Fax 852-2547-5773
TAIPEI OFFICE
Shen Hsiang Tang Sung Chiang Building 10F 146 Sung Chiang Road,Taipei, Taiwan
Phone 886-2-2563-0010 Fax 886-2-2567-4677
BEIJING YASKAWA BEIKE AUTOMATION ENGINEERING CO.,LTD.
30 Xue Yuan Road, Haidian, B eijing P.R. China Post Code: 100083
Phone 86-10-6233-2782 Fax 86-10-6232-1536
SHOUGANG MOTOMAN ROBOT CO., LTD.
7,Yongchang-North Street, Beijing Economic Technological Investment & Development Area,
Beijing 100076, P.R. China
Phone 86-10-6788-0551 Fax 86-10-6788-2878
YASKAWA
Specifications are subject to change without notice MANUAL NO. RE-CSO-A015 2

for ongoing product modifications and improvements. C Printed in Japan December 1999 98-12

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Motoman XRC 2001 Controller

Part Number: 142099-1

MOTOMAN i XRC Operator’s Manual for General Purpose

XRC Operator’s Manual for General Purpose ii MOTOMAN

1.2 Reference to Other Documentation

MOTOMAN 1-1 XRC Operator’s Manual for General Purpose

1.3 Customer Service Information

XRC Operator’s Manual for General Purpose 1-2 MOTOMAN

It is the purchaser's responsibility to ensure that all local, county,

MOTOMAN 2-1 XRC Operator’s Manual for General Purpose

2.2 Standard Conventions

XRC Operator’s Manual for General Purpose 2-2 MOTOMAN

2.3 General Safeguarding Tips

2.4 Mechanical Safety Devices

MOTOMAN 2-3 XRC Operator’s Manual for General Purpose

2.5 Installation Safety

2.6 Programming Safety

XRC Operator’s Manual for General Purpose 2-4 MOTOMAN

2.7 Operation Safety

MOTOMAN 2-5 XRC Operator’s Manual for General Purpose

2.8 Maintenance Safety

XRC Operator’s Manual for General Purpose 2-6 MOTOMAN

YASKAWA MANUAL NO. RE-CSO-A011 1

• The drawings and photos in this manual are representative examples

• If your copy of the manual is damaged or lost, contact a YASKAWA rep-

• YASKAWA is not responsible for incidents arising from unauthorized

Indicates a potentially hazardous situation which, if not avoided,

Indicates a potentially hazardous situation which, if not avoided,

Always be sure to follow explicitly the items listed under this

PROHIBITED Must never be performed.

Emergency Stop Button

Injury may result from unintentional or unexpected manipulator motion.

Release of Emergency Stop

• Observe the following precautions when performing teaching operations

Improper or unintended manipulator operation may result in injury.

• Confirm that no persons are present in the manipulator’s work envelope

Definition of Terms Used Often in This Manual

Equipment Manual Designation

YASNAC XRC Controller XRC

YASNAC XRC Playback Panel Playback Panel

YASNAC XRC Programming Pendant Programming Pendant

Equipment Manual Designation

ex. page key

Keys pressed When two keys are to be pressed simultaneously,

Displays The menu displayed in the programming pendant is

Playback Panel Buttons Playback panel buttons are enclosed in brackets.

Description of the Operation Procedure

2 TURNING THE POWER ON

9 TURNING THE POWER OFF

1.1 XRC Overview

1.2 Button Descriptions

Playback panel buttons are enclosed in brackets throughout this manual.

1.3 Programming Pendant

1.4 Key Descriptions

Reserved Display Key

Direct Open Key

n Axis Keys and Number Keys

Axis Operation Number

n Simultaneously Pressed Keys