YASKAWA NX100 INFORM MANUAL Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and retain for future reference. MOTOMAN INSTRUCTIONS MOTOMANINSTRUCTIONS NX100 INSTRUCTIONS NX100 OPERATOR’S MANUAL NX100 MAINTENANCE MANUAL The NX100 operator’s manuals above correspond to specific usage. Be sure to use the appropriate manual. YASKAWA MANUAL NO.
MANDATORY • This manual explains the INFORM language of the NX100 system. Read this manual carefully and be sure to understand its contents before handling the NX100. • General items related to safety are listed in the Section 1: Safety of the NX100 Instructions. To ensure correct and safe operation, carefully read the NX100 Instructions before reading this manual. CAUTION • Some drawings in this manual are shown with the protective covers or shields removed for clarity.
NOTES FOR SAFE OPERATION Read this manual carefully before installation, operation, maintenance, or inspection of the NX100. In this manual, the Notes for Safe Operation are classified as “WARNING”, “CAUTION”, “MANDATORY”, or ”PROHIBITED”. WARNING Indicates a potentially hazardous situation which, if not avoided, could result in death or serious injury to personnel.
WARNING • Before operating the manipulator, check that servo power is turned OFF when the emergency stop buttons on the front door of the NX100 and programming pendant are pressed. When the servo power is turned OFF, the SERVO ON LED on the programming pendant is 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.
CAUTION • Perform the following inspection procedures prior to conducting manipulator 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 NX100 cabinet after use.
Descriptions of the programming pendant keys, buttons, and displays are shown as follows: Equipment Programming Pendant Manual Designation Character Keys The keys which have characters printed on them are 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. GO BACK ex. page key The cursor key is an exception, and a picture is not shown.
1 INFORM Manual Outline 1.1 About INFORM 1.1.1 1.1.2 1.1.3 1.1.4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-1 With INFORM II . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-1 Type of Instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-1 Instruction Set . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-2 Selecting Instruction Set . . . . . . . . . . . . . . . . . . . . . . . . . . . .
MUL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-79 DIV . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-89 CNVRT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-98 AND . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-101 OR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-103 NOT . . . . . . .
1.1 About INFORM 1 INFORM Manual Outline 1.1 About INFORM 1.1.1 With INFORM II The robot programming language used with NX100 is called INFORM II. INFORM II is composed of the instruction and the additional item (tag and numeric data). MOVJ VJ=50.00 Tag Numeric data Instruction Additional item • Instruction : It is used to execute the operation and processing.
1.1 About INFORM 1.1.3 Instruction Set To improve operation efficiency, the number of instructions to be registered is limited. All instructions are executed, regardless of the instruction set during playback, etc. • Subset Instruction Set Only high instructions which are used frequently are in the subset instruction set. The number of instructions is small, which allows for easier selecting and input. • Standard Instruction Set / Expanded Instruction Set All INFORM II instructions can be registered.
1.1 About INFORM Operation 3 Select “LANGUAGE LEVEL” Explanation The instruction set selection dialog box appears. DATA EDIT DISPLAY UTILITY TEACHING CONDITION RECT/CYLINDRICAL RECT LANGUAGE LEVEL MOVE INSTRUCTION SET SUBSET STANDARD EXPANDED LINE STEP ONLY CHANGING PROHIBIT INSTRUCTION INPUT LEARNING MRESET Main Menu 4 Select the language level (instruction set) Short Cut The language level is selected.
1.2 Registration of Instructions < Example > TIMER tag (T=) TIMER T=I000 When a variable is used for the numeric data of the TIMER tag, the unit of numeric data is 0.01 seconds. When 1000 is set for I000, the value when the instruction is executed is 10.00 seconds. 1.2 1.2.1 Registration of Instructions Registration Press [INFORM LIST] INFORM LIST while the job content window is shown to register instructions.
1.2 Registration of Instructions Operation Explanation 5 Select the desired instruction The instruction is displayed in the input buffer line. 6 Press [ENTER] The instruction displayed in the input buffer line is registered in the job. Also, if the instruction must be registered during the job, press [INSERT] before pressing [ENTER] SUPPLEMENT 1.2.2 Refer to the Operator’s Manual “5.2 Editing Instructions” for details on editing instructions.
1.2 Registration of Instructions Operation 4 Press [SELECT] Explanation The condition “VALID” or “INVALID” is switchable each time [SELECT] is pressed.
1.3 Detail Edit Window 1.3 Detail Edit Window All instructions have a detail edit window. The detail edit window is used for adding, modifying, and deleting additional items in the instruction. JOB c Instruction d Additional item name EDIT DISPLAY UTILITY DETAIL EDIT MOVJ P-VAR ROBOT JOINT SPEED POS LEVEL T-ROTATION NWAIT UNTIL P000 VJ= 50.00 PL= 1 UNUSED UNUSED UNTIL I f Data type altering icon g Data edit display icon e Additional item => MOVJ P000 VJ=50.
1.4 Registration of Expression 1.4 Registration of Expression 1.4.1 Expression With INFORM II, an expression can be added to the SET instruction. < Example > SET B000 ( B001 + B002 ) / B003 - ( B004 + B005 ) ∗ B006 Result stored destination Expression Register an expression in the DETAIL EDIT window. SUPPLEMENT Expressions can be registered only when “STANDARD” or “EXPANDED” has been selected for the language level (instruction set). The DETAIL EDIT window for expression is shown below.
1.4 Registration of Expression Data The data type of the expression is indicated. The following types of data can be registered. • Constant (byte type, integer type, double-precision type, and real-number type) • Byte type variable (B, B[], LB, and LB[]) • Integer type variable (I, I[], LI, and LI[]) • Double-precision type variable (D, D[], LD, and LD[]) • Real-number type variable (R, R[], LR, and LR[]) Move the cursor to the desired position, and press [SELECT] to enter the numeric value input status.
1.4 Registration of Expression < Example of the DETAIL EDIT display for expression > Expression Result stored destination SET B000 ( B001 + B002 ) / B003 - Data01 Data02 Data03 JOB DISPLAY B005 ) * Data04 Data05 B006 Data06 UTILITY DETAIL EDIT EXPRESSION ( DATA SEL.TYPE ) DATA01 DATA02 DATA03 DATA04 DATA05 DATA06 ( B001 B002 B003 ( B004 B005 B006 => OPERATOR ) ) + / + * ( B001 + B002 ) / B003 - ( B004 + B005 ) * B006 Main Menu 1.4.
1.4 Registration of Expression Operation 7 Explanation Move the cursor to the button beside “SOURCE(TOKEN)” 8 Press [SELECT] The selection dialog box appears. JOB EDIT DISPLAY UTILITY DETAIL EDIT SET DESTINATION SOURCE (TOKEN) => SET B000 1 Main Menu 9 Select “EXPRESS” Short Cut The DETAIL EDIT window for expression appears. JOB EDIT DISPLAY DETAIL EDIT EXPRESSION ( DATA SEL.
1.5 INFORM Structure 1.5 INFORM Structure An example of the INFORM structure is shown in the following structure flowchart. The INFORM structure chart is composed of the structure elements (instruction, tag, and data). The order of the rows is shown with the numbers and arrows. 1 MOVJ Robot teaching point file No. 2 P/LP/P[]/ LP[] 3 Station teaching point file No. 4 EX/LEX/ EX[]/ LEX[] 5 Base teaching point file No. 6 Station teaching point file No. A Variable No. C B Variable No.
1.5 INFORM Structure INFORM Structure Elements INFORM Structure Element Explanation Note Indicates the instruction. In this example, the “MOVJ" instruction is indicated. Indicates the tag. In this example, the "VJ=" instruction is indicated. Indicates the numeric data. In this example, "Joint speed" is set with the unit %. MOVJ VJ= Variable No.(%) Indicates the end of the instruction. END Indicates the connection. A A Indicates the tag order.
1.5 INFORM Structure Explanation Table The explanation table in this manual can be described as follows. No 1 Tag OT # (Output number) Explanation Specifies the output number signal. Note No:1 to 1024 Variable B/I/D/LB/LI/ LD can be used. • NO. Indicates the tag number. Corresponds to the number in the INFORM structure. • Tag Indicates the surface description of the tag. • Explanation Provides an explanation of the tag.
2.1 I/O Instructions 2 INFORM Explanation 2.1 I/O Instructions DOUT Instruction set: SUBSET STANDARD EXPANDED Available Available Available Function Turns the general output signal on and off. Construction DOUT 1 OT# ( ) Output No. 4 B/LB/B[]/ LB[] 5 ON/OFF 2 OG# ( Output group No. ) 6 3 OGH# ( Output group No. ) 7 B/LB/B[]/ LB[] END Variable No. Variable No. Byte type variable Explanation 1.
2.1 I/O Instructions No 3 SUPPLEMENT Tag Explanation OGH#(Output group number) Note Specifies the output number group signal (1group 4 points). No:1 to 256 Variable B/I/D/LB/LI/ LD can be used. Output signal Output signal OT#(xx) is 1 point, OGH#(xx) is 1 group 4 points, and OG#(xx) is 1 group 8 points. OT#(8) OT#(7) OT#(6) OGH#(2) OT#(5) OT#(4) OT#(3) OT#(2) OGH#(1) OT#(1) OG#(1) 2.
2.1 I/O Instructions number] / Byte type constant When OG# (Output group number) or OGH# (Output group number) is selected from the table in part 1 of this Explanation, choose one of the tags from the following table. No Tag Explanation Note 6 B Variable number/ LB Variable number/ B [Array number]/ LB [Array number] Specifies on/off of the output signal by the specified bit value byte type variable.
2.1 I/O Instructions DIN Instruction set: SUBSET STANDARD EXPANDED Available Available Available Function Refers to the byte type variable for the status of the signal. Construction DIN 1 B/LB/B[]/ LB[] Variable No. 2 IN# ( Input No. ) 3 IG# ( Input group No. ) 4 OT# ( Output No. ) 5 OG# ( Output group No. ) 6 SIN# ( Specific input No. ) 7 SOUT# ( Specific output No. ) 8 IGH# ( Input group No. ) 9 OGH# ( Output group No. ) END Explanation 1.
2.1 I/O Instructions 2. IN#(Input number) / IG#(Input group number) / OT#(Output number) / OG#(Output group number) / SIN#(Specific input number) / SOUT#(Specific output number) / IGH#(Input group number) / OGH#(Output group number) Choose one of the tags from the following table. No Tag Explanation Note 2 IN#(Input number) Specifies the general input signal number which shows the signal status. No:1 to 1024 Variable B/I/D/LB/LI/ LD can be used.
2.1 I/O Instructions Example (1) DIN B016 IN#(12) The on/off status of general input signal no.12 is shown in byte type variable No.16. When the general input signal No.12 is on, the status of the general input signal is B016=1 (decimal)=00000001(binary). (2) DIN B002 OG#(8) The on/off status of general output signal nos. 57-64 is shown in byte type variable No.2. In the following cases, the status of the general output signal is B002=150 (decimal)= 10010110 (binary).
2.1 I/O Instructions WAIT Instruction set: SUBSET STANDARD EXPANDED Available Available Available Function Waits until the status of the external signal or byte type variable is the same as the specified status. Construction WAIT 1 IN# ( Input No. ) 2 OT# ( Output No. ) 3 SIN# ( Specific input No. ) 4 SOUT# ( Specific output No. ) 5 IG# ( Input group No. ) 13 = 6 OG# ( Output group No. ) 14 <> ) ) 7 IGH# ( Input group No.
2.1 I/O Instructions Explanation 1. IN#(Input number) / OT#(Output number) / SIN#(Specific input number) / SOUT#(Specific output number) / IG#(Input group number) / OG#(Output group number) / IGH#(Input group number) / OGH#(Output group number) / B Variable Number / LB Variable Number / B [Array Number] / LB [Array Number] Choose one of the tags from the following table. No Tag Explanation Note 1 IN# (Input number) Specifies the number of the general input signal for the waiting condition.
2.1 I/O Instructions 2. = When an IN# (input number), OT# (output number), SIN# (specific input number), or SOUT# (specific output number) is selected from the table in part 1 of this Explanation, add the following tag. No 10 Tag = Explanation Note It is equal. 3.
2.1 I/O Instructions 5. B Variable number / LB Variable number / B [Array number] / LB [Array number] / Byte type constant When an IG# (input group number), OG# (output group number), IGH# (input group number), OGH# (output group number), B variable number, LB variable number, B [array number], or LB [array number] is selected from the table in part 1 of this Explanation, choose one of the tags from the following table.
2.1 I/O Instructions (3) WAIT IGH#(2)<>5 IN#(8) 5 (Decimal)=0101 (Binary) IN#(7) IN#(6) IGH#(2) IN#(5) ON Waits until general input signal nos.5 and 7 are turned off and general input signal nos. 6 and 8 are turned on. (4) Example of press machine handling. 000 NOP 001 MOVJ VJ=100.0 002 MOVJ VJ=100.0 WAIT IN#(1)=ON 003 MOVJ VJ=100.0 004 MOVJ VJ=100.0 005 MOVJ VJ=100.0 006 MOVJ VJ=100.0 007 MOVJ VJ=100.0 008 MOVJ VJ=100.
2.1 I/O Instructions PULSE Instruction set: SUBSET STANDARD EXPANDED Available Available Available Function The pulse signal is output to the general output signal only for the specified time. The PULSE instruction, without waiting for completion of the instruction, executes the next one. Construction PULSE 1 OT# ( Output No. ) 2 OG# ( Output group No. ) 4 3 OGH# ( Output group No. ) 5 A END 6 T= Time (second) 2-12 A B/LB/B[] /LB[] Byte type constant Variable No.
2.1 I/O Instructions Explanation 1. OT# (output number) / OG# (output group number) / OGH# (output group number) Choose one of the tags from the following table. No Tag Explanation Note 1 OT# (Output No.) Specifies the number of the signal to which the pulse signal is output. No.: 1 to 1024 Variable B/I/D/LB/LI/ LD can be used. 2 OG# (Output group No.) Specifies the group number of the signal (1 group 8 points) to which the pulse signal is output. No.
2.1 I/O Instructions 3. T=Time The following tag can be added or omitted. No. 6 Tag T=Time Explanation Note Specifies the time during which the pulse signal is output. The pulse signal is output during the specified time T. Units: seconds Variable I/LI/I[]/LI[] can be used. (Units: 0.01 seconds) When the time is not specified, the pulse signal is output during 0.30 seconds. Example (1) PULSE OT#(128) The pulse signal is output for 0.30 seconds to general output signal No.128. Pulse signal 0.
2.1 I/O Instructions AOUT Instruction set: SUBSET STANDARD EXPANDED Not available Available Available Function Outputs the set voltage value to the general-purpose analog output port. Construction 1 AOUT AO# ( Analog output port No. ) 2 Output voltage value (V) END Explanation 1. AO# (Analog output port number) Add the following tag. No Tag Explanation Note 1 AO# (Analog output port number) Specifies the number of the analog output port to which the set voltage value is output. No.
2.1 I/O Instructions ARATION Instruction set: SUBSET STANDARD EXPANDED Not available Available Available Function Starts the analog output corresponding to the speed. ARATION is valid during linear interpolation, circular interpolation, and spline interpolation. ARTION is carried out during playback or FWD operation, but not while operating an axis. Construction ARATION 1 AO# ( Analog output port No. ) A 2 BV= A Basic voltage (V) END 3 V= Speed at TCP (mm/sec.
2.1 I/O Instructions 3. V=Basic speed The following tag can be added or omitted. No. 3 Tag V=Basic speed Explanation Specifies the speed at which the set voltage value is output. Note Speed: 0.1 to 1500.0 mm/s. Variable B/I/D/LB/LI/ LD can be used. (Units: 0.1 mm/s.) 4. OFV=Offset voltage The following tag can be added or omitted. No. Tag 4 OFV=Offset voltage Explanation Specifies the analog voltage to be output at the motion speed “0”. 2-17 Note Voltage value: -14.00 to +14.
2.1 I/O Instructions SUPPLEMENT Analog output function corresponding to the speed To regulate the thickness of the sealing or paint, etc. when sealing and painting, the amount of discharged material should be adjusted according to the motion speed of the manipulator. The analog output function corresponding to the speed automatically changes the analog output value according to the manipulator’s motion speed. ARATION and ARTIOF instructions are used to carry out this function.
2.
2.1 I/O Instructions ARATIOF Instruction set: SUBSET STANDARD EXPANDED Not available Available Available Function Cancels the analog output corresponding to the speed. Construction ARATIOF 1 AO# ( Analog output port No. ) END Explanation 1. AO# (Analog output port number) Add the following tag. No. Tag 1 AO# (Analog output port number) Explanation Specifies the number of the general-purpose analog output port for which the analog output corresponding to speed is to be cancelled.
2.1 I/O Instructions ANTOUT The ANTOUT instruction can be used only with parameter S2C508. Instruction set: SUBSET STANDARD EXPANDED Parameter Not available Available Available S2C508 Function Carries out the anticipation output function to adjust the timing of the signal output.
2.1 I/O Instructions SUPPLEMENT Anticipation output function The anticipation output function is a signal output timing adjustment function to advance or delay the ON/OFF timing of four general-purpose outputs and two general-purpose output groups. The signal can be output before or after the manipulator reaches the step. This function corrects work timing errors due to delays in the motions of a peripheral device and/or the manipulator. Setting the time to a negative value (-) advances the signal output.
2.1 I/O Instructions Construction ANTOUT 1 AT# ( Anticipation output No. ) 2 AG# ( Anticipation group output No. ) 3 ON/OFF 4 5 A B/LB/B[]/ LB[] A Variable No. Byte type constant END 6 ANT= Anticipation time (s) Explanation 1. AT# (Anticipation output number) / AG# (Anticipation group output number) Choose one of the tags from the following table. No. Tag Explanation Note 1 AT# (Anticipation output number) Specifies the number of the signal whose timing is adjusted. No.
2.1 I/O Instructions SUPPLEMENT Settings for the anticipation output signal Set the number of the output signal for the anticipation output in the ANTICIPATION OUTPUT display. DATA EDIT DISPLAY UTILITY ON TIME OFF TIME ANTICIPATION OUTPUT c AT NO. OT OUTPUT 1 010 2 11 12 3 13 4 -0.50 -0.50 -0.50 -0.50 AG NO. OG OUTPUT 1 10 2 11 -0.50 -0.50 -0.80 -0.20 TIME -0.50 -0.
2.1 I/O Instructions 3. B Variable number / LB Variable number / B [Array number] / LB [Array number] / Byte type constant When an AG#(anticipation group output number) is selected from the table in part 1 of this Explanation, choose one of the tags from the following table. No.
2.2 Control Instruction 2.2 Control Instruction JUMP Instruction set: SUBSET STANDARD EXPANDED Available Available Available Function Jumps to specified label or job. Construction JUMP Label character string 1 * 2 LABEL: 10 B/LB/B[]/ LB[] 11 IG# 3 JOB: 4 B/LB/B[]/ LB[] 5 IG# 6 QUE 7 I/LI/I[] /LI[] Variable No. 8 D/LD/D[]/ LD[] Variable No. B B A Variable No. ( ) Input group No. 13 UF# ( Variable No. ( Input group No. ) User coordinate No.
2.2 Control Instruction Explanation 1. *Label character string /LABEL:/JOB:/B Variable number /LB Variable number /B [Array number] /LB [Array number] /IG# (Input group number) / QUE/I Variable number/LI Variable number/I [Array number]/LI [Array number]/D Variable number/LD Variable number/ D [Array number]/LD [Array number]/ JET# (Job registration table number) Choose one of the tags from the following table. No Tag Explanation Note 1 *Label strings Specifies the label string.
2.2 Control Instruction 2. B Variable number / LB Variable number / B [Array number] / LB [Array number] / IG# (Input group number) When a LABEL: is selected from the table in part 1 of this Explanation, choose one of the tags from the following table. No Tag Explanation 10 B Variable number/ LB Variable number/ B [Array number]/ LB [Array number] Specifies the byte type variable in which the numerical value for the label is set.
2.2 Control Instruction 5. IF The following tag can be added or omitted. No 14 Tag IF Explanation Specifies the IF instruction. Note Refer to " 2.6 Instruction Which Adheres to an Instruction ". Example (1) JUMP *1 Jumps to *1. (2) JUMP JOB:TEST1 UF#(2) Jumps to the job named TEST1. TEST1 works in user coordinate system No.2. (3) SET B000 1 JUMP B000 IF IN#(14)=ON If input signal no.14 is on, it jumps to job “1”.
2.2 Control Instruction CALL Instruction set: SUBSET STANDARD EXPANDED Available Available Available Function Calls the specified job. Construction CALL 1 JOB: 2 B/LB/B[]/ LB[] 3 IG# 4 QUE 5 I/LI/I[] /LI[] Variable No. 6 D/LD/D[]/ LD[] Variable No. A 9 UF# User coordinate No. ( Variable No. A ( Input group No. END ) 10 B B ) IF C 7 JET# ( Job registration table No. 2-30 ) 8 ENTRY= Registration No.
2.2 Control Instruction Explanation 1. JOB: / B Variable number / LB Variable number / B [Array number] / LB [Array number] / IG#(Input group number) / QUE/I Variable number/LI Variable number/I [Array number]/LI [Array number]/D Variable number/LD Variable number/ D [Array number]/LD [Array number]/ JET# (Job registration table number) Choose one of the tags from the following table. No Tag Explanation Note 1 JOB: Specifies any job to be called.
2.2 Control Instruction 2. ENTRY=Registration number When a JET#(job registration table number) is selected from the table in part 1 of this Explanation, add the following tag. No. Tag Explanation 8 ENTRY=Registration number Specifies the registration number of the job registered in the specified job registration table. Note No.: 1 to 1024 Variable B/B[]/LB/ LB[]/I/I[]/LI/LI[] can be used. 3. UF# (User coordinate number) The following tag can be added or omitted.
2.2 Control Instruction TIMER Instruction set: SUBSET STANDARD EXPANDED Available Available Available Function Stops for the specified time. Construction TIMER 1 T= Time (s) END Explanation 1. T=timer Add the following tag. No 1 Tag T=timer Explanation Specifies the stopping time. Example (1) TIMER T=12.50 Stops for 12.5 seconds. (2) SET I002 5 TIMER T=I002 Stops for 0.05 seconds. 2-33 Note Unit: Second Variable I/LI/I[]/LI[] can be used. (Units: 0.
2.2 Control Instruction * (LABEL) Instruction set: SUBSET STANDARD EXPANDED Available Available Available Function Specifies the label for the jump. Construction LABEL 1 * Label strings END Explanation 1. *Label strings Add the following tag. No 1 Tag *Label strings Explanation Specifies the label strings. Note String: 8 characters Example NOP *1 JUMP JOB:1 IF IN#(1)=ON Repeat JUMP JOB:2 IF IN#(2)=ON JUMP *1 END IF general input signal No.1 and No.
2.2 Control Instruction ’ (COMMENT) Instruction set: SUBSET STANDARD EXPANDED Available Available Available Function Specifies the comment. Construction COMMENT 1 ' Comment strings END Explanation 1. 'Comment strings Add the following tag. No Tag 1 'Comment strings Explanation Specifies the comment. Example NOP 'Waiting Position MOVJ VJ=100.00 MOVJ VJ=100.00 MOVJ VJ=25.00 'Welding Start ARCON ASF#(1) MOVL V=138 'Welding end ARCOF MOVJ VJ=25.00 'Waiting Position MOVJ VJ=100.
2.2 Control Instruction RET Instruction set: SUBSET STANDARD EXPANDED Available Available Available Function Returns from the called job to the original job which has been called. Construction RET END 1 IF Explanation 1. IF The following tag can be added or omitted. No 1 Tag IF Explanation Note Specifies the IF instruction. Refer to " 2.6 Instruction Which Adheres to an Instruction ". Example RET IF IN#(12)=ON If general input signal No.
2.2 Control Instruction NOP Instruction set: SUBSET STANDARD EXPANDED Not available Available Available Function Carries out no operation.
2.2 Control Instruction PAUSE Instruction set: SUBSET STANDARD EXPANDED Not available Available Available Function Stops the job temporarily. Construction PAUSE END 1 IF Explanation 1. IF The following tag can be added or omitted. No. 1 Tag IF Explanation Specifies an IF statement. An IF instruction states the execution conditions. Note Refer to IF of “2.6 Instructions Which Adheres to Instruction”.
2.2 Control Instruction CWAIT Instruction set: SUBSET STANDARD EXPANDED Not available Available Available Function Waits for the next instruction line to be carried out. CWAIT is used with the NWAIT tag, an additional item of a move instruction.
2.2 Control Instruction ADVINIT Instruction set: SUBSET STANDARD EXPANDED Not available Not available Available Function When the same variable is used for multiple systems in the optional independent control function, ADVINIT controls the timing to change the variable data among the systems. ADVINIT is an instruction used to control NX100 internal processing, therefore, executing this instruction does not affect the job.
2.2 Control Instruction ADVSTOP Instruction set: SUBSET STANDARD EXPANDED Not available Available Available Function When the same variable is used for multiple systems in the optional independent control function, ADVSTOP controls the access timing of the variable data among the systems. ADVSTOP is an instruction used to control NX100 internal processing, therefore, executing this instruction does not affect the job.
2.3 Operating Instruction 2.3 Operating Instruction CLEAR Instruction set: SUBSET STANDARD EXPANDED Available Available Available Function In Data 1, the variable content from the specified number on, is cleared to 0 only by the amount specified in Data 2. Construction CLEAR CLEAR 1 B/LB/B[]/ LB[] Variable No. 8 9 2 I/LI/I[] /LI[] Variable No. 3 D/LD/D[]/ LD[] Variable No. 4 R/LR/R[]/ LR[] Variable No.
2.3 Operating Instruction Explanation 1. B Variable number /LB Variable number /B [Array number] /LB [Array number] /I Variable number /LI Variable number /I [Array number] /LI [Array number] /D Variable number /LD Variable number /D [Array number] /LD [Array number] /R Variable number/ LR Variable number /R [Array number] /LR [Array number] /STACK/QUE/MPF Choose one of the tags from the following table.
2.3 Operating Instruction SUPPLEMENT About the job call stack There are eight stacks, and they store the called position. Stack level 1 Stack level 2 Stack level 3 Stack level 4 Job call Job A Job call Job B Job call Job C Return Job call Job D Return Return 2.
2.3 Operating Instruction JOB:1 NOP MOVJ VJ=100.00 JOB:2 JOB:3 NOP MOVJ VJ=100.00 NOP MOVJ VJ=100.
2.3 Operating Instruction INC Instruction set: SUBSET STANDARD EXPANDED Available Available Available Function Adds one to the content of the specified variable. Construction INC 1 B/LB/B[]/ LB[] Variable No. 2 I/LI/ I[]/LI[] Variable No. 3 D/LD/D[]/ LD[] Variable No.
2.3 Operating Instruction Explanation 1. B Variable number /LB Variable number /B [Array number] /LB [Array number] /I Variable number/ LI Variable number /I [Array number] /LI [Array number] /D Variable number/ LD Variable number /D [Array number] /LD [Array number] Choose one of the tags from the following table. No Tag Explanation 1 B Variable number/ LB Variable number/ B [Array number]/ LB [Array number] Specifies the number of the byte type variable.
2.3 Operating Instruction DEC Instruction set: SUBSET STANDARD EXPANDED Not available Available Available Function Subtracts 1 from a specified variable. Construction DEC 1 B/LB/B[]/ LB[] Variable No. 2 I/LI/I[] /LI[] Variable No. 3 D/LD/D[]/ LD[] Variable No. END Explanation 1.
2.3 Operating Instruction Example NOP SET B000 200 *1 MOVJ VJ=100.00 MOVJ VJ=50.00 DEC B000 JUMP *1 IF B000=0 END 1 is repeatedly subtracted from B000 until it reaches 0. 1 is subtracted from B000.
2.3 Operating Instruction SET Instruction set: SUBSET STANDARD EXPANDED Available Available Available Function Sets Data 2 to Data 1. Construction SET SET 1 B/LB/B[]/ LB[] Variable No. A B 2 I/LI/ I[]/LI[] Variable No. C D 3 D/LD/D[]/ LD[] Variable No. E F 4 R/LR/R[]/ LR[] Variable No. G H 5 P/LP/P[]/ LP[] Variable No. 6 BP/LBP/ BP[]/ LBP[] 7 EX/LEX/ EX[]/ LEX[] END 32 P/LP/P[]/ LP[] Variable No. Variable No.
2.3 Operating Instruction A E 8 Byte type constant B C 14 Integer type constant D 9 B/LB/B[]/ LB[] Variable No. 15 B/LB/B[]/ LB[] Variable No. 10 I/LI/I[] /LI[] Variable No. 16 I/LI/I[] /LI[] Variable No. 11 D/LD/D[]/ LD[] Variable No. 17 D/LD/D[]/ LD[] Variable No. 12 R/LR/R[]/ LR[] Variable No. 18 R/LR/R[]/ LR[] Variable No. 13 Expression 19 Expression 26 Real-number type constant 20 Double-precision type constant F G H 21 B/LB/B[]/ LB[] Variable No.
2.3 Operating Instruction Explanation 1.
2.3 Operating Instruction No Tag Explanation 6 BP Variable number/ LBP Variable number/ BP [Array number]/ LBP [Array number] Specifies the number of the base axis positional variable to which data is set. < Data 1> 7 EX Variable number/ LEX Variable number/ EX [Array number]/ LEX [Array number] Specifies the number of the station axis positional variable to which data is set.
2.3 Operating Instruction 2.
2.3 Operating Instruction 3.
2.3 Operating Instruction 4.
2.3 Operating Instruction 5.
2.3 Operating Instruction 6. P Variable number /LP Variable number /P [Array number] /LP [Array number] When a P Variable number, LP Variable number, P [Array number], or LP [Array number] is selected from the table in part 1 of this Explanation, add the following tag. No Tag 32 P Variable number/ LP Variable number/ P [Array number]/ LP [Array number] Explanation Specifies the number of the robot axis position variable. Note < Data 2> 7.
2.3 Operating Instruction Example (1) SET B000 0 0 is set in B000. (2) SET P000 P001 The content of P001 is set in P000.
2.3 Operating Instruction ADD Instruction set: SUBSET STANDARD EXPANDED Not available Available Available Function Adds Data 1 and Data 2, and stores the result in Data 1. Construction Add ADD 1 B/LB/B[]/ LB[] Variable No. A B 2 I/LI/I[] /LI[] Variable No. C D 3 D/LD/D[]/ LD[] Variable No. E F 4 R/LR/R[]/ LR[] Variable No. G H 5 P/LP/P[]/ LP[] Variable No. 28 P/LP/P[]/ LP[] Variable No. 6 BP/LBP/ BP[]/ LBP[] Variable No.
2.3 Operating Instruction A E 8 Byte type constant B C 13 Integer type constant D 9 B/LB/B[]/ LB[] Variable No. 14 B/LB/B[]/ LB[] Variable No. 10 I/LI/I[] /LI[] Variable No. 15 I/LI/I[] /LI[] Variable No. 11 D/LD/D[]/ LD[] Variable No. 16 D/LD/D[]/ LD[] Variable No. 12 R/LR/R[]/ LR[] Variable No. 17 R/LR/R[]/ LR[] Variable No. 23 Real-number type constant 18 Double-precision type constant F G H 19 B/LB/B[]/ LB[] Variable No. 24 B/LB/B[]/ LB[] Variable No.
2.3 Operating Instruction Explanation 1.
2.3 Operating Instruction 2.
2.3 Operating Instruction 3.
2.3 Operating Instruction 4.
2.3 Operating Instruction 5. Real-number type constant/B Variable number/LB Variable number/B [Array number]/LB [Array number]/I Variable number/LI Variable number/I [Array number]/LI [Array number]/D Variable number/LD Variable number/ D [Array number]/LD [Array number]/R Variable number/LR Variable number/R [Array number]/LR [Array number] When an R Variable number, LR Variable number, R [Array number].
2.3 Operating Instruction 6. P Variable number/LP Variable number/P [Array number]/LP [Array number] When a P Variable number, LP Variable number, P [Array number], or LP [Array number] is selected from the table in part 1 of this Explanation, add the following tag. No. Tag 28 P Variable number/LP Variable number/ P [Array number]/ LP [Array number] Explanation Specifies the number of the robot axis position type variable to be added. Note 7.
2.3 Operating Instruction Example (1) ADD B000 10 Adds 10 to B000, and stores the result in B000. (2) ADD I000 I001 Adds I001 to I000, and stores the result in I000. (3) ADD P000 P001 Adds P001 to P000, and stores the result in P000.
2.3 Operating Instruction SUB Instruction set: SUBSET STANDARD EXPANDED Not available Available Available Function Subtracts Data 2 from Data 1, and stores the result in Data 1. Construction SUB SUB 1 B/LB/B[]/ LB[] Variable No. A B 2 I/LI/I[] /LI[] Variable No. C D 3 D/LD/D[]/ LD[] Variable No. E F 4 R/LR/R[]/ LR[] Variable No. G H 5 P/LP/P[]/ LP[] Variable No. 28 P/LP/P[]/ LP[] Variable No. 6 BP/LBP/ BP[]/ LBP[] Variable No.
2.3 Operating Instruction A E 8 Byte type constant B C 13 Integer type constant D 9 B/LB/B[]/ LB[] Variable No. 14 B/LB/B[]/ LB[] Variable No. 10 I/LI/I[] /LI[] Variable No. 15 I/LI/I[] /LI[] Variable No. 11 D/LD/D[]/ LD[] Variable No. 16 D/LD/D[]/ LD[] Variable No. 12 R/LR/R[]/ LR[] Variable No. 17 R/LR/R[]/ LR[] Variable No. 23 Real-number type constant 18 Double-precision type constant F G H 19 B/LB/B[]/ LB[] Variable No. 24 B/LB/B[]/ LB[] Variable No.
2.3 Operating Instruction Explanation 1.
2.3 Operating Instruction No. Tag Explanation 6 BP Variable number/ LBP Variable number/ BP [Array number]/ LBP [Array number] Specifies the number of the base axis position type variable to be subtracted. 7 EX Variable number/ LEX Variable number/ EX [Array number]/ LEX [Array number] Specifies the number of the station axis position type variable to be subtracted.
2.3 Operating Instruction 2.
2.3 Operating Instruction 3.
2.3 Operating Instruction 4.
2.3 Operating Instruction 5.
2.3 Operating Instruction 6. P Variable number/LP Variable number/P [Array number]/LP [Array number] When a P Variable number, LP Variable number, P [Array number], or LP [Array number] is selected from the table in part 1 of this Explanation, add the following tag. No. Tag 28 P Variable number/ LP Variable number/ P [Array number]/ LP [Array number] Explanation Specifies the number of the robot axis position type variable to be subtracted. Note 7.
2.3 Operating Instruction Example (1) SUB B000 10 Subtracts 10 from B000, and stores the result in B000. (2) SUB I000 I001 Subtracts I001 from I000, and stores the result in I000. (3) SUB P000 P001 Subtracts P001 from P000, and stores the result in P000.
2.3 Operating Instruction MUL Instruction set: SUBSET STANDARD EXPANDED Not available Available Available Function Multiplies Data 1 by Data 2, and stores the result in Data 1. Construction MUL MUL 1 B/LB/B[]/ LB[] Variable No. A B 2 I/LI/I[] /LI[] Variable No. C D 3 D/LD/D[]/ LD[] Variable No. E F 4 R/LR/R[]/ LR[] Variable No. G H 5 P/LP/P[]/ LP[] Variable No. I J 6 BP/LBP/ BP[]/ LBP[] Variable No. 7 EX/LEX/ EX[]/ LEX[] Variable No.
2.3 Operating Instruction Byte type constant 8 A C 13 Integer type constant D 9 B/LB/B[]/ LB[] Variable No. 14 B/LB/B[]/ LB[] Variable No. 10 I/LI/I[] /LI[] Variable No. 15 I/LI/I[] /LI[] Variable No. 11 D/LD/D[]/ LD[] Variable No. 16 D/LD/D[]/ LD[] Variable No. 12 R/LR/R[]/ LR[] Variable No. 17 R/LR/R[]/ LR[] Variable No. 23 Real-number type constant 18 E B Double-precision type constant F G H 19 B/LB/B[]/ LB[] Variable No. 24 B/LB/B[]/ LB[] Variable No.
2.3 Operating Instruction Explanation 1.
2.3 Operating Instruction No. Tag Explanation 6 BP Variable number/ LBP Variable number/ BP [Array number]/ LBP [Array number] Specifies the number of the base axis position type variable to be multiplied. 7 EX Variable number/ LEX Variable number/ EX [Array number]/ LEX [Array number] Specifies the number of the station axis position type variable to be multiplied.
2.3 Operating Instruction 2.
2.3 Operating Instruction 3.
2.3 Operating Instruction 4.
2.3 Operating Instruction 5.
2.3 Operating Instruction 6. (Element number) When a P Variable number, LP Variable number, P [Array number], LP [Array number], BP Variable number, LBP Variable number, BP [Array number], LBP [Array number], EX Variable number, LEX Variable number, EX [Array number], or LEX [Array number] is selected from the table in part 1 of this Explanation, the following tag can be added or omitted. No.
2.3 Operating Instruction 7.
2.3 Operating Instruction DIV Instruction set: SUBSET STANDARD EXPANDED Not available Available Available Function Divides Data 1 by Data 2, and stores the result in Data 1. Construction DIV DIV 1 B/LB/B[]/ LB[] Variable No. A B 2 I/LI/I[] /LI[] Variable No. C D 3 D/LD/D[]/ LD[] Variable No. E F 4 R/LR/R[]/ LR[] Variable No. G H 5 P/LP/P[]/ LP[] Variable No. I J 6 BP/LBP/ BP[]/ LBP[] Variable No. 7 EX/LEX/ EX[]/ LEX[] Variable No.
2.3 Operating Instruction Byte type constant 8 A C 13 Integer type constant D 9 B/LB/B[]/ LB[] Variable No. 14 B/LB/B[]/ LB[] Variable No. 10 I/LI/I[] /LI[] Variable No. 15 I/LI/I[] /LI[] Variable No. 11 D/LD/D[]/ LD[] Variable No. 16 D/LD/D[]/ LD[] Variable No. 12 R/LR/R[]/ LR[] Variable No. 17 R/LR/R[]/ LR[] Variable No. 23 Real-number type constant 18 E B Double-precision type constant F G H 19 B/LB/B[]/ LB[] Variable No. 24 B/LB/B[]/ LB[] Variable No.
2.3 Operating Instruction Explanation 1.
2.3 Operating Instruction No. Tag Explanation 6 BP Variable number/ LBP Variable number/ BP [Array number]/ LBP [Array number] Specifies the number of the base axis position type variable to be divided. 7 EX Variable number/ LEX Variable number/ EX [Array number]/ LEX [Array number] Specifies the number of the station axis position type variable to be divided.
2.3 Operating Instruction 2.
2.3 Operating Instruction 3.
2.3 Operating Instruction 4.
2.3 Operating Instruction 5.
2.3 Operating Instruction 6. (Element number) When a P Variable number, LP Variable number, P [Array number], LP [Array number], BP Variable number, LBP Variable number, BP [Array number], LBP [Array number], EX Variable number, LEX Variable number, EX [Array number], or LEX [Array number] is selected from the table in part 1 of this Explanation, the following tag can be added or omitted. No.
2.3 Operating Instruction CNVRT Instruction set: SUBSET STANDARD EXPANDED Not available Available Available Function Converts the pulse type position type variable of Data 2 to the XYZ type position type variable in the specified coordinate system, and stores the result in Data 1. Construction CNVRT Coordinate system designation CNVRT A 1 PX/PX[] /LPX /LPX[] 3 BF 4 RF 5 TF 6 UF# 7 MTF Variable No. 2 PX/PX[] /LPX /LPX[] A Variable No. END ( User coordinate No.
2.3 Operating Instruction SUPPLEMENT Expanded position type variables The expanded position type variable is a position type variable that depends on the control group in the job. • When the control group is R1: PX000 indicates P000. • When the control group is R1 + B1: PX000 indicates P000 and BP000. • When the control group is R1 + B1 + ST1: PX000 indicates P000 + BP000 + EX000.
2.3 Operating Instruction 3. BF/RF/TF/UF# (User coordinate number)/MTF Choose one of the tags from the following table. No. Tag Explanation Note 3 BF Specifies the conversion in the base coordinate system. 4 RF Specifies the conversion in the robot coordinate system. 5 TF Specifies the conversion in the tool coordinate system. 6 UF# (User coordinate number) Specifies the conversion in the user coordinate system. No.: 1 to 24 Variable B/I/D/LB/LI/ LD can be used.
2.3 Operating Instruction AND Instruction set: SUBSET STANDARD EXPANDED Not available Available Available Function Carries out logical multiplication of Data 1 and Data 2, and stores the result in Data 1. Construction AND AND 1 B/LB/B[]/ LB[] Variable No. 2 3 B/LB/B[]/ LB[] END Variable No. Byte type constant Explanation 1. B Variable number/LB Variable number/B [Array number]/LB [Array number] Add the following tag. No.
2.3 Operating Instruction 2. B Variable number/LB Variable number/B [Array number]/LB [Array number]/Byte type constant Choose one of the tags from the following table. No. Tag Explanation Note 2 B Variable number/ LB Variable number/ B [Array number]/ LB [Array number] Specifies the number of the byte type variable for which the logical multiplication is carried out. 3 Byte type constant Specifies the byte type data for which the logical multiplication is carried out.
2.3 Operating Instruction OR Instruction set: SUBSET STANDARD EXPANDED Not available Available Available Function Carries out the logical sum of Data 1 and Data 2, and stores the result in Data 1. Construction OR OR 1 B/LB/B[]/ LB[] Variable No. 2 3 B/LB/B[]/ LB[] END Variable No. Byte type constant Explanation 1. B Variable number/LB Variable number/B [Array number]/LB [Array number] Add the following tag. No.
2.3 Operating Instruction 2. B Variable number/LB Variable number/B [Array number]/LB [Array number]/Byte type constant Choose one of the tags from the following table. No Tag Explanation Note 2 B Variable number/ LB Variable number/ B [Array number]/ LB [Array number] Specifies the number of the byte type variable for which the logical sum is carried out. 3 Byte type constant Specifies the byte type data for which the logical sum is carried out.
2.3 Operating Instruction NOT Instruction set: SUBSET STANDARD EXPANDED Not available Available Available Function Carries out the logical negation of Data 2, and stores the result in Data 1. Construction NOT NOT 1 B/LB/B[]/ LB[] Variable No. 2 3 B/LB/B[]/ LB[] END Variable No. Byte type constant Explanation 1. B Variable number/LB Variable number/B [Array number]/LB [Array number] Add the following tag. No.
2.3 Operating Instruction 2. B Variable number/LB Variable number/B [Array number]/LB [Array number]/Byte type constant Choose one of the tags from the following table. No. Tag Explanation Note 2 B Variable number/ LB Variable number/ B [Array number]/ LB [Array number] Specifies the number of the byte type variable for which the logical negation is carried out. 3 Byte type constant Specifies the byte type data for which the logical negation is carried out.
2.3 Operating Instruction XOR Instruction set: SUBSET STANDARD EXPANDED Not available Available Available Function Carries out the logical exclusive OR of Data 1 and Data 2, and stores the result in Data 1. Construction XOR XOR 1 B/LB/B[]/ LB[] Variable No. 2 3 B/LB/B[]/ LB[] END Variable No. Byte type constant Explanation 1. B Variable number/LB Variable number/B [Array number]/LB [Array number] Add the following tag. No.
2.3 Operating Instruction 2. B Variable number/LB Variable number/B [Array number]/LB [Array number]/Byte type constant Choose one of the tags from the following table. No. Tag Explanation Note 2 B Variable number/ LB Variable number/ B [Array number]/ LB [Array number] Specifies the number of the byte type variable for which the exclusive OR is carried out. 3 Byte type constant Specifies the byte type data for which the exclusive OR is carried out.
2.3 Operating Instruction MFRAME Instruction set: SUBSET STANDARD EXPANDED Not available Available Available Function Creates the user coordinates according to three types of position data; Data 1, Data 2, and Data 3. Data 1 indicates the position data of the defined point ORG; Data 2 indicates the position data of the defined point XX; and Data 3 indicates the position data of the defined point XY.
2.3 Operating Instruction 2. PX Variable number/LPX Variable number/PX [Array number]/LPX [Array number] Add the following tag. No. Tag Explanation 3 PX Variable number/ LPX Variable number/ PX [Array number]/ LPX [Array number] Specifies the number of the expanded position type variable where the position data of the user coordinate’s defined point ORG has been stored. Note 3. PX Variable number/LPX Variable number/PX [Array number]/LPX [Array number] Add the following tag. No.
2.3 Operating Instruction Example MFRAME UF#(1) PX000 PX001 PX002 For the job R1, the user coordinate number 1 is created according to three types of position data; P000, P001, and P002 of the user coordinate system.
2.3 Operating Instruction SETE Instruction set: SUBSET STANDARD EXPANDED Not available Available Available Function Sets Data 2 in the element of position type variable of Data 1. Construction SETE (Element number) SETE 1 P/LP/P[]/ LP[] Variable No. 2 BP/LBP/ BP[]/ LBP[] Variable No. 3 EX/LEX/ EX[]/ LEX[] Variable No. 4 ( A Element No. 5 6 2-112 ) A Double-precision constant D/LD/D[]/ LD[] END Variable No.
2.3 Operating Instruction Explanation 1. P Variable number/LP Variable number/P [Array number]/LP [Array number]/BP Variable number/LBP Variable number/BP [Array number]/LBP [Array number]/BP [Array number]/LBP [Array number]/EX Variable number/LEX Variable number/EX [Array number]/LEX [Array number] Choose one of the tags from the following table. No.
2.3 Operating Instruction 3. Double-precision type constant/D Variable number/LD Variable number/D [Array number]/LD [Array number] Choose one of the tags from the following table. No. Tag Explanation 5 Double-precision type constant Specifies the double-precision type data to be set. 6 D Variable number/ LD Variable number/ D [Array number]/ LD [Array number] Specifies the number of the double-precision type variable to be set.
2.3 Operating Instruction GETE Instruction set: SUBSET STANDARD EXPANDED Not available Available Available Function Stores the element of position type variable of Data 2 in Data 1. Construction GETE (Element number) 1 GETE 5 A D/LD/D[]/ LD[] ( Variable No. Variable No. ) 2 P/LP/P[]/ LP[] Variable No. 3 BP/LBP/ BP[]/ LBP[] Variable No. 4 EX/LEX/ EX[]/ LEX[] Variable No. A END Explanation 1.
2.3 Operating Instruction 2. P Variable number/LP Variable number/P [Array number]/LP [Array number]/BP Variable number/LBP Variable number/BP [Array number]/LBP [Array number]/EX Variable number/LEX Variable number/EX [Array number]/LEX [Array number] Choose one of the tags from the following table. No. Tag Explanation Note 2 P Variable number/ LP Variable number/ P [Array number]/ LP [Array number Specifies the number of the robot axis position type variable to be stored.
2.3 Operating Instruction GETS Instruction set: SUBSET STANDARD EXPANDED Not available Available Available Function Stores the system variable of Data 2 in Data 1. Construction GETS GETS 1 B/LB/B[]/ LB[] Variable No. 6 $B/$B[] Variable No. 2 I/LI/I[] /LI[] Variable No. 7 $I/$I[] Variable No. 3 D/LD/D[]/ LD[] Variable No. 8 $D/$D[] Variable No. 4 R/LR/R[]/ LR[] Variable No. 9 $R/$R[] Variable No. 5 PX/PX[] /LPX /LPX[] Variable No.
2.3 Operating Instruction Explanation 1. B Variable number/LB Variable number/B [Array number]/LB [Array number]/I Variable number/LI Variable number/I [Array number]/LI [Array number]/D Variable number/LD Variable number/D [Array number]/LD [Array number]/R Variable number/LR Variable number/R [Array number]/LR [Array number]/PX Variable number/LPX Variable number/PX [Array number]/LPX [Array number] Choose one of the tags from the following table. No.
2.3 Operating Instruction SUPPLEMENT System variable The system variables are written by the controller system and can be referred only by a GETS instruction. The following system variables are available. System Variable $B type variable Type Byte type No.
2.3 Operating Instruction SUPPLEMENT Continued System Variable $PX type variable Type Expanded position type No.
2.3 Operating Instruction SUPPLEMENT Continued System Variable $PX type variable Type Expanded position type No. Explanation $PX450 to $PX499 RIN#(4)’s detected position by the optional NSRCH instruction (XYZ type) $PX500 to $PX549 RIN#(5)’s detected position by the optional NSRCH instruction (pulse type) $PX550 to $PX599 RIN#(5)’s detected position by the optional NSRCH instruction (XYZ type) 2.
2.3 Operating Instruction 4. $D Variable number/$D [Array number] When a D Variable number, LD Variable number, D [Array number], or LD [Array number] is selected from the table in part 1 of this Explanation, add the following tag. No. Tag 8 $D Variable number/ $D [Array number] Explanation Specifies the number of the double-precision type system variable to be stored. Note 5.
2.3 Operating Instruction SQRT Instruction set: SUBSET STANDARD EXPANDED Not available Available Available Function Calculates the square root of Data 2, and stores the result in Data 1. Construction SQRT SQRT 1 R/LR/R[]/ LR[] Variable No. 2 R/LR/R[]/ LR[] 3 Real-number type constant END Variable No. Explanation 1. R Variable number/LR Variable number/R [Array number]/LR [Array number] Add the following tag. No.
2.3 Operating Instruction 2. R Variable number/LR Variable number/R [Array number]/LR [Array number]/Real-number type constant Choose one of the tags from the following table. No. Tag Explanation 2 R Variable number/ LR Variable number/ R [Array number]/ LR [Array number] Specifies the number of the real-number type variable whose square root is calculated. 3 Real-number type constant Specifies the real-number type data whose square root is calculated. Example SQRT R000 2 1.
2.3 Operating Instruction SIN Instruction set: SUBSET STANDARD EXPANDED Not available Available Available Function Calculates the sine of Data 2, and stores the result in Data 1. Construction SIN SIN 1 R/LR/R[]/ LR[] Variable No. 2 R/LR/R[]/ LR[] 3 Real-number type constant END Variable No. Explanation 1. R Variable number/LR Variable number/R [Array number]/LR [Array number] Add the following tag. No.
2.3 Operating Instruction 2. R Variable number/LR Variable number/R [Array number]/LR [Array number]/Real-number type constant Choose one of the tags from the following table. No. Tag Explanation 2 R Variable number/ LR Variable number/ R [Array number]/ LR [Array number] Specifies the number of the real-number type variable whose sine is calculated. 3 Real-number type constant Specifies the real-number type data whose sine is calculated. Example SIN R000 60 8.
2.3 Operating Instruction COS Instruction set: SUBSET STANDARD EXPANDED Not available Available Available Function Calculates the cosine of Data 2, and stores the result in Data 1. Construction COS COS 1 R/LR/R[]/ LR[] Variable No. 2 R/LR/R[]/ LR[] 3 Real-number type constant END Variable No. Explanation 1. R Variable number/LR Variable number/R [Array number]/LR [Array number] Add the following tag. No.
2.3 Operating Instruction 2. R Variable number/LR Variable number/R [Array number]/LR [Array number]/Real-number type constant Choose one of the tags from the following table. No. Tag Explanation 2 R Variable number/ LR Variable number/ R [Array number]/ LR [Array number] Specifies the number of the real-number type variable whose cosine is calculated. 3 Real-number type constant Specifies the real-number type data whose cosine is calculated. Example COS R000 60 5.
2.3 Operating Instruction ATAN Instruction set: SUBSET STANDARD EXPANDED Not available Available Available Function Calculates the arc tangent of Data 2, and stores the result in Data 1. Construction ATAN ATAN 1 R/LR/R[]/ LR[] Variable No. 2 R/LR/R[]/ LR[] 3 Real-number type constant END Variable No. Explanation 1. R Variable number/LR Variable number/R [Array number]/LR [Array number] Add the following tag. No.
2.3 Operating Instruction 2. R Variable number/LR Variable number/R [Array number]/LR [Array number]/Real-number type constant Choose one of the tags from the following table. No. Tag Explanation 2 R Variable number/ LR Variable number/ R [Array number]/ LR [Array number] Specifies the number of the real-number type variable whose arc tangent is calculated. 3 Real-number type constant Specifies the real-number type data whose arc tangent is calculated. Example ATAN R000 60 8.
2.3 Operating Instruction MULMAT Instruction set: SUBSET STANDARD EXPANDED Not available Available Available Function Calculates the matrix multiplication of Data 2 and Data 3, and stores the result in Data 1. Construction MULMAT MULMAT 1 P/LP/P[]/ LP[] A 3 Variable No. P/LP/P[]/ LP[] 2 Variable No. P/LP/P[]/ LP[] A Variable No. END Explanation 1. P Variable number/LP Variable number/P [Array number]/LP [Array number] Add the following tag. No.
2.3 Operating Instruction 2. P Variable number/LP Variable number/P [Array number]/LP [Array number] Add the following tag. No. Tag 2 P Variable number/ LP Variable number/ P [Array number]/ LP [Array number] Explanation Specifies the number of the position type variable for which the matrix multiplication is calculated. Note 3. P Variable number/LP Variable number/P [Array number]/LP [Array number] Add the following tag. No.
2.3 Operating Instruction Example MOVL P010 V=500 GETS PX020 $PX001: INVMAT P021 P010: MULMAT P023 P020 P021: Stores the current XYZ type value in P020. Calculates the inverse matrix of the taught position. The amount of the three-dimensional shift (P023) is obtained.
2.3 Operating Instruction INVMAT Instruction set: SUBSET STANDARD EXPANDED Not available Available Available Function Calculates the inverse matrix of Data 2, and stores the result in Data 1. Construction INVMAT 1 INVMAT P/LP/P[]/ LP[] Variable No. 2 P/LP/P[]/ LP[] END Variable No. Explanation 1. P Variable number/LP Variable number/P [Array number]/LP [Array number] Add the following tag. No.
2.3 Operating Instruction Example MOVL P010 V=500 GETS PX020 $PX001: Stores the current XYZ type value in P020. INVMAT P021 P010: Calculates the inverse matrix of the taught position. MULMAT P023 P020 P021: The amount of the three-dimensional shift (P023) is obtained.
2.3 Operating Instruction SETFILE Instruction set: SUBSET STANDARD EXPANDED Not available Available Available Function Changes the specified data of the specified condition file to the numeric data of Data 1. Specify the data of the condition file to be changed by its element number. Construction SETFILE Condition file specification SETFILE A (Element number) 1 SPR# ( Sealing adjustment condition file No. ) 2 UDC# ( Under-coating adjustment condition file No.
2.3 Operating Instruction Explanation 1. SPR# (Sealing adjustment condition file number)/UDC# (Under-coating adjustment condition file number)/WEV# (Weaving condition file number) Choose one of the tags from the following table. No. Tag Explanation Note 1 SPR# (Sealing adjustment condition file number) Specifies the number of the sealing (spray) adjustment condition file. No.: 1 Variable B/I/D/LB/LI/ LD can be used. Available only with the optional servo sealing gun function.
2.3 Operating Instruction 3. Double-precision type constant/D Variable number/LD Variable number/D [Array number]/LD [Array number] Choose one of the tags from the following table. No. Tag Explanation 5 Double-precision type constant Specifies the double-precision type data to be changed. 6 D Variable number/ LD Variable number/ D [Array number]/ LD [Array number] Specifies the number of the double-precision type variable of the data to be changed.
2.3 Operating Instruction SUPPLEMENT Element number of each condition file The element number of each item in the condition file is shown below. Element No. Item Units Remarks 1 MODE 2 SMOOTHING 3 SPEED 4 FREQUENCY 0.1 Hz 5 AMPLITUDE (ACTIVE IN SINGLE) 0.001 mm 6 PATTERN VERTICAL 0.001 mm 7 PATTERN HORIZONTAL 0.001 mm 8 PATTERN ANGLE 0.01 deg. 9 ANGLE 0.01 deg. 10 TIMER MODE (SECT 1 to 4) 11 to14 MOVING TIME 0.1 sec.
2.3 Operating Instruction GETFILE Instruction set: SUBSET STANDARD EXPANDED Not available Available Available Function Stores the data of the specified condition file in Data 1. Specify the data of the condition file to be stored by its element number. Construction GETFILE Condition file designation (Element number) D/LD/D[]/ LD[] 1 GETFILE 6 A ( Variable No. Element No. ) 2 SPR# ( Sealing adjustment condition file No.
2.3 Operating Instruction 2. SPR# (Sealing adjustment condition file number)/UDC# (Under-coating adjustment condition file number)/WEV# (Weaving condition file number)/ AMF# (Arc monitor file number) Choose one of the tags from the following table. No. Tag Explanation Note 2 SPR# (Sealing adjustment condition file number) Specifies the number of the sealing (spray) adjustment condition file. No.: 1 Variable B/I/D/LB/LI/ LD can be used. Available only with the optional servo sealing gun function.
2.4 Move Instruction 2.4 Move Instruction MOVJ Instruction set: SUBSET STANDARD EXPANDED Available Available Available Function Moves to the teaching position by joint interpolation. Construction The tag which can be used is limited by the type of the job. 1 MOVJ Robot teaching position file No. 5 2 P/LP/P[]/ LP[] 3 Station teaching position file No. 4 EX/LEX /EX[] /LEX[] Base teaching position file No. Station teaching position file No. 6 Variable No.
2.4 Move Instruction G H 11 VJ= Joint speed (%) 12 PL= Positioning level 13 SPDL= Speed level H I 14 MT= Amount of the T axis rotation 15 MTE= Amount of station axis rotation I J 16 NWAIT 18 UNTIL 17 ENWAIT 19 NSRCH J 21 DEC= Deceleration adjustment ratio (%) 20 Acceleration adjustment ratio (%) ACC= 22 +MOVJ 23 +MOVL 24 +MOVC 25 +MOVS END Job Type and Control Group No.
2.
2.4 Move Instruction Explanation 1. Robot teaching position file number /P Variable number /LP Variable number /P [Array number] /LP [Array number] /Station teaching position file number /EX Variable number /LEX Variable number /EX [Array number] / LEX [Array number] Choose one of the tags from the following table. No Tag Explanation 1 Robot teaching position file number The robot axis teaching position in each step is written in this file unconditionally when the step is taught.
2.4 Move Instruction 2. Base Teaching Position File Number When a robot teaching position file number is selected from the table in part 1 of this Explanation, add the following tag. No Tag Explanation 5 Base teaching position file number The base axis teaching position in each step is written in this file unconditionally when the step is taught. This teaching position cannot be edited. Note On the job display, this tag is not displayed. 3.
2.4 Move Instruction 6. EX Variable number /LEX Variable number /EX [Array number] /LEX [Array number] When a P Variable number, LP Variable number, P [Array number], or LP [Array number] is selected from the table in part 1 of this Explanation, the following tag can be added. No Tag Explanation 9 EX Variable number/ LEX Variable number/ EX [Array number]/ LEX [Array number] Specifies the position variable number of the station axis.
2.4 Move Instruction 9. PL=Position level /SPDL=Speed level Choose one of the tags from the following table. No Tag Explanation 12 PL=Position level Specifies the position level. The approach level when the manipulator passes the position where the teaching procedure was performed is called a positioning level. Level: 0 to 8 Specifies the speed level.
2.4 Move Instruction 10. MT=Amount of the T axis rotation The following tag can be added or omitted. No 14 Tag MT=Amount of the T axis rotation Explanation Note Specifies the amount of the T axis rotation. The amount of the T axis rotation specifies the amount of movement of T axis by the number of rotations. Amount of rotation: -100 to 100 Available only with the optional axis endless function. Refer to the axis endless function for details. 11.
2.4 Move Instruction 13. UNTIL/NSRCH Choose one of the tags from the following table. No Tag Explanation Note 18 UNTIL Specifies the UNTIL instruction. The UNTIL instruction is a tag instruction by which the condition of the input signal is evaluated during operation. When the condition of the input signal is full, the robot executes the next instruction. Refer to UNTIL of “2.6. Instruction Which Adheres to Instruction”. 19 NSRCH Specifies the NSRCH instruction.
2.4 Move Instruction SUPPLEMENT Acceleration adjustment ratio The acceleration adjustment ratio (ACC) reduces the amount of acceleration in the specified ratio. Using this function can reduce the load inertia on the tool and the workpiece. Speed Ordinaly acceleration ACC=70% DEC=50% Specified ratio Time 16. +MOVJ/+MOVL/+MOVC/+MOVS Choose one of the tags from the following table.
2.4 Move Instruction Example MOVJ P000 VJ=50.00 Move from the manipulator’s waiting position to step 1. Move by joint interpolation at a speed of 50%. The position in Step 1 is registered to the P variable no. 0. The path during movement is not specified. Be careful of interference.
2.4 Move Instruction MOVL Instruction set: SUBSET STANDARD EXPANDED Available Available Available Function Moves to the teaching position by linear interpolation. Construction The tag which can be used is limited by the type of the job. 1 MOVL 2 Robot teaching position file No. P/LP/P[]/ LP[] 3 Base teaching position file No. Station teaching position file No. 4 Variable No. A A B C D E B 5 T Point variable No. C D 6 BP/LBP /BP[] /LBP[] Variable No.
2.4 Move Instruction F G 14 MTE= Amount of station axis rotation 15 NWAIT 16 ENWAIT G H 17 UNTIL 18 SRCH 19 ASRCH 20 HPSRCH 21 NSRCH 22 ACC= H 23 DEC= Deceleration adjustment ratio (%) Acceleration adjustment ratio (%) 24 +MOVJ 25 +MOVL 26 +MOVC 27 +MOVS END Job Type and Control Group No.
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2.4 Move Instruction Explanation 1. Robot teaching position file number /P Variable number /LP Variable number /P [Array number] /LP [Array number] Choose one of the tags from the following table. No Tag Explanation Note 1 Robot teaching position file number The robot axis teaching position in each step is written in this file unconditionally when the step is taught. This teaching position cannot be edited. On the job display, this tag is not displayed.
2.4 Move Instruction 4. T Point Variable number When the robot teaching position file number is selected from the table in part 1 of this Explanation, the following can be added or omitted. No 5 Tag T Point Variable number Explanation Specifies the point variable number. The point variable manages the teaching position registered in the job, and is used to move the manipulator to the same position several times in one job. Note Available only with the optional point variable function. 5.
2.4 Move Instruction 7. V=Tool center point speed /VR=Position angular speed /VE=External axis speed Choose one of the tags from the following table. No Tag Explanation Note 8 V=Tool center point speed Specifies the tool center point speed. Speed: 0.1 mm to 1500.0 mm/s The units can be changed by setting the parameter S2C173. Variable B/B[]/LB/ LB[]/I/I[]/LI/LI[]/D/D[]/ LD/LD[] can be used. (Units: 0.1 mm/s) 9 VR=Position angular speed Specifies the position angular speed. Speed: 0.1 to 180.
2.4 Move Instruction 8. PL=Position level /CR=Corner radius /SPDL=Speed level Choose one of the tags from the following table. No Tag Explanation Note 11 PL=Position level Specifies the position level. The position level is a level of the approach when the manipulator passes the position where the teaching procedure was performed. Level: 0 to 8 Variable B/B[]/LB/ LB[]/I/I[]/LI/LI[]/D/D[]/ LD/LD[] can be used. 12 CR=Corner radius Specifies the corner radius.
2.4 Move Instruction 9. MTE= Amount of station axis rotation The following tag can be added or omitted. No Tag Explanation 14 MTE=Amount of Specifies the amount of station axis rotation. The operation of the station axis can be specified by the number of rotations. station axis rotation Note Amount of rotation: -100 to 100 Available only with the optional axis endless function. Refer to the axis endless function for details. 10. NWAIT/ENWAIT The following tag can be added or omitted.
2.4 Move Instruction 11. SRCH/UNTIL/ASRCH/HPSRCH/NSRCH Choose one of the tags from the following table. No Tag Explanation Note 17 SRCH Specifies the SRCH instruction. The SRCH instruction is a tag which detects the start point. Available only with the optional start point searching function. Refer to " 2.6 Instruction Which Adheres to an Instruction ". 18 UNTIL Specifies the UNTIL instruction.
2.4 Move Instruction 13. DEC=Deceleration adjustment ratio The following tag can be added or omitted. No 23 Tag DEC=Deceleration adjustment ratio Explanation Specifies the deceleration adjustment ratio. The DEC instruction reduces the amount of deceleration in the specified ratio. Note Deceleration adjustment ratio: 20% to 100% Variable B/B[]/LB/ LB[]/I/I[]/LI/LI[]/D/D[]/ LD/LD[] can be used. 14. +MOVJ/+MOVL/+MOVC/+MOVS Choose one of the tags from the following table.
2.4 Move Instruction Example NOP MOVJ VJ=50.00 MOVJ VJ=25.00 MOVJ VJ=12.50 Step 3 MOVL V=138 Step 4 Moves from Step 3 to Step 4 by the linear interpolation at a rate of 138cm/min.
2.4 Move Instruction MOVC Instruction set: SUBSET STANDARD EXPANDED Available Available Available Function Moves to the teaching position by circular interpolation. Construction The tag which can be used is limited by the type of the job. 1 MOVC 2 Robot teaching position file No. P/LP/P[]/ LP[] 3 Base teaching position file No. Station teaching position file No. 4 Variable No. A A B C D E B 5 T 6 BP/LBP /BP[] /LBP[] Point variable No. C D 7 Variable No.
2.4 Move Instruction F G 13 MTE= Amount of station axis rotation 14 NWAIT 15 ENWAIT G H H 16 ACC= Acceleration adjustment ratio (%) 18 +MOVJ END 19 +MOVL 20 +MOVC 21 +MOVS 17 DEC= Deceleration adjustment ratio (%) Job Type and Control Group No.
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2.4 Move Instruction Explanation 1. Robot teaching position file number /P Variable number /LP Variable number /P [Array number] /LP [Array number] Choose one of the tags from the following table. No Tag Explanation Note 1 Robot teaching position file number The robot axis teaching position in each step is written in this file unconditionally when the step is taught. This teaching position cannot be edited. On the job display, this tag is not displayed.
2.4 Move Instruction 4. T Point Variable number When the robot teaching position file number is selected from the table in part 1 of this Explanation, the following tag can be added or omitted. No 5 Tag T Point Variable number Explanation Specifies the point variable number. The point variable manages the teaching position registered in the job, and is used to move the manipulator to the same position several times in one job. Note Available only with the optional point variable function. 5.
2.4 Move Instruction 7. V=Tool center point speed /VR=Position angular speed /VE=External axis speed Choose one of the tags from the following table. No Tag 8 V=Tool center 9 VR=Position 10 VE=External axis speed Explanation Note Specifies the tool center point speed. Speed: 0.1 mm to 1500.0 mm/s The units can be changed by setting the parameter S2C173. Variable B/B[]/LB/ LB[]/I/I[]/LI/LI[]/D/D[]/ LD/LD[] can be used. (Units: 0.1 mm/s) Specifies the position angular speed. Speed: 0.
2.4 Move Instruction 9. MTE=Amount of station axis rotation The following tag can be added or omitted. No Tag Explanation 13 MTE=Amount of Specifies the amount of station axis rotation. The operation of the station axis can be specified by the number of rotations. station axis rotation Note Amount of rotation: -100 to 100 Available only with the optional axis endless function. 10. NWAIT/ENWAIT The following tag can be added or omitted.
2.4 Move Instruction 12. DEC=Deceleration adjustment ratio The following tag can be added or omitted. No 17 Tag DEC=Deceleration adjustment ratio Explanation Specifies the deceleration adjustment ratio. The DEC instruction reduces the amount of deceleration in the specified ratio. Note Deceleration adjustment ratio: 20% to 100% Variable B/B[]/LB/ LB[]/I/I[]/LI/LI[]/D/D[]/ LD/LD[] can be used. 13. +MOVJ/+MOVL/+MOVC/+MOVS Choose one of the tags from the following table.
2.4 Move Instruction Example NOP MOVL V=138 MOVC V=138 MOVC V=138 MOVC V=138 MOVC V=138 MOVL V=138 END Step 2 Step 3 Step 4 Step 5 Moves from Step 2 to Step 5 by circular interpolation at a rate of 138 cm/min. Moves to Step 3 in a circular arc formed with the teaching points in Steps 2, 3, and 4. Moves to Step 4 in a circular arc formed with the teaching points in Steps 3, 4, and 5. Moves to Step 5 in a circular arc formed with the teaching points in Steps 3, 4, and 5.
2.4 Move Instruction MOVS Instruction set: SUBSET STANDARD EXPANDED Available Available Available Function Moves to the teaching position by spline interpolation. Construction The tag which can be used is limited by the type of the job. 1 MOVS 2 Robot teaching position file No. P/LP/P[]/ LP[] 3 Base teaching position file No. Station teaching position file No. 4 Variable No. A A B C D E B 5 T 6 BP/LBP /BP[] /LBP[] Point variable No. C D 7 Variable No.
2.4 Move Instruction F G 13 NWAIT 14 ENWAIT 15 G 16 DEC= Acceleration adjustment ratio (%) ACC= Deceleration adjustment ratio (%) 17 +MOVJ 18 +MOVL 19 +MOVC 20 +MOVS END Job Type and Control Group No.
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2.4 Move Instruction Explanation 1. Robot teaching position file number /P Variable number /LP Variable number /P [Array number] /LP [Array number] Choose one of the tags from the following table. No Tag Explanation Note 1 Robot teaching position file number The robot axis teaching position in each step is written in this file unconditionally when the step is taught. This teaching position cannot be edited. On the job display, this tag is not displayed.
2.4 Move Instruction 4. T Point Variable number When the robot teaching position file number is selected from the table in part 1 of this Explanation, the following tag can be added or omitted. No 5 Tag T Point Variable number Explanation Specifies the point variable number. The point variable manages the teaching position registered in the job, and is used to move the manipulator to the same position several times in one job. Note Available only with the optional point variable function. 5.
2.4 Move Instruction 7. V=Tool center point speed /VR=Position angular speed /VE=External axis speed Choose one of the tags from the following table. No Tag Explanation Note 8 V=Tool center point speed Specifies the tool center point speed. Speed: 0.1 mm to 1500.0 mm/s The units can be changed by setting the parameter S2C173. Variable B/B[]/LB/ LB[]/I/I[]/LI/LI[]/D/D[]/ LD/LD[] can be used. (Units: 0.1 mm/s) 9 VR=Position angular speed Specifies the position angular speed. Speed: 0.
2.4 Move Instruction 9. NWAIT/ENWAIT The following tag can be added or omitted. No Tag Explanation 13 NWAIT Specifies the NWAIT instruction. The NWAIT instruction carries out the instructions excluding the move instruction from that step on, at the same time as the manipulator is carrying out that step. 14 ENWAIT Specifies the ENWAIT instruction. The ENWAIT instruction carries out the instructions excluding the move instructions from that step on, before reaching the next step.
2.4 Move Instruction 12. +MOVJ/+MOVL/+MOVC/+MOVS Choose one of the tags from the following table. No Tag Explanation Note 17 +MOVJ Specifies the joint interpolation motion instruction on the master manipulator’s side. Available only with the optional coordinate function. Refer to the independent/coordinated function. 18 +MOVL Specifies the linear interpolation motion instruction on the master manipulator’s side. Available only with the optional coordinate function.
2.4 Move Instruction Example NOP MOVL V=138 MOVS V=138 MOVS V=138 MOVS V=138 MOVS V=138 MOVS V=138 MOVL V=138 END Step 2 Step 3 Step 4 Step 5 Step 6 Moves from Step 2 to Step 6 by spline interpolation at a rate of 138cm/min. Moves to Step 3 by spline interpolation defined by the teaching points in Steps 2, 3, and 4.
2.4 Move Instruction IMOV Instruction set: SUBSET STANDARD EXPANDED Available Available Available Function Moves by linear interpolation from the current position for the specified incremental value. Construction The tag which can be used is limited by the type of the job. IMOV 1 P/LP/P[]/ LP[] A Variable No. BP/LBP /BP[] /LBP[] 3 2 EX/LEX /EX[] /LEX[] Variable No. D Variable No. 4 VJ= Joint speed (%) A B 5 EX/LEX /EX[] /LEX[] Variable No.
2.4 Move Instruction C E 11 BF 12 RF 13 TF 14 UF# 15 MTF User coordinate No. ( ) 16 UNTIL 17 SRCH 18 NSRCH D F E 19 21 F ACC= +IMOV Acceleration adjustment ratio (%) 20 DEC= Deceleration adjustment ratio (%) END Job Type and Control Group No.
2.
2.4 Move Instruction Explanation 1. P Variable number /LP Variable number /P [Array number] /LP [Array number] /EX Variable number /LEX Variable number /EX [Array number] /LEX [Array number] Choose one of the tags from the following table. No Tag Explanation Note 1 P Variable number / LP Variable number / P [Array number]/ LP [Array number] Specifies the position variable number of the manipulator axis. Moves the axis according to the position data set in the specified variable number.
2.4 Move Instruction 3. VJ=Joint speed The following tag can be added or omitted. No 4 Tag VJ=Joint speed Explanation Note Specifies the joint speed. The joint speed in a ratio to the highest speed. Operates at the speed decided beforehand when the joint speed is omitted. Speed: 0.01% to 100.00% Variable B/B[]/LB/ LB[]/I/I[]/LI/LI[]/D/D[]/ LD/LD[] can be used. (Units: 0.01 %) 4.
2.4 Move Instruction 5. V=Tool center point speed /VR=Position angular speed /VE=External axis speed Choose one of the tags from the following table. No Tag 6 V=Tool center 7 VR=Position 8 VE=External axis speed Explanation Note Specifies the tool center point speed. Speed: 0.1 mm to 1500.0 mm/s The units can be changed by setting the parameter S2C173. Variable B/B[]/LB/ LB[]/I/I[]/LI/LI[]/D/D[]/ LD/LD[] can be used. (Units: 0.1 mm/s) Specifies the position angular speed. Speed: 0.
2.4 Move Instruction 8. BF/RF/TF/UF# (User coordinate number) Choose one of the tags from the following table. No Tag Explanation Note 11 BF Specifies the increment value in the base coordinate system. 12 RF Specifies the increment value in the robot coordinate system. 13 TF Specifies the increment value in the tool coordinate system. 14 UF#(User coordinate number) Specifies the increment value in the user coordinate system. No: 1 to 24 Variable B/I/D/LB/LI/ LD can be used.
2.4 Move Instruction 10. ACC=Acceleration adjustment ratio The following tag can be added or omitted. No 19 Tag ACC=Acceleration adjustment ratio Explanation Specifies the acceleration adjustment ratio. The ACC instruction reduces the amount of acceleration in the specified ratio. Note Acceleration adjustment ratio: 20% to 100% Variable B/B[]/LB/ LB[]/I/I[]/LI/LI[]/D/D[]/ LD/LD[] can be used. 11. DEC=Deceleration adjustment ratio The following tag can be added or omitted.
2.4 Move Instruction SPEED Instruction set: SUBSET STANDARD EXPANDED Available Available Available Function Sets the playback speed. The manipulator operates at the speed specified in the SPEED instruction when the speed is not specified in the move instruction. Construction The tag which can be used is limited by the type of the job.
2.4 Move Instruction Explanation 1. VJ=Joint speed The following tag can be added or omitted. No 1 Tag VJ=Joint speed Explanation Note Specifies the joint speed. The joint speed is shown in the ratio to the highest speed. Operates at the speed decided beforehand when the joint speed is omitted. Speed: 0.01% to 100.00% Variable B/B[]/LB/ LB[]/I/I[]/LI/LI[]/D/D[]/ LD/LD[] can be used. (Units: 0.01 %) 2. V=Tool center point speed The following tag can be added or omitted.
2.4 Move Instruction 4. VE=External axis speed The following tag can be added or omitted. No Tag 4 VE=External axis speed Explanation Specifies the external axis speed. Note Speed: 0.01% to 100.00% Variable B/B[]/LB/ LB[]/I/I[]/LI/LI[]/D/D[]/ LD/LD[] can be used.(Units: 0.01 %) Example NOP MOVJ VJ=100.00 MOVL V=138 SPEED VJ=50.00 V=276 VR=30.0 MOVJ MOVL Moves at the joint speed 100.00%. Moves at the control point speed 138cm/min. Moves at the joint speed 50.00%.
2.4 Move Instruction REFP Instruction set: SUBSET STANDARD EXPANDED Available Available Available Function It is an instruction which has the position data by which a supplementary point of the wall point, etc. for weaving is set. Construction The tag which can be used is limited by the type of the job. REFP 1 Reference point No.
2.4 Move Instruction A 11 12 Robot teaching position file No. P/LP/P[]/ LP[] 13 Base teaching position file No. Station teaching position file No. 14 B E Variable No. BP/LBP /BP[] /LBP[] 15 Variable No. E F 16 C 17 Station teaching position file No. 18 EX/LEX /EX[] /LEX[] F EX/LEX /EX[] /LEX[] Variable No. D Variable No. Job Type and Control Group No.
2.
2.4 Move Instruction SUPPLEMENT Reference points during weaving Usually it is not necessary to register reference points during the weaving. However, there are cases when it must be registered according to the situation of the workpiece, etc. In this case, the wall direction is defined as REFP1 and the horizontal wall direction is defined as REFP2. REFP1 REFP2 Wall Wall REFP2 REFP1 Wall direction Wall direction REFP2 REFP1 Advanced direction Advanced direction Horizontal direction 2.
2.4 Move Instruction 3. Robot teaching position file number /P Variable number /LP Variable number /P [Array number] /LP [Array number] Choose one of the tags from the following table. No Tag Explanation Note 11 Robot teaching position file number The position in the reference point where the robot axis is taught is unconditionally written in this file. This teaching position cannot be edited. On the job display, this tag is not displayed.
2.4 Move Instruction 6. BP Variable number /LBP Variable number /BP [Array number] /LBP [Array number] When a P Variable number, LP Variable number, P [Array number], or LP [Array number] is selected from the table in part 3 of this Explanation, the following tag can be added. No Tag Explanation 15 BP Variable number/ LBP Variable number/ BP [Array number]/ LBP [Array number] Specifies the position variable number of the base axis.
2.4 Move Instruction 8. Station teaching position file number/EX Variable number /LEX Variable number /EX [Array number] /LEX [Array number] Choose one of the tags from the following table. No Tag Explanation Note 17 Station teaching position file number The station axis teaching position in each step is written in this file unconditionally when the step is taught. This teaching position cannot be edited. On the job display, this tag is not displayed.
2.5 Shift Instruction 2.5 Shift Instruction SFTON Instruction set: SUBSET STANDARD EXPANDED Available Available Available Function Begins the parallel shift operation. The amount of the parallel shift is set in a positional variable by the increment value of X, Y, and Z in each coordinate system. Construction The tag which can be used is limited by the type of the job. SFTON 1 RB1 2 RB2 3 RB3 4 P/LP/P[]/ LP[] Variable No. 5 BP/LBP /BP[] /LBP[] Variable No.
2.5 Shift Instruction Job Type and Control Group No.
2.5 Shift Instruction Explanation 1. RB1/RB2/RB3 Choose one of the tags from the following table. No Tag Explanation 1 RB1 Specifies Robot 1 for a shift operation. 2 RB2 Specifies Robot 2 for a shift operation. 3 RB3 Specifies Robot 3 for a shift operation. Note 2.
2.5 Shift Instruction 3. BP Variable number /LBP Variable number /BP [Array number] /LBP [Array number] When a P Variable number, LP Variable number, P [Array number], or LP [Array number] is selected from the table in part 2 of this Explanation, the following tag can be added. No Tag 7 BP Variable number/ LBP Variable number/ BP [Array number]/ LBP [Array number] Explanation Specifies the position variable number of the base axis by which the shift value is set.
2.5 Shift Instruction 5. BF/RF/TF/UF# (User coordinate number) When a P Variable number, LP Variable number, P [Array number], or LP [Array number] is selected from the table in part 2 of this Explanation, choose one of the tags from the following table. No Tag Explanation 9 BF Specifies the increment value in the base coordinate system. 10 RF Specifies the increment value in the robot coordinate system. 11 TF Specifies the increment value in the tool coordinate system.
2.5 Shift Instruction SFTOF Instruction set: SUBSET STANDARD EXPANDED Available Available Available Function Ends the parallel shift operation. Construction The tags to be added are decided according to the type of the job. SFTOF END 1 RB1 2 RB2 3 RB3 4 ST Job Type and Control Group No.
2.5 Shift Instruction Explanation 1. RB1/RB2/RB3/ST Choose one of the tags from the following table. No. Tag Explanation 1 RB1 Specifies Robot 1 to end a shift operation. 2 RB2 Specifies Robot 2 to end a shift operation. 3 RB3 Specifies Robot 3 to end a shift operation. 4 ST Specifies the station axis to end a shift operation. Note Example NOP MOVJ VJ=50.
2.5 Shift Instruction MSHIFT Instruction set: SUBSET STANDARD EXPANDED Not available Available Available Function Calculates the amount of the shift in the specified coordinate system according to Data 2 and Data 3 and stores the result in Data 1. Data 2 indicates the reference position to carry out the parallel shift, and Data 3 is the target position (shifted position).
2.5 Shift Instruction Explanation 1. PX Variable number/LPX Variable number/PX [Array number]/LPX [Array number] Add the following tag. No. Tag 1 PX Variable number/ LPX Variable number/ PX [Array number]/ LPX [Array number] Explanation Specifies the number of the expanded position variable to store the calculated shift. Note 2. BF/RF/TF/UF# (User coordinate number)/MTF Choose one of the tags from the following table. No.
2.5 Shift Instruction 3. PX Variable number/LPX Variable number/PX [Array number]/LPX [Array number] Add the following tag. No. Tag Explanation 7 PX Variable number/ LPX Variable number/ PX [Array number]/ LPX [Array number] Specifies the expanded position type variable number of the reference position to calculate the amount of the shift. Note 4. PX Variable number/LPX Variable number/PX [Array number]/LPX [Array number] Add the following tag. No.
2.6 Instruction Which Adheres to an Instruction 2.6 Instruction Which Adheres to an Instruction IF Instruction set: SUBSET STANDARD EXPANDED Available Available Available Function Evaluates the various conditions during operation. This instruction is added after other instructions for processing. Construction IF IF =, <>, <=, >=, <, > 1 IN# ( Input No. ) A B 2 IG# ( Input group No. ) C D 3 B/LB/B[]/ LB[] Variable No.
2.6 Instruction Which Adheres to an Instruction A C E G 7 = 10 = 11 <> 14 = 15 <> 16 > 17 >= 18 < 19 <= 25 = 26 <> 27 > 28 >= 29 < 30 <= 8 B/LB/B[]/ LB[] 9 ON/OFF 12 B/LB/B[]/ LB[] 13 Byte type constant 20 Byte type constant Variable No. Variable No. B/LB/B[]/ LB[] Variable No. 22 I/LI/ I[]/LI[] Variable No. 23 D/LD/D[]/ LD[] Variable No. 24 R/LR/R[]/ LR[] Variable No. Integer type constant H 32 B/LB/B[]/ LB[] Variable No.
2.6 Instruction Which Adheres to an Instruction I K 36 = 37 <> 38 > 39 >= 40 < 41 <= 47 = 48 <> 49 > 50 >= 51 < 52 <= 42 Double integer type constant J 43 B/LB/B[]/ LB[] Variable No. 44 I/LI/ I[]/LI[] Variable No. 45 D/LD/D[]/ LD[] Variable No. 46 R/LR/R[]/ LR[] Variable No. 53 Real type constant L 54 B/LB/B[]/ LB[] Variable No. 55 I/LI/ I[]/LI[] Variable No. 56 D/LD/D[]/ LD[] Variable No. 57 R/LR/R[]/ LR[] Variable No.
2.6 Instruction Which Adheres to an Instruction Explanation 1. IN# (Input number) /IG# (Input group number) /B Variable number /LB Variable number /B [Array number] /LB [Array number] /I Variable number /LI Variable number /I [Array number] /LI [Array number] /D Variable number / LD Variable number /D [Array number] /LD [Array number] /R Variable number /LR Variable number /R [Array number] /LR [Array number] Choose one of the tags from the following table.
2.6 Instruction Which Adheres to an Instruction 2. = When an IN#(Input number) is selected from the table in part 1 of this Explanation, add the following tag. No 7 Tag = Explanation Note It is equal. 3. B Variable number /LB Variable number /B [Array number] /LB [Array number] /ON /OFF When an IN#(Input number) is selected from the table in part 1 of this Explanation, choose one of the tags from the following table after the equal sign (=) is added from the table in part 2 of this Explanation.
2.6 Instruction Which Adheres to an Instruction 5. B Variable number /LB Variable number /B [Array number] /LB [Array number] /ON /OFF When an IG#(Input group number) is selected from the table in part 1 of this Explanation, choose one of the tags from the following table after “=” or “<>” are added from the table in part 4 of this Explanation.
2.6 Instruction Which Adheres to an Instruction 7.
2.6 Instruction Which Adheres to an Instruction 8. =/<>/>/>=/ It is not equal. 27 > It is greater than. 28 >= It is greater than or equal. 29 < It is less than. 30 <= It is less than or equal.
2.6 Instruction Which Adheres to an Instruction 9.
2.6 Instruction Which Adheres to an Instruction 10. =/<>/>/>=/ It is not equal. 38 > It is greater than. 39 >= It is greater than or equal. 40 < It is less than. 41 <= It is less than or equal.
2.6 Instruction Which Adheres to an Instruction 11.
2.6 Instruction Which Adheres to an Instruction 12. =/<>/>/>=/ It is not equal. 49 > It is greater than. 50 >= It is greater than or equal. 51 < It is less than. 52 <= It is less than or equal.
2.6 Instruction Which Adheres to an Instruction 13.
2.6 Instruction Which Adheres to an Instruction UNTIL Instruction set: SUBSET STANDARD EXPANDED Not available Available Available Function Evaluates the input conditions during operation. This instruction is added after other instructions for processing. Construction UNTIL 1 IN# ( Input No. ) 2 = 3 B/LB/B[]/ LB[] 4 ON/OFF Variable No. END Explanation 1. IN# (Input number) Add the following tag. No.
2.6 Instruction Which Adheres to an Instruction 3. B Variable number/LB Variable number/B [Array number]/LB [Array number]/ON/OFF. Choose one of the tags from the following table after “=” is selected from the table in part 2 of this Explanation. No. Tag Explanation Note 3 B Variable number/ LB Variable number/ B [Array number]/ LB [Array number] Specifies the byte type variable to be the condition of execution. 4 ON/OFF Specifies the condition as ON or OFF.
2.6 Instruction Which Adheres to an Instruction ENWAIT The ENWAIT instruction can be used only with parameter S2C576. Instruction set: SUBSET STANDARD EXPANDED Parameter Available Available Available S2C576 Function Carries out, in advance for the specified time, an instruction other than a move instruction on the instruction line next to the move instruction that was added with ENWAIT. Construction ENWAIT 1 T= Time (s) END Explanation 1. T=Time Add the following tag. No.
2.7 Arc Welding Instruction 2.7 Arc Welding Instruction ARCON For arc welding applications Instruction set: SUBSET STANDARD EXPANDED Available Available Available Function Outputs the welding start command. Construction AR C O N EN D A 1 W ELD 1 5 ASF# 2 W ELD 2 6 AC = 3 W ELD 3 4 W ELD 4 A rc start condition file N o.
2.7 Arc Welding Instruction Explanation 1. WELD1/WELD2/WELD3/WELD4 Choose one of the tags from the following table. These tags are valid for a system with multiple applications in which two or more arc welding applications are included. These tags are not displayed when there is only one application. No Tag Explanation 1 WELD1 Specifies Welder 1. 2 WELD2 Specifies Welder 2. 3 WELD3 Specifies Welder 3. 4 WELD4 Specifies Welder 4. Note 2.
2.7 Arc Welding Instruction 4. T=Time When AC=Current output value is selected from the table in part 2 of this Explanation, the following tag can be added or omitted. No 9 Tag T=Time Explanation Specifies the timer value at the welding start. Note Unit: Seconds Variable I/LI/I[]/LI[] can be used. (Units: 0.01 seconds) 5. V=Welding speed When AC=Current output value is selected from the table in part 2 of this Explanation, the following tag can be added or omitted.
2.7 Arc Welding Instruction SUPPLEMENT RETRY function The RETRY function performs the arc retry automatically with a condition set in the auxiliary condition file, when an arc generation error occurs. When ARCON is processed again, the arc is generated and the manipulator continues working. Arc generation mistake. ARCON is processed again. • REPLAY mode Returns to the former step, performs retract inching, returns to the start point and tries the arc again. Keeps working when the arc is generated.
2.7 Arc Welding Instruction Example (1) ARCON ASF#(1) Starts welding with the condition set to No.1 in the arc start condition file. (2) NOP MOVJ VJ=50.00 MOVL V=200 MOVL V=220 WVON WEV#(2) ARCON AC=220 AVP=100 T=0.50 MOVL V=138 ARCOF WVOF MOVL V=200 MOVJ VJ=50.
2.7 Arc Welding Instruction ARCOF For arc welding applications Instruction set: SUBSET STANDARD EXPANDED Available Available Available Function Outputs welding end command. Construction AR C O F A END 1 W ELD 1 5 AEF# 2 W ELD 2 6 AC= 3 W ELD 3 4 W ELD 4 7 AV= V o lta g e o u tp u t (V ) 8 AVP= R a tio to p ro p e r vo lta g e o u tp u t va lu e (% ) A rc e n d c o n d itio n file No. ( C u rre n t o u tp u t (A ) ) A B B 9 T= T im e (s ) 10 A N TS TK Explanation 1.
2.7 Arc Welding Instruction 2. AEF# (Arc end condition file number) /AC=Current output value Choose one of the tags from the following table. No Tag Explanation Note 5 AEF#(Arc end condition file number) Specifies the arc end condition file number. The condition when welding has ended is registered in the arc end condition file. No. : 1 to 12 Variable B/I/D/LB/LI/ LD can be used. 6 AC=Current output value Specifies the output value of the welding current.
2.7 Arc Welding Instruction 5. ANTSTK When AC=Current output value is selected from the table in part 2 of this Explanation, the following tag can be added or omitted. No 10 SUPPLEMENT Tag ANTSTK Explanation Note Specifies the automatic sticking release function. The automatic wire sticking release function in which the wire sticking is released automatically. It puts out a constant voltage without outputting the wire sticking signal once wire sticking is detected.
2.7 Arc Welding Instruction Example (1) ARCOF AEF#(1) The welding end condition is set in the arc end condition file No.1. (2) NOP MOVJ VJ=50.00 MOVL V=220 MOVL V=200 WVON WEV#(2) ARCON AC=220 AVP=100 T=0.50 MOVL V=138 ARCOF AC=160 AVP=90 T=0.50 WVOF MOVL V=200 MOVJ VJ=50.
2.7 Arc Welding Instruction VWELD For arc welding applications Instruction set: SUBSET STANDARD EXPANDED Available Available Available Function Sets the arc voltage by the voltage command value. Construction V o lta g e re fe re n c e v a lu e (V ) 5 VW ELD 1 W ELD1 I/L I/ I[]/L I[] 6 2 W ELD2 3 W ELD3 4 W ELD4 END V a ria b le N o . Explanation 1. WELD1 /WELD2/WELD3/WELD4 Choose one of the tags from the following table.
2.7 Arc Welding Instruction 2. Voltage command value /I Variable number /LI Variable number /I [Array number] /LI [Array number] Choose one of the tags from the following table. No Tag Explanation Note Command value: -14.00 V to +14.00 V Variable I/LI/I[]/LI[] can be used. (Units: 0.01 V) 5 Voltage command value Specifies the command value of the arc voltage. This is a command value of the voltage which is transmitted from the controller to the welder to output the welding voltage from the welder.
2.7 Arc Welding Instruction AWELD For arc welding applications Instruction set: SUBSET STANDARD EXPANDED Available Available Available Function Sets the welding current by the current command position. Construction C u rre n t re fe re n c e v a lu e (A ) 5 AW ELD 1 W ELD1 I/L I/ I[]/L I[] 6 2 W ELD2 3 W ELD3 4 W ELD4 END V a ria b le N o . Explanation 1. WELD1/WELD2/WELD3/WELD4 Choose one of the tags from the following table.
2.7 Arc Welding Instruction 2. Current command value /I Variable number /LI Variable number /I [Array number] /LI [Array number] Choose one of the tags from the following table. No Tag Explanation Note 5 Current command value Specifies the command value of the welding current. This is a command value of the current which is transmitted from the controller to the welder to output the welding current from the welder.
2.7 Arc Welding Instruction ARCSET For arc welding applications Instruction set: SUBSET STANDARD EXPANDED Available Available Available Function Sets and changes each welding condition individually.
2.7 Arc Welding Instruction Explanation 1. WELD1/WELD2/WELD3/WELD4 Choose one of the tags from the following table. These tags are valid for a system with multiple applications in which two or more arc welding applications are included. These tags are not displayed when there is only one application. No. Tag Explanation 1 WELD1 Specifies Welder 1. 2 WELD2 Specifies Welder 2. 3 WELD3 Specifies Welder 3. 4 WELD4 Specifies Welder 4. Note 2.
2.7 Arc Welding Instruction 4. V=Welding speed The following tag can be added or omitted. No. Tag 8 V=Welding speed Explanation Specifies the speed while welding. Note Speed: 0.1 mm to 1500.0 mm/s. Setting the parameter S2C101 can change the units. Variable B/I/D/B[]/I[]/ D[]/LB/LI/LD/LB[]/ LI[]/LD[] can be used. (Units: 0.1 mm/s) 5. AN3=Aimed value of instruction voltage The following tag can be added or omitted. No.
2.7 Arc Welding Instruction Example NOP MOVJ VJ=50.00 MOVJ VJ=80.00 ARCON AC=200 AVP=100 T=0.30 MOVL V=50 MOVL V=50 ARCSET AC=250 MOVL V=65 ARCOF MOVJ VJ=50.00 MOVJ VJ=100.
2.7 Arc Welding Instruction WVON For arc, general-purpose, and laser welding applications Instruction set: SUBSET STANDARD EXPANDED Available Available Available Function Starts weaving operation. Construction The tags to be added differ depending on the control group in the job. W VON A 1 RB1 5 W E V# 2 RB2 6 AMP= 3 RB3 4 RB4 7 FREQ= W eaving condition file N o.
2.7 Arc Welding Instruction Availability of Each Tag No Tag Control Group 1 1 RB1 × 2 RB2 × 3 RB3 × 4 WEV#() 5 AMP= 6 FREQ= 7 ANGL= 8 DIR= Note 2 : Available ×: Not available Explanation 1. RB1/RB2/RB3/RB4 Choose one of the tags from the following table. No Tag Explanation 1 RB1 Specifies Robot 1 for weaving. 2 RB2 Specifies Robot 2 for weaving. 3 RB3 Specifies Robot 3 for weaving. 4 RB4 Specifies Robot 4 for weaving.
2.7 Arc Welding Instruction 2. WEV# (Weaving condition file number)/AMP=Weaving single amplitude Choose one of the tags from the following table. No Tag Explanation Note 5 WEV#(Weaving condition file number) Specifies the weaving condition file number. The condition when the weaving operates is registered in the weaving condition file. No. : 1 to 16 Variable B/I/D/LB/LI/ LD can be used. 6 AMP=Weaving signal amplitude Specifies the amplitude of oscillation for weaving. Single amplitude: 0.
2.7 Arc Welding Instruction 5. DIR=Direction of oscillation The following tag can be added or omitted. No. 9 Tag DIR=Direction of oscillation Explanation Note Specifies the direction of oscillation. Refer to the supplement “Weaving conditions”. Direction: 0 or 1 0: Forward 1: Reversed Variable B/I/D/B[]/I[]/ D[]/LB/LI/LD/LB[]/ LI[]/LD[] can be used.
2.7 Arc Welding Instruction SUPPLEMENT Wearing conditions • Weaving single amplitude Set the amplitude of oscillation. Single amplitude • Weaving angle Set the angle of oscillation. Wall direction Wall direction Angle: 0.1 deg. to 180.0 deg. Angle: 0.1 deg. to 180.0 deg.
2.7 Arc Welding Instruction SUPPLEMENT For details of the weaving condition file number, refer to the “Operator’s Manual for the Arc Welding”. Example (1) WVON WEV#(1) DIR=1 Weaving starts with the conditions specified in the weaving condition file. (2) NOP MOVJ VJ=50.00 MOVL V=220 MOVL V=200 WVON AMP=5.0 FREQ=3.0 ANGL=40.0 ARCON AC=220 AVP=100 T=0.5 MOVL V=138 ARCOF AC=160 AVP=90 T=0.50 WVOF MOVL V=200 MOVJ VJ=50.
2.7 Arc Welding Instruction WVOF For arc, general-purpose, and laser welding applications Instruction set: SUBSET STANDARD EXPANDED Available Available Available Function Ends weaving operation. Construction The tags to be added differ depending on the control group in the job. W VOF 1 RB1 2 RB2 3 RB3 4 RB4 END Job Type and Control Group No.
2.7 Arc Welding Instruction Explanation 1. RB1/RB2/RB3/RB4 Choose one of the tags from the following table. No Tag Explanation Note 1 RB1 Specifies Robot 1 to end weaving. 2 RB2 Specifies Robot 2 to end weaving. 3 RB3 Specifies Robot 3 to end weaving. 4 RB4 Specifies Robot 4 to end weaving. Example NOP MOVJ VJ=50.00 MOVL V=220 MOVL V=200 WVON WEV#(2) ARCON AC=220 AVP=100 T=0.50 MOVL V=138 ARCOF AC=160 AVP=90 T=0.50 WVOF MOVL V=200 MOVJ VJ=50.
2.7 Arc Welding Instruction ARCCTS For arc welding applications Instruction set: SUBSET STANDARD EXPANDED Available Available Available Function Controls the welding current and the voltage in the specified starting section. This function is used with the move instruction. The current and the voltage are changed while the robot is moving. The aimed value and section have to be set. The section is specified as a distance from the moving start point.
2.7 Arc Welding Instruction Explanation 1. WELD1/WELD2/WELD3/WELD4 Choose one of the tags from the following table. These tags are valid for a system with multiple applications in which two or more arc welding applications are included. These tags are not displayed when there is only one application. No Tag Explanation 1 WELD1 Specifies Welder 1. 2 WELD2 Specifies Welder 2. 3 WELD3 Specifies Welder 3 4 WELD4 Specifies Welder 4 Note 2.
2.7 Arc Welding Instruction 4. AN3=Aimed value of instruction voltage The following tag can be added or omitted. No Tag Explanation Note 8 AN3=Aimed value of instruction voltage Specifies the aimed value of the instruction voltage to analog output 3. Aimed value: -14.00 V to +14.00 V Variable I/I[]/LI/LI[] can be used. (Units: 0.01 V) 5. AN4=Aimed value of instruction voltage The following tag can be added or omitted.
2.7 Arc Welding Instruction Example (1) ARCCTS AC=150 AV=16.0 DIS=100.0 MOVL V=80 To make the welding current =150A and arc voltage =16V, the current and the voltage are changed in the section of 100mm from the move start point.
2.7 Arc Welding Instruction ARCCTE For arc welding applications Instruction set: SUBSET STANDARD EXPANDED Available Available Available Function Controls the welding current and the voltage in the specified end section. This function is used with the move instruction and modifies the current and the voltage while the manipulator is moving. The aimed value and the section are set. The section is specified as a distance from the moving end point.
2.7 Arc Welding Instruction Explanation 1. WELD1 /WELD2/WELD3/WELD4 Choose one of the tags from the following table. These tags are valid for a system with multiple applications in which two or more arc welding applications are included. These tags are not displayed when there is only one application. No Tag Explanation 1 WELD1 Specifies Welder 1. 2 WELD2 Specifies Welder 2. 3 WELD3 Specifies Welder 3. 4 WELD4 Specifies Welder 4. Note 2.
2.7 Arc Welding Instruction 4. AN3=Aimed value of instruction voltage The following tag can be added or omitted. No Tag Explanation Note 8 AN3=Aimed value of instruction voltage Specifies the aimed value of the instruction voltage to analog output 3. Aimed value: -14.00 V to +14.00 V Variable I/I[]/LI/LI[] can be used. (Units: 0.01 V) 5. AN4=Aimed value of instruction voltage The following tag can be added or omitted.
2.7 Arc Welding Instruction Example (1) ARCCTE AC=150 AV=16.0 DIS=100.0 MOVL V=80 To make the welding current =150A and arc voltage =16V, the current and the voltage are changed in the section of 100mm from the move end point.
2.8 Handling Instruction 2.8 Handling Instruction HAND For handling applications Instruction set: SUBSET STANDARD EXPANDED Available Available Available Function Turns the signal to the tool valve ON or OFF to control the tool. Construction 5 HAND 1 Hand No. 6 B/LB/B[]/ LB[] 7 ON/OFF Variable No. A UNIT1 2 UNIT2 3 UNIT3 4 UNIT4 A END 8 ALL Explanation 1. UNIT1/UNIT2/UNIT3/UNIT4 Choose one of the tags from the following table.
2.8 Handling Instruction 2. Hand number Add the following tag. No. 5 Tag Hand number Explanation Specifies the hand number. Note No.: 1 to 4 Variable B/I/D/LB/LI/ LD can be used. 3. B Variable number/LB Variable number/B [Array number]/LB [Array number]/ON/OFF Choose one of the tags from the following table. No.
2.8 Handling Instruction HSEN For handling applications Instruction set: SUBSET STANDARD EXPANDED Available Available Available Function Monitors the input status of the tool sensor. Stores the result in the system variable $B014. SUPPLEMENT For details of system variables, refer to GETS of " 2.3 Operating Instruction ". Construction 5 HSEN 1 UNIT1 2 UNIT2 3 UNIT3 4 UNIT4 Sensor No. 6 B/LB/B[]/ LB[] 7 ON/OFF Variable No. A A END 8 T= 9 FOREVER Time (s) Explanation 1.
2.8 Handling Instruction 2. Sensor number Add the following tag. No. 5 Tag Sensor number Explanation Specifies the sensor number. Note No.: 1 to 8 Variable B/I/D/LB/LI/ LD can be used. 3. B Variable number/LB Variable number/B [Array number]/LB [Array number]/ON/OFF Choose one of the tags from the following table. No.
2.9 Spot Welding Instruction 2.9 Spot Welding Instruction GUNCL For spot welding applications Instruction set: SUBSET STANDARD EXPANDED Available Available Available Function Applies pressure to the air gun. Construction GUNCL 1 GUN# ( 2 ) Gun No. T= Gun pressure time (s) A A END 3 ATT= Anticipation time (s) Explanation 1. GUN# (Gun number) Add the following tag. No. Tag 1 GUN# (Gun number) Explanation Specifies the number of the air gun to which pressure is applied. Note No.
2.9 Spot Welding Instruction 3. ATT= Anticipation time The following tag can be added or omitted. No. 3 Tag ATT=Anticipaton time Explanation Note Specifies the anticipation time for which the execution of the GUNCL instruction is advanced. The GUNCL instruction is carried out in advance for the specified time before reaching the step immediately before the GUNCL instruction. An NWAIT tag must be added to the move instruction of the step immediately before the GUNCL instruction.
2.9 Spot Welding Instruction SPOT For spot welding applications Instruction set: SUBSET STANDARD EXPANDED Available Available Available Function Starts the welding sequence after pressure has been applied to the air gun. Construction SPOT A 1 3 GUN# ( Gun 1 number ) 2 MODE= Gun 1 operation mode Gun 1 welding conditions WTM= D 4 B 5 MODE= A GUN# Gun 2 number Gun 2 operation mode 6 WTM= B C Gun 2 welding conditions D C END 7 ATT= Anticipation time (s) Explanation 1.
2.9 Spot Welding Instruction 2. MODE=Gun 1 operation mode Add the following tag. No. 2 SUPPLEMENT Tag MODE=Gun 1 operation mode Explanation Note Specifies the operation mode of the air gun. For a 2-gun system, specify the operation mode of the first air gun. Mode: 0 to 4 Variable B/B[]/LB/ LB[]/I/I[]/LI/LI[]/D/D[]/ LD/LD[] can be used. Gun operation mode The following table lists the settings and their operation modes.
2.9 Spot Welding Instruction 4. GUN# (Gun 2 number) The following tag can be added or omitted. No. 4 Tag Gun 2 number Explanation Note Specifies the number of the air gun used for welding. For a 2-gun welding system, specify the number of the second air gun. No.: 1 to 8 Variable B/I/D/LB/LI/ LD can be used. 5. MODE=Gun 2 operation mode When a Gun 2 number (GUN#) is selected from the table in part 4 of this Explanation, add the following tag. No.
2.9 Spot Welding Instruction 7. ATT=Anticipation time The following tag can be added or omitted. No. Tag Explanation Note 7 ATT=Anticipation time Specifies the anticipation time for which the execution of the SPOT instruction is advanced. The SPOT instruction is carried out in advance for the specified time before reaching the step immediately before the SPOT instruction. An NWAIT tag must be added to the move instruction of the step immediately before the SPOT instruction.
2.9 Spot Welding Instruction STROKE For spot welding applications Instruction set: SUBSET STANDARD EXPANDED Available Available Available Function Switches the open status of the 2-step stroke gun to/from Full open to/from Short open when not welding. Construction 1 STROKE GUN# ( Gun No. ) 2 LONG 3 SHORT END Explanation 1. GUN# (Gun number) Add the following tag. No. Tag Explanation Note 1 Gun# (Gun number) Specifies the number of the air gun whose open status is to be changed.
2.9 Spot Welding Instruction STRWAIT For spot welding applications Instruction set: SUBSET STANDARD EXPANDED Available Available Available Function Confirms the specified open status of a 2-step stroke gun as short open or full open when not welding. Wait until the signal of the specified open status, short open or full open, is turned ON. Construction 1 STRWAIT GUN# ( Gun No. ) 2 LONG 3 SHORT END Explanation 1. GUN# (Gun number) Add the following tag. No.
2.9 Spot Welding Instruction Example MOVL V=1000 NWAIT STROKE GUN#(1) LONG STRWAIT GUN#(1) LONG Step 5 When the manipulator reaches Step 5, the open status changes to Full open, and the manipulator confirms the Full open status before moving to the next step.
2.10 General-purpose Instruction 2.10 General-purpose Instruction TOOLON For general-purpose applications Instruction set: SUBSET STANDARD EXPANDED Available Available Available Function Turns ON the work instruction. Construction TOOLON END 1 TOOL1 2 TOOL2 3 TOOL3 Explanation 1. TOOL1/TOOL2/TOOL3 Choose one of the tags from the following table. These tags are valid for a system with multiple applications in which two or more general-purpose applications are included.
2.10 General-purpose Instruction Example TOOLON Turns ON the work instruction. Turns ON the work start instruction (dedicated output relay #50770) and waits for the work start response (dedicated input relay #40570). When the work start response is turned ON, the next instruction is carried out. The work start response relay is designed to turn ON immediately after the output of the work start instruction.
2.10 General-purpose Instruction TOOLOF For general-purpose applications Instruction set: SUBSET STANDARD EXPANDED Available Available Available Function Turns OFF the work instruction. Construction TOOLOF END 1 TOOL1 2 TOOL2 3 TOOL3 Explanation 1. TOOL1/TOOL2/TOOL3 Choose one of the tags from the following table. These tags are valid for a system with multiple applications in which two or more general-purpose applications are included.
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