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    FANUC RoboticsSYSTEM R-J2 ControllerHandlingTool Setup andOperations ManualVersion 4.40-1MARO2HT4405801E REV. BThis publication contains proprietary information of FANUC RoboticsNorth America, Inc. furnished for customer use only. No other uses areauthorized without the express written permissi...

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    The descriptions and specifications contained in this manual were in effectat the time this manual was approved for printing. FANUC RoboticsNorth America, Inc, hereinafter referred to as FANUC Robotics, reservesthe right to discontinue models at any time or to change specifications ordesign with...

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    Copyright E 1998 by FANUC Robotics North America, Inc.All Rights ReservedThe information illustrated or contained herein is not to be reproduced,copied, translated into another language, or transmitted in whole or in partin any way without the prior written consent of FANUC Robotics NorthAmerica,...

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    Issued United States PatentsivOne or more of the following U.S. patents might be related to the FANUC Robotics products described in thismanual.3,906,3234,274,8024,289,4414,299,5294,336,9264,348,6234,359,8154,366,4234,374,3494,396,9734,396,9754,396,9874,406,5764,415,9654,416,5774,430,9234,431,366...

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    FANUC Robotics – Technical Support Hotline1-800-47-ROBOT(1-800-477-6268)Local/Internal 248-377-7159Technical Service (Press 1)Tel (248) 377-7159Fax: (248) 377-746324 Hour HotlineParts (Press 2)Tel (248) 377-7278Fax: (248) 377-78328:00 am to 8:00 pm Monday to FridayTraining (Press 3)Tel (248) 3...

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    UPDATES FOR V4.40This section lists the updates that have been made to the HandlingTool product for V4.40 in thefollowing areas:PageTCPMATE-1Overview-1Setting up TCPMate-2TCPMate Troubleshooting-23TCPMate Adjustment-27TCPMate Error Recovery-31

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    .1 TCPMATE.1.1 OverviewThe TCPMate option provides a cost effective, easy-to-use solution to adjust the Tool Center Point(TCP) automatically. TCPMate automatically compensates for bent tools to reduce weld defects andincrease system productivity.When you use TCPMate, you start with a system that ...

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    • TCPMate can be used with all end-of-arm safety devices and mounting arms, as long as theystay constant. TCPMate will recover the TCP of a tool or teach tip that can be inserted into acircular hole. TCPMate can be used with virtually any circular opening on a solid surface, suchas a 6mm steel ...

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    4. Master the TCP reference..1.2.1 Touch Plate InstallationBefore you can define the TCPMate tool frame and master the TCP, you must install a touch plate on astationary object within the robot workcell. See 10,Figure 10,–1 for illustrations of the touch plate.–3

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    Figure –1. Recommended TCPMate Touch Plate Specifications20mm40mm40mm40mm40mm80mm200mmStandard Non–Arc PlateRecommended Steel Plate Dimensions: 80mm X 200mm X 6mm20mm8mm–4

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    Use 11,Procedure 11,-1 to install and align the touch plate.Procedure -1 Installing and Aligning the Touch PlateConditions• The TOOL frame has be set up correctly.Refer to for more information.Steps1. Install the touch plate on a flat level surface well within the workcell. See 12,Figure 12...

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    Figure –2. Installing the Touch Plate2. Align the touch plate so that the plate is perpendicular to the specified robot WORLD axis. Thedefault and typical frame is +z, meaning that the plate is in the WORLD x-y plane and motionfrom the reference position in the -z direction will cause the tool ...

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    Note If you are using ArcTool and require compatibility with TorchMate, refer to the“TorchMate” chapter in the FANUC Robotics SYSTEM R-J3iB Controller ArcTool Setup andOperations Manual for further information. TCPMate can coexist with TorchMate..1.2.2 TCPMate Mode SelectionBefore you can use...

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    Table –1. TCPMate Mode Setup Items (Cont’d)ITEMDESCRIPTIONReferenceValues: COMPLETE orINCOMPLETEThis item indicates whether the tool reference setup is complete. If Reference isINCOMPLETE, you can not run TCPMate.Tool LogValues: ENABLED orDISABLEDDefault: ENABLEDThis item indicates whether th...

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    1: TCP XY5: QUICK XY2: TCP XYZ6: TCP ALIGN3: TCP XYZWPR4: TCP ZTCPMate MenuX: .011Y: -.051Z: .071W: 0.000P: 0.000R: 0.000Mode:TCP XYZWPRSetup:COMPLETEReference:COMPLETETool Log:ENABLED6. Select the TCPMate mode: Move the cursor to one of the following TCPMate modes, andpress ENTER:• To correct ...

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    You will see a screen similar to the following.TCPMate MenuCurrent Tool:[1]X: 214.359Y: -111.097Z: -14.319W: 89.338P: 3.116R: -81.444TCP Offset[mm]: .088X: .011Y: -.051Z: .071W: 0.000P: 0.000R: 0.000Mode:TCP ZSetup:COMPLETEReference:COMPLETETool Log:ENABLED.1.2.3 TCPMate Setup and CalibrationBefo...

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    Table –2. TCPMate TCP Calibration Items (Cont’d)ITEMDESCRIPTIONDigital PortValues: RDI, DI, WDI, orWSIDefault: RDIThis item indicates the desired input port type. The port types are:• RDI - Robot Digital Input• DI - normal Digital Input• WDI - Weld Digital Input• WSI - Wire Stick circ...

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    Table –2. TCPMate TCP Calibration Items (Cont’d)ITEMDESCRIPTIONCircle AxisValues: WORLD X, Y, Z,-X, -Y, -ZDefault: WORLD ZThis item indicates the axis perpendicular to the touch plate. A normal installationis WORLD z, where -z motion from the home reference position will cause thetool to go t...

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    Table –2. TCPMate TCP Calibration Items (Cont’d)ITEMDESCRIPTIONEntering, Exiting progValues: valid programname(s)These items indicate the programs that will be used before and after TCPMatemotion is executed during automatic operation. These items provide entrance andexit paths, ensure a safe...

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    Table –2. TCPMate TCP Calibration Items (Cont’d)ITEMDESCRIPTIONSearch DistanceUnits: mmRange: 50 - 500Default: 50This item is the maximum distance that TCPMate will move while looking for thesignal.Learn DistanceUnits: mmRange: 0.5 – 10.0Default: 5.0For“TOS All Axes” method only, there ...

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    Table –2. TCPMate TCP Calibration Items (Cont’d)ITEMDESCRIPTIONAlign ThresholdUnits: mmRange: 0.0 -5.0Default: 2.0This item is the maximum alignment change allowed in millimeters from theprevious TCP to the new TCP. If the alignment change is greater than the slignthreshold, then a prompt box...

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    Table –2. TCPMate TCP Calibration Items (Cont’d)ITEMDESCRIPTIONTorque ThresholdUnits: max. motor torqueRange: 1 to 999Default: 100This item is the level of disturbance torque that is used as another means ofTCPMate detection. The default value of 100 is considered normal operation fortypical ...

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    TCPMate Setup Menu1 Sensor Type:TOS All Axes2 Digital Port:RDI [1]3 Circuit Enable:DOUT[1]Device Setup4 Two Circles:FALSE5 Circle Axis:World Z6 Points on Circle:47 TCP Z Offset:30.000 mm8 Tool Log Enable:TRUE9 Tool Log Size:1010 Auto Update:TRUE11 Entering prog:************12 Exiting prog:*******...

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    Note The default sensor type is TOS All Axes (Torque Observer Sensor, All Axes). Normally,you will use TOS only. However, TCPMate can work with other sensors, such as electricalcontinuity.6. Select the appropriate sensor type and press ENTER. Refer to 16,Table 16,–2 for information onvalid Se...

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    10. If you have installed the TCPMate touch plate in anything other than the WORLD XYplane with -z motion going from the reference position through the circle, move the cursorto Circle Axis and press F4, [CHOICE]. You will see a screen similar to the following.1 World X5 World -Y2 World Y6 World ...

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    3. Press F1, [TYPE].4. Select TCPMate. You will see a screen similar to the following.TCPMate MenuCurrent Tool:[1]X: 214.359Y: -111.097Z: -14.319W: 89.338P: 3.116R: -81.444TCP Offset[mm]: .088X: .011Y: -.051Z: .071W: 0.000P: 0.000R: 0.000Mode:TCP XYSetup:COMPLETEReference:COMPLETETool Log:ENABLED...

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    • If you selected TCP XYZWPR mode (not available for SpotTool+) in 22,Procedure 22,-3 and youhave set Two Circles to TRUE, you will see a screen similar to the following.TCPMate Reference1 Approach Position:RECORD2 Small Circle Center:RECORD3 Large Circle Center:RECORD4 Plate Position:RECORD...

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    i. When you are finished recording positions, press F2, MASTER. You will see a prompt boxsimilar to the following.TCPMate ReferenceWARNING!Robot Will Move If ContinuedPress F2 to ContinuePress F3 to AbortCONTABORTj. Verify that all cell fences and other safety devices are set for automatic operat...

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    TCPMate ReferenceWARNING!Robot Will Move If ContinuedPress F2 to ContinuePress F3 to AbortCONTABORTh. Verify that all cell fences and other safety devices are set for automatic operation and pressF2, CONT, to continue.Note If the operation was unable to complete, verify that the positions were ta...

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    TCPMate MenuCurrent Tool:[1]X: 214.359Y: -111.097Z: -14.319W: 89.338P: 3.116R: -81.444TCP Offset[mm]: .088X: .011Y: -.051Z: .071W: 0.000P: 0.000R: 0.000Mode:TCP XYSetup:COMPLETEReference:COMPLETETool Log:ENABLED5. Move the cursor to Tool Log and press F4, [DETAIL], or ENTER. You will see a screen...

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    TCPMate Tool LogUpdate the UTOOL?Please make sure to verifyrobot paths before goinginto production.YESNOMove the cursor to YES and press ENTER.• If you want to clear the log and remove all data entries, press F4, CLEAR. You will see ascreen similar to the following.TCPMate Tool LogClear the who...

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    4. Select TCPMate. You will see a screen similar to the following.TCPMate MenuCurrent Tool:[1]X: 214.359Y: -111.097Z: -14.319W: 89.338P: 3.116R: -81.444TCP Offset[mm]: .088X: .011Y: -.051Z: .071W: 0.000P: 0.000R: 0.000Mode:TCP XYSetup:COMPLETEReference:COMPLETETool Log:COMPLETE5. Press F2, EXEC. ...

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    Note If the error tolerance is exceeded during automatic operation, you will see a prompt box similarto the following.TCPMate MenuThe new TCP is differed fromthe current TCP by 2.144 [mm].Please verify the TCP beforeusing it on existing programs.OKThis prompt box is a warning that the UTOOL is ab...

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    • If you have selected I/O or I/O & TOS as the TCPMate sensor type, all necessary circuitryshould be enabled. Refer to 22,Procedure 22,-3.• Your program has been created using a TOOL frame that has been mastered with TCPMate.Refer to 25,Procedure 25,-4.• A worn or damaged tool is ca...

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    TCPMate MenuCurrent Tool:[1]X: 214.359Y: -111.097Z: -14.319W: 89.338P: 3.116R: -81.444TCP Offset[mm]: .088X: .011Y: -.051Z: .071W: 0.000P: 0.000R: 0.000Mode:TCP XYSetup:COMPLETEReference:COMPLETETool Log:ENABLED3. To perform the manual adjustment,press F2,EXEC.4. To accept the tool offset, press ...

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    Automatic Adjustment Program Example20:J P[10:HOME] 100% FINEOriginal program21:R[1] = R[1] + 1Added instructions22:IF R[1] = 10 JMP LBL123:JMP LBL224:LBL125:CALL TCPMATE26:R[1] = 027:LBL2[END]2. Display the TCPMate setup menu:a. Press MENUS.b. Select UTILITIES.c. Press F1, [TYPE].d. Select TCPMa...

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    Table –4. Effects of Auto Update Value on the TCPMATE ProgramIf Auto Update isAnd This Is TrueThen This Will Occur--The system variable $MNUTOOL isupdated every time the TCPMATEprogram is called.Logging is enabledThepreviousTOOLisstoredin thelog.An error occursThe program is paused and a prompt...

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    1. Review the error message for an indication on the problem.2. Correct the problem.3. Abort any program that is paused.4. Press EXEC at the menu page (to display the TCPMate Menu screen, refer to 14,Procedure 14,-2, 14,Step1 through 14,Step 14,4). The robot will perform the TCPMate motion a...

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    Table –5. TCPMate Fit and Convergence Errors (Cont’d)Try ThisDescriptionReduce motion speed. *Under certain conditions, the default motion speed can cause too much vibration.For best performance, TCPMate uses increased acceleration values. Try loweringthe motion speed from the default 100mm/s...

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    PrefaceviiMARO2HT4405801EThis manual describes FANUC Robotics HandlingTool setup andoperation:D SetupD Program development and testingD Production runD Status displayD Error recoveryUse this table to locate specific information in the manual.If you want toRefer toFind information about a specific...

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    PREFACEMARO2HT4405801EviiiThis manual includes information essential to the safety of personnel,equipment, software, and data. This information is indicated by headingsand boxes in the text.WARNINGInformation appearing under WARNING concerns theprotection of personnel. It is boxed and in bold t...

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    Table of ContentsMARO2HT4405801EixPrefacevii. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Safetyxxxvii. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ....

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    TABLE OF CONTENTSMARO2HT4405801Ex1.4.12 STATUS Menu Map1–53. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1.4.13 POSITION Menu Map1–54. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ...

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    TABLE OF CONTENTSMARO2HT4405801Exi3.7 CONTROLLING I/O3–75. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.7.1 Forcing Outputs3–75. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ...

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    TABLE OF CONTENTSMARO2HT4405801ExiiChapter 5PLANNING AND CREATING A PROGRAM5–1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.1 PLANNING A PROGRAM5–2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.1.1 Mot...

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    TABLE OF CONTENTSMARO2HT4405801Exiii6.5.4 PALLETIZING-EX Instruction6–82. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.5.5 PALLETIZING-END Instruction6–90. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ...

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    TABLE OF CONTENTSMARO2HT4405801ExivChapter 7TESTING A PROGRAM AND RUNNING PRODUCTION7–1. . . . . . . . . . . . . . . . . . . . . . . . . . . 7.1 PROGRAM PAUSE AND RECOVERY7–2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.1.1 EMERGENCY STOP and Recovery7...

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    TABLE OF CONTENTSMARO2HT4405801Exv8.15 EXECUTION HISTORY8–34. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.16 SOP I/O STATUS8–36. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ...

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    TABLE OF CONTENTSMARO2HT4405801ExviChapter 10ADVANCED FUNCTIONS10–1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10.1 MIRROR IMAGE UTILITY10–4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ....

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    TABLE OF CONTENTSMARO2HT4405801Exvii10.12 CONTINUOUS TURN FUNCTION10–92. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10.12.1 Function10–92. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ...

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    TABLE OF CONTENTSMARO2HT4405801Exviii10.20.6 Programming10–158. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10.20.7 Testing10–161. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ...

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    TABLE OF CONTENTSMARO2HT4405801ExixAppendix AERROR CODES AND RECOVERYA–1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A.1 OVERVIEWA–3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ...

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    TABLE OF CONTENTSMARO2HT4405801ExxAppendix DPROGRAM EXAMPLESD–1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . D.1 /PROG PREG_ELED–2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ....

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    TABLE OF CONTENTSMARO2HT4405801ExxiList of ProceduresProcedure 2–1 Turning On the Robot2–3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Procedure 2–2Turning Off the Robot2–4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ...

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    TABLE OF CONTENTSMARO2HT4405801ExxiiProcedure 3–42 Setting Current Language3–152. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Procedure 3–43 Setting Ignore Offset3–153. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ...

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    TABLE OF CONTENTSMARO2HT4405801ExxiiiProcedure 8–3 Displaying and Setting Position Registers8–8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Procedure 8–4 Displaying the Pallet Register Screen8–11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Procedure...

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    TABLE OF CONTENTSMARO2HT4405801ExxivProcedure 10–8 Using the Shape Schedule and DETAIL Screen10–53. . . . . . . . . . . . . . . . . . . . . . . . . . . Procedure 10–9 Performing Shape Adjustments Using the Shape Adjust Utility10–74. . . . . . . . . . . . . . Procedure 10–10 Setting up ...

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    TABLE OF CONTENTSMARO2HT4405801ExxvProcedure C–7 Using EMON> UtilitiesC–15. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Procedure C–8 Using DIAG> UtilitiesC–17. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ...

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    TABLE OF CONTENTSMARO2HT4405801ExxviFigure 1–28. R-J2 Controller Standard Operator Panels1–21. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Figure 1–29. Mode Select Switch (European Controller)1–22. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Figure ...

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    TABLE OF CONTENTSMARO2HT4405801ExxviiFigure 3–5. Process I/O Board Hardware Layout for Digital I/O3–11. . . . . . . . . . . . . . . . . . . . . . . . . . Figure 3–6. Modular I/O Hardware Layout For Digital I/O3–11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Figure 3–7. ...

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    TABLE OF CONTENTSMARO2HT4405801ExxviiiFigure 5–7. Background Edit Process (continued)5–32. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Figure 6–1. Program Example6–3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ...

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    TABLE OF CONTENTSMARO2HT4405801ExxixFigure 6–42. R[x] = [value] [operator] [value]6–95. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Figure 6–43. PR[GRPn:x] = [value]6–96. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ...

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    TABLE OF CONTENTSMARO2HT4405801ExxxFigure 6–84. Skip Condition6–119. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Figure 6–85. Skip Condition6–119. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ...

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    TABLE OF CONTENTSMARO2HT4405801ExxxiFigure 8–9. Duty Diagnosis Screen8–38. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Figure 9–1. Location of Standard and Optional Ports on an i-Size Controller9–4. . . . . . . . . . . . . . . . Figure...

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    TABLE OF CONTENTSMARO2HT4405801ExxxiiFigure 10–27. Circle Schedule SCHEDULE Screen10–55. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Figure 10–28. Circle Schedule DETAIL Screen10–55. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Fi...

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    TABLE OF CONTENTSMARO2HT4405801ExxxiiiFigure 10–69. Condition for Register, System Variable, and I/O Parameters10–131. . . . . . . . . . . . . . . . . Figure 10–70. Condition2 for I/O10–131. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ...

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    TABLE OF CONTENTSMARO2HT4405801ExxxivFigure A–1. Hexadecimal Error Message DisplayA–10. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Figure B–1. Built-in and Remote CRT/KBsB–1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ....

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    TABLE OF CONTENTSMARO2HT4405801ExxxvTable 5–1. Paste Methods5–18. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Table 5–2. Troubleshoot Background Edit – Problem Cause and Remedy5–35. . . . . . . . . . . . . . . . . T...

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    TABLE OF CONTENTSMARO2HT4405801ExxxviTable 10–7. Hexagon Schedule Data10–58. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Table 10–8. Rectangle Schedule Data10–60. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ...

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    SafetyMARO2HT4405801ExxxviiFANUC Robotics is not and does not represent itself as an expert in safetysystems, safety equipment, or the specific safety aspects of your companyand/or its work force. It is the responsibility of the owner, employer, oruser to take all necessary steps to guarantee th...

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    SAFETYMARO2HT4405801ExxxviiiSafety is essential whenever robots are used. Keep in mind the followingfactors with regard to safety:D The safety of people and equipmentD Use of safety enhancing devicesD Techniques for safe teaching and manual operation of the robot(s)D Techniques for safe automati...

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    SAFETYMARO2HT4405801ExxxixD Clearly identify the work envelope of each robot in the system withfloor markings, signs, and special barriers. The work envelope is thearea defined by the maximum motion range of the robot, including anytooling attached to the wrist flange that extend this range.D Po...

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    SAFETYMARO2HT4405801ExlAdvise all personnel who must teach the robot or otherwise manuallyoperate the robot to observe the following rules:D Never wear watches, rings, neckties, scarves, or loose clothing thatcould get caught in moving machinery.D Know whether or not you are using an intrinsicall...

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    SAFETYMARO2HT4405801ExliAdvise all personnel who operate the robot during production to observethe following rules:D Make sure all safety provisions are present and active.D Know the entire workcell area. The workcell includes the robot and itswork envelope, plus the area occupied by all externa...

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    SAFETYMARO2HT4405801ExliiD If power is needed to check the robot motion or electrical circuits, beprepared to press the EMERGENCY STOP button, in an emergency.D Be aware that when you remove a servomotor or brake, the associatedrobot arm will fall if it is not supported or resting on a hard stop....

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    SAFETYMARO2HT4405801ExliiiD Isolate the robot from all remote control signals. If maintenance mustbe done when the power is on, make sure the person inside the workenvelope has sole control of the robot. The teach pendant must beheld by this person.D Make sure personnel cannot get trapped betwe...

  • Page 78

    SAFETYMARO2HT4405801ExlivCertain programming and mechanical measures are useful in keeping themachine tools and other external devices safe. Some of these measures areoutlined below. Make sure you know all associated measures for safe useof such devices.Implement the following programming safet...

  • Page 79

    SAFETYMARO2HT4405801ExlvObserve the following operating and programming guidelines to preventdamage to the robot.The following measures are designed to prevent damage to the robotduring operation.D Use a low override speed to increase your control over the robot whenjogging the robot.D Visualize ...

  • Page 80

  • Page 81

    Page -21 OVERVIEW

  • Page 82

    1 OVERVIEWMARO2HT4405801E1–1Topics In This ChapterPageRobotThe robot is the mechanical unit that, along with the end-of-arm tooling (E.O.A.T.) or gripper, actually performs the task to be completed. FANUC Robotics provides the M-410i, which is suited for palletizing applications.1–3. . . . ....

  • Page 83

    MARO2HT4405801E1–21. OVERVIEWThe SYSTEM R-J2 Robot System consists of HandlingTool software,FANUC Robots and the SYSTEM R-J2 controller, referred to as the R-J2controller or controller. The R-J2 robot system provides you with the totalsolution for all your robotic needs.Figure 1–1. System O...

  • Page 84

    MARO2HT4405801E1–31. OVERVIEWA robot is a series of mechanical links driven by servomotors. The area ateach junction between the links is a joint, or axis. The first three axesmake up the major axes as shown in Figure 1–2. A robot is classified bythe number of linear and rotational major ...

  • Page 85

    MARO2HT4405801E1–41. OVERVIEWThe FANUC Robotics robot models used for material handlingapplications are:D FANUC Robot A-520iD FANUC Robot C-100D FANUC Robot F-100D FANUC Robot M-6iD FANUC Robot M-16iD FANUC Robot M-400D FANUC Robot M-410i/iW/iWXD FANUC Robot M-500D FANUC Robot M-710iD FANUC Ro...

  • Page 86

    MARO2HT4405801E1–51. OVERVIEWFigure 1–4. M-6i Robot ModelFigure 1–5. M-16i Robot ModelAXIS 1AXIS 2AXIS 3AXIS 4AXIS 5AXIS 6

  • Page 87

    MARO2HT4405801E1–61. OVERVIEWFigure 1–6. M-400 Robot ModelFigure 1–7. M-410i Robot Model

  • Page 88

    MARO2HT4405801E1–71. OVERVIEWFigure 1–8. M-500 Robot ModelFigure 1–9. M-710i Robot Model

  • Page 89

    MARO2HT4405801E1–81. OVERVIEWFigure 1–10. S-6 Robot ModelJ1J2J3J4J5J6Figure 1–11. S-12 Robot Model

  • Page 90

    MARO2HT4405801E1–91. OVERVIEWFigure 1–12. S-420iF Robot ModelAXIS 6AXIS 2AXIS 3AXIS 4AXIS 5AXIS 1Figure 1–13. S-420iW Robot Model

  • Page 91

    MARO2HT4405801E1–101. OVERVIEWFigure 1–14. S-450S Robot ModelFigure 1–15. S-500 Robot Model

  • Page 92

    MARO2HT4405801E1–111. OVERVIEWFigure 1–16. S-700 Robot Model123456Figure 1–17. S-800 Robot Model

  • Page 93

    MARO2HT4405801E1–121. OVERVIEWFigure 1–18. S-900 Robot Model

  • Page 94

    MARO2HT4405801E1–131. OVERVIEWSingle and double case grippers are available as options when youpurchase HandlingTool. Figure 1–19 and Figure 1–20 show examples ofthe kinds of grippers you might use with HandlingTool.Figure 1–19. Finger Type GripperFigure 1–20. Vacuum Type Gripp...

  • Page 95

    MARO2HT4405801E1–141. OVERVIEWThe R-J2 controller is attached to the robot and contains the power supply,operator controls, control circuitry, and memory that direct the operationand motion of the robot and communication with external devices. Youcontrol the robot using a teach pendant or an ...

  • Page 96

    MARO2HT4405801E1–151. OVERVIEWThe controller provides the capability to interact with external devices.See Figure 1–22.Figure 1–22. R-J2 Controller CapabilitiesPRINTERDISK DRIVEU O PÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎR-J2 CONTROLLERP L CRSRPNS I/OÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎ...

  • Page 97

    MARO2HT4405801E1–161. OVERVIEWThe controller is configurable internally depending on the number andtypes of external devices that you have in your system. See Figure 1–23.Figure 1–23. R-J2 Controller Possible ConfigurationTEACHPENDANTREMOTE I/OREMOTE I/OINTERFACEPOWERSUPPLYEMERGENCYCONT...

  • Page 98

    MARO2HT4405801E1–171. OVERVIEWThe teach pendant is an operator interface device that displays theHandlingTool software menus. It is connected to the controller via a cablethat plugs into either the MAIN CPU board inside the controller or, if it is adisconnectable teach pendant, to the standar...

  • Page 99

    MARO2HT4405801E1–181. OVERVIEWFigure 1–24. Teach PendantFAULTPAUSEDSTEPBUSYRUNNINGJOINTXYZTOOLOFFONMENUS key: Usethis key to displaythe menu screen.Cursor keys: Use thesekeys to move the cursor.STEP key: Use this key toswitch between stepexecution and cycleexecution.RESET key: Use this ...

  • Page 100

    MARO2HT4405801E1–191. OVERVIEWThe teach pendant includes keys that give you control of HandlingTool.There are keys used to display software menus, select options from theteach pendant menus, help you program, move the robot, and performspecific palletizing functions.The teach pendant screen di...

  • Page 101

    MARO2HT4405801E1–201. OVERVIEWThe DEADMAN switch is used as an enabling device.When the teach pendant is enabled, this switch allows robot motion onlywhile the DEADMAN switch is gripped. If you release this switch, therobot stops immediately. See Figure 1–27.Figure 1–27. DEADMAN SwitchDE...

  • Page 102

    MARO2HT4405801E1–211. OVERVIEWFigure 1–28. R-J2 Controller Standard Operator PanelsHOLDFAULT RESETCYCLE STARTÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎONOFFTEACH PENDANTFAULTBATTERYREMOTERS–232–CEMERGENCYSTOPALARMENABLEDÎÎÎÎÎÎÎÎB-SIZEi-SIZEÎÎÎÎÎÎ...

  • Page 103

    MARO2HT4405801E1–221. OVERVIEWThe MODE SELECT KEY SWITCH is installed on the operator panel.This switch is required in European controllers. You can select one of theoperation modes using this switch. The selected operation mode can belocked by removing its key. When the mode is changed usin...

  • Page 104

    MARO2HT4405801E1–231. OVERVIEWThe MODE SELECT switch is a keyswitch installed on the operator panelor operator box on controllers that have the Control Reliable (RS-1/RS-4)option. You use the MODE SELECT switch to select the most appropriateway to operate the robot, depending on the conditions...

  • Page 105

    MARO2HT4405801E1–241. OVERVIEWProgram activation – Programs can be activated from the teach pendantonly. However, programs can be activated only when the teach pendant isenabled and the DEADMAN switch is in the center position.Robot speedD During Cartesian jogging, Cartesian speed is less t...

  • Page 106

    MARO2HT4405801E1–251. OVERVIEWFigure 1–31. Effect of Opening the Safety Fence While in AUTO ModeHardware Timer(Servo Power ON)Robot DecelerationServo Power OFFFence OpenRobot starts to decelerate whenthe fence is openedInitiate ServoPower OFFThe system variable $PARAM_GROUP.$LC_QSTP_ENB def...

  • Page 107

    MARO2HT4405801E1–261. OVERVIEWYour system might be equipped with a user operator panel (UOP). A UOPis a customized operator panel that is wired to the controller. It can be acustom control panel, a cell controller, or a host computer. Your companyshould provide the information necessary for...

  • Page 108

    MARO2HT4405801E1–271. OVERVIEWWhen the emergency stop switch on operator panel, operator box, or teachpendant is pressed, the robot stops immediately.In other cases (excluding when emergency stop switch is pressed), thereare following situations when an emergency stop condition is created byth...

  • Page 109

    MARO2HT4405801E1–281. OVERVIEWWhen the EMERGENCY STOP button on operator panel, operator box, orteach pendant is pressed, the robot stops immediately.An emergency stop condition can be created not only when theEMERGENCY STOP button is pressed, but also by a combination ofoperation mode selecti...

  • Page 110

    MARO2HT4405801E1–291. OVERVIEWThe controller has the capability of serial communication using:D RS-422 serial ports, which can be used for– Teach pendant– Remote teach pendant– Custom serial interdevice linkD RS-232-C serial ports, which can be used for– CRT/KB– FANUC Robotics Indust...

  • Page 111

    MARO2HT4405801E1–301. OVERVIEWThe I/O system provides the interface between the controller, teachpendant, robot, and any other external device in your workcell. ControllerI/O can consist of the following kinds of I/O:D User Operator Panel (UOP) Inputs (UI)D User Operator Panel (UOP) Outputs (...

  • Page 112

    MARO2HT4405801E1–311. OVERVIEWThe R-J2 robot system uses the motion system to control motion. Themotion system regulates the characteristics of the movement including pathtrajectory, acceleration and deceleration, termination and robot speed.In robotic applications, single segment motion is t...

  • Page 113

    MARO2HT4405801E1–321. OVERVIEWThe following kinds of backplanes are available with the R-J2 controller:D 3-slot backplane – i-size and B-size controllersD 5-slot backplane – B-size controller onlyThe 3-slot backplane comes equipped with theD Power supplyD Main CPUD Process I/O (option)The ...

  • Page 114

    MARO2HT4405801E1–331. OVERVIEWHandlingTool software works in conjunction with the robot and the R-J2controller to allow you to:D Set up information required for the application.D Program your application.D Test your program.D Run production.D Display and monitor process information.Other tools...

  • Page 115

    MARO2HT4405801E1–341. OVERVIEWD Offset and tool offset instructions to compensate for variations in theworkpiece.D Multiple control instructions to control different motion groups anddifferent programmed tasks.D Macro command instructions to perform specific, frequently usedfunctions.D Program...

  • Page 116

    MARO2HT4405801E1–351. OVERVIEWAfter you have set up HandlingTool and successfully created a program,you must test your application to be sure it runs correctly. Refer toChapter 7 for more information.Testing the program is an important step in creating a successfulapplication program. Be cer...

  • Page 117

    MARO2HT4405801E1–361. OVERVIEWThis section contains menu maps that illustrate how to display each screenon the teach pendant. Figure 1–33 shows the full menus and indicates thesection that contains the menu map for each menu item. Figure 1–34shows the FCTN menu.NOTE The menu maps will v...

  • Page 118

    MARO2HT4405801E1–371. OVERVIEWFigure 1–35. UTILITIES Menu MapHintsF1 [TYPE]F1 [TYPE]F2 DETAILMirror image*F1 COPYF2 CLR_ADJF3 CLR_ALLUTILITIESProgram Shift*Prog AdjustF1 [TYPE]F2 UNITSF3 SCHEDF4 ENABLEF5 DISABLEF1 COPYF2 CLR_ADJF3 CLR_ALLF5 HELPNEXT >NEXT >NEXT >F1 [TYPE]F1 CLEARFr...

  • Page 119

    MARO2HT4405801E1–381. OVERVIEWFigure 1–36. UTILITIES Menu Map (continued)F1 [TYPE]UTILITIESF5 HELPAngle entry*NEXT >F1 [TYPE]F1 CLEAR* Not available for North American HandlingToolProgram ToolBox (option)F1 [ TYPE ]F5 HELPselect Cross Car Mirror, Flip KnuckleFrom Figure 1–35F1 [TYPE]F...

  • Page 120

    MARO2HT4405801E1–391. OVERVIEWFigure 1–37. TEST CYCLE Menu MapF1 [TYPE]TEST CYCLESetupF1 [ TYPE ]F2 GROUPF4 ONF5 OFFcursor on Dry runF1 [TYPE]F2 GROUPF5 HELPcursor on Cart. dry run speed / Joint dry run speed / Jog dry run speedF1 [TYPE]F2 GROUPF4 ONF5 OFFcursor on Robot lockcursor on Digit...

  • Page 121

    MARO2HT4405801E1–401. OVERVIEWFigure 1–38. MANUAL FCTNS Menu MapF1 [TYPE]MANUAL FCTNSMacrosF1 [ TYPE ]F3 [ EXEC ]Err recovery (option)F1 [TYPE]F2 DETAILF4 [CHOICE]F1 [TYPE]F5 DONE1 AUTO2 NO_EXEC3 TP_TESTFigure 1–39. ALARM Menu MapALARMF1 [TYPE]Alarm LogF1 [TYPE]F3 HISTF1 [TYPE]F3 ACTIVE ...

  • Page 122

    MARO2HT4405801E1–411. OVERVIEWFigure 1–40. I/O Menu MapI/ODigitalF1 [ TYPE ]F2 CONFIGF3 IN/OUTF4 ONF5 OFFcursor on SIMcursor on STATUSSee Figure 1–41F1 [ TYPE ]F2 MONITORF3 IN/OUTF4 DETAILF5 HELPF1 [TYPE]F2 VERIFYF1 [TYPE]F2 NEXTF3 IN/OUTF1 [TYPE]F2 VERIFYAnalogGroupF1 [TYPE]F2 CONFIGF3 I...

  • Page 123

    MARO2HT4405801E1–421. OVERVIEWFigure 1–41. I/O Menu Map (Continued)RobotI/OF1 [TYPE]SOPF1 [TYPE]F3 IN/OUTF4 ONF5 OFFF1 [TYPE]F2 DETAILF3 IN/OUTF4 ONF5 OFFF1 [TYPE]F2 MONITORF3 IN/OUTUOPF1 [TYPE]F2 CONFIGF3 IN/OUTF4 ONF5 OFFF1 [TYPE]F2 MONITORF3 IN/OUTF4 DETAILF5 HELPF1 [TYPE]F2 VERIFYF1 [TY...

  • Page 124

    MARO2HT4405801E1–431. OVERVIEWFigure 1–42. I/O Menu Map (Continued)I/OF1 [TYPE]From Figure 1–41Inter ConnectF1 [TYPE]F3 [SELECT]F4 ENABLEF5 DISABLEcursor on Enb/DisablF3 [SELECT]cursor on OUTPUT / INPUTLink DeviceF1 [TYPE]F2 DETAILF5 CLR_ASGFigure 1–43. SETUP Menu MapSETUPF1 [TYPE]See ...

  • Page 125

    MARO2HT4405801E1–441. OVERVIEWFigure 1–44. SETUP Menu Map (Continued, Page 2)From Figure 1–43SETUPSee Figure 1–45[ TYPE ]F1 [TYPE]F2 DETAILF3 [OTHER]F4 CLEARF5 SETINDTool FrameJog FrameUser FrameF1 [TYPE]F2 DETAILF3 [OTHER]F4 CLEARF5 SETINDF1 [TYPE]F2 [METHOD]F3 FRAME1 Three Point2 Six...

  • Page 126

    MARO2HT4405801E1–451. OVERVIEWFigure 1–45. SETUP Menu Map (Continued, Page 3)From Figure 1–44SETUPF1 [TYPE]MacroRef PositionF1 [TYPE]F3 DETAILcursor on Enable/disableF4 ENABLEF5 DISABLEcursor on Signal definitionF4 DOF5 ROF4 ENABLEF5 DISABLEF1 [TYPE]F2 CLEARcursor on ProgramF4 [CHOICE]12 ...

  • Page 127

    MARO2HT4405801E1–461. OVERVIEWFigure 1–46. SETUP Menu Map (Continued, Page 4)From Figure 1–45SETUPF1 [TYPE]F1 [TYPE]F3 LISTPort InitRSR/PNSF1 [TYPE]cursor on RSR or PNSF4 PNSF5 RSRcursor on program numberF4 ENABLEF5 DISABLEcursor on Acknowledge functionF4 TRUEF5 FALSESee Figure 1–47F1 [...

  • Page 128

    MARO2HT4405801E1–471. OVERVIEWFigure 1–47. SETUP Menu Map (Continued, Page 5)From Figure 1–46SETUPF1 [TYPE]cursor on Function EnableF4 ENABLEF5 DISABLEOvrd SelectF1 [TYPE]User AlarmF1 [TYPE]PasswordsF1 [TYPE]F2 USERSF3 LOGOUTF4 PASSWRDF5 HELPSpace Fnct.F1 [TYPE]F2 GROUP#F3 DETAILF4 ENABLE...

  • Page 129

    MARO2HT4405801E1–481. OVERVIEWFigure 1–48. SETUP Menu Map (Continued, Page 6)From Figure 1–47SETUPF1 [TYPE]Tracking (option)Encoder (option)F1 [TYPE]F3 ENCODERcursor on Robot Tracking Group,Track (Ext) Axis Num, TrackingEncoder Num, Part Detect Dist.,Trigger INPUT Number, SelectedBoundary...

  • Page 130

    MARO2HT4405801E1–491. OVERVIEWFigure 1–49. FILE Menu MapFILEF1 [TYPE]File1 *.*2 *.KL3 *.CF4 *.TX5 *.LS6 *.DT7 *.PC8 -– next page -–F3 LOADF4 [BACKUP]F5 [UTIL]1 Set Device2 Format1 Serial Floppy disk2 Serial Printer (text ONLY)3 FROM Device (FR:)4 RAM Disk (RD:)5 MF Disk (MF:)6 Mem Card ...

  • Page 131

    MARO2HT4405801E1–501. OVERVIEWThe items on the User Menu are user-defined. Refer to Section 6.12.6(Message Instruction).Figure 1–50. SELECT Menu MapF1 [TYPE]1 All2 TP Programs3 Macro4 CondF2 CREATEF1 PRGF2 MAINF3 SUBF4 TESTF1 ABCDEFF2 GHIJKLF3 MNOPQRF4 STUVWXF5 YZ_@*.F5 [ATTR]1 Comment2 Pr...

  • Page 132

    MARO2HT4405801E1–511. OVERVIEWFigure 1–51. EDIT Menu MapEDITF1 POINTNEXT >F1 [ INST ]RegistersI/OIF/SELECTWAITJMP/LBLCALLTrack (option)Palletizing (option)MiscellaneousF1 ED_DEFF5 DONE1 RSR [ ]2 UALM[ ]3 TIMER[ ]4 OVERRIDE5 Remark6 Message7 Parameter Name8 MAX_SPEEDSkipPayloadOffset/Fr...

  • Page 133

    MARO2HT4405801E1–521. OVERVIEWFigure 1–52. DATA Menu MapF1 [TYPE]Position RegF1 [ TYPE ]F2 MOVE_TOF3 RECORDF4 POSITIONF5 CLEARF3 CONFIGF4 DONEF5 [REPRE]1 Cartesian2 JointRegistersF1 [ TYPE ]F3 POSITIONDATAPallet regis (Palletizing option)F1 [ TYPE ]F1 [TYPE]F2 DETAILF3 UNITSF5 HELPF1 [TYPE]...

  • Page 134

    MARO2HT4405801E1–531. OVERVIEWFigure 1–53. STATUS Menu MapSTATUSF1 [TYPE]AxisF1 [ TYPE ]F2 STATUS1F3 STATUS2 F4 PULSEF5 [UTIL ]F1 [ TYPE ]F2 MONITORF3 TRACKINGF4 DISTURBF5 [UTIL ]F1 [ TYPE ]F2 REG.DISF3 DUTYF5 [UTIL ]Version IDF1 [ TYPE ]F2 SOFTWAREF3 MOT_IDF4 MOT_INFF5 SER_PARNEXT >NEXT...

  • Page 135

    MARO2HT4405801E1–541. OVERVIEWFigure 1–54. POSITION Menu MapPOSITIONF1 [ TYPE ]F2 JNTF3 USERF4 WORLDFigure 1–55. SYSTEM Menu MapSYSTEMF1 [TYPE]VariablesAxis LimitsF1 [ TYPE ]ClockF1 [ TYPE ]F4 ADJUSTOT ReleaseConfig1 NOT RECOVER2 RECOVER SIM3 UNSIMULATE4 RECOVER ALLF4 FINISHF1 [ TYPE ]Ma...

  • Page 136

    Page 1-552 TURNING ON ANDJOGGING THE ROBOT

  • Page 137

    2 TURNING ON AND JOGGING THE ROBOTMARO2HT4405801E2–1Topics In This ChapterPageTurning On the RobotTurning on the robot provides power to the robot and controller.2–2. . . . . . . . . . . . . Jogging the RobotJogging is moving the robot axes by pressing keys on the teach pendant.2–5. . . . ....

  • Page 138

    MARO2HT4405801E2–22. TURNING ON AND JOGGING THE ROBOTTurning on the robot provides power to the robot and controller and doesthe following:D Initializes changes to system variablesD Initializes changes to I/O setupD Displays the UTILITIES Hints screenRefer to Appendix C for more information on...

  • Page 139

    MARO2HT4405801E2–32. TURNING ON AND JOGGING THE ROBOTProcedure 2–1 Turning On the RobotH All personnel and unnecessary equipment are out of the workcell.1Visually inspect the robot, controller, workcell, and the surroundingarea. During the inspection make sure all safeguards are in place a...

  • Page 140

    MARO2HT4405801E2–42. TURNING ON AND JOGGING THE ROBOTProcedure 2–2 Turning Off the Robot1If a program is running or if the robot is moving, press the HOLDbutton on the operator panel or press the HOLD button on the teachpendant or send the HOLD signal from a UOP.2Perform any shutdown procedu...

  • Page 141

    MARO2HT4405801E2–52. TURNING ON AND JOGGING THE ROBOTJogging is moving the robot axes by pressing keys on the teach pendant.Six items affect the way the robot jogs and the axes that move whilejogging. The four items that affect the way the robot jogs areD Jog speed – How fast the robot move...

  • Page 142

    MARO2HT4405801E2–62. TURNING ON AND JOGGING THE ROBOTThe jog speed is a percentage of the maximum speed at which you can jogthe robot. The current jog speed is displayed in the right corner of everyteach pendant screen, as shown in Figure 2–1.Figure 2–1. Jog Speed DisplayJog speed ...

  • Page 143

    MARO2HT4405801E2–72. TURNING ON AND JOGGING THE ROBOTIn jogging, a coordinate system defines how the robot will move. Thereare three coordinate systems:D JOINTD XYZ – includes WORLD, JGFRM, and USERD TOOLYou change the coordinate system by pressing the COORD key on theteach pendant, shown i...

  • Page 144

    MARO2HT4405801E2–82. TURNING ON AND JOGGING THE ROBOTD XYZ coordinate system – Moves the face plate of the robot in the x,y, or z directions and about the x, y, or z (w, p, or r) axes. XYZcoordinate systems are WORLD and JGFRM (jog frame).You can jog the robot using either the WORLD or JGFR...

  • Page 145

    MARO2HT4405801E2–92. TURNING ON AND JOGGING THE ROBOTThe wrist jog function allows you to control how the robot axes will jogwhen you are using a Cartesian coordinate system, such as WORLD orTOOL. Wrist jogging does not affect x, y, and z jogging, it affects onlyorientation jogging.When you j...

  • Page 146

    MARO2HT4405801E2–102. TURNING ON AND JOGGING THE ROBOTA motion group defines different groups of axes that can be used forindependent pieces of equipment, positioning tables, and other axes. There are three motion groups available. The controller can operate amaximum of 16 axes, however, onl...

  • Page 147

    MARO2HT4405801E2–112. TURNING ON AND JOGGING THE ROBOTProcedure 2–3 Jogging the Robot and Other AxesH All personnel and unnecessary equipment are out of the workcell.H All EMERGENCY STOP faults have been cleared. Refer toSection 7.1.1.H All other faults have been cleared and the fault light...

  • Page 148

    MARO2HT4405801E2–122. TURNING ON AND JOGGING THE ROBOT4Hold the teach pendant and continuously press the DEADMAN switchon the back of the teach pendant.NOTE If you have the Control Reliable (RS-1/RS-4) option and youcompress the DEADMAN switch fully, robot motion will not be allowedand an err...

  • Page 149

    MARO2HT4405801E2–132. TURNING ON AND JOGGING THE ROBOT7If you want to use optional remote TCP jogging,aSelect the Cartesian coordinate system you want to use for remoteTCP jogging.bPress FCTN.cMove the cursor to TOGGLE REMOTE TCP and press ENTER.The status line indicator for remote TCP jogging...

  • Page 150

    MARO2HT4405801E2–142. TURNING ON AND JOGGING THE ROBOTWARNINGIn the next step, the robot will move. To stop the robotimmediately any time during jogging, release theDEADMAN switch or press the EMERGENCY STOP button.9To jog, press and hold the SHIFT key and continuously press the jogkey that c...

  • Page 151

    MARO2HT4405801E2–152. TURNING ON AND JOGGING THE ROBOTThe jog menu provides a method to check and change the followingjogging information:D Currently selected frame number of each frame (TOOL, JOG, USER)D Currently selected group numberD Currently selected sub-group type (ROBOT/EXT)See Figure ...

  • Page 152

  • Page 153

    Index3 GENERAL SETUP

  • Page 154

    3 GENERAL SETUPMARO2HT4405801E3–1Topics In This ChapterPageInputs and Outputs (I/O)SetupInputs and Outputs (I/O) are electrical signals that enable the controllerto communicate with the robot and external devices.3–3. . . . . . . . . . . . . . . . . . . . . . . DAnalog I/O3–4. . . . . . . ....

  • Page 155

    MARO2HT4405801E3–23. GENERAL SETUPTopics In This ChapterPageAxis Limits SetupAxis limits change the robot default software travel limits.3–145. . . . . . . . . . . . . . . . . . . Brake Timers SetupBrake timers set the length of time the robot remains idle before the brakes are applied.3–1...

  • Page 156

    MARO2HT4405801E3–33. GENERAL SETUPInputs and Outputs (I/O) are electrical signals that enable the controller tocommunicate with the robot and external devices. There are seven kindsof user I/O:D Analog – AI[n] and AO[n]D Digital – DI[n] and DO[n]D Group – GI[n] and GO[n]D Robot - RI[n] ...

  • Page 157

    MARO2HT4405801E3–43. GENERAL SETUPFigure 3–2. Modular I/O Hardware LayoutMODULAR I/OB-Size ControllerSLOTRACKMODULEi-Size Controller(Operator box)Robot Input (RI) and Robot Output (RO) signals are on the Main CPUboard located on the backplane of the controller. These signals interface toth...

  • Page 158

    MARO2HT4405801E3–53. GENERAL SETUPEach signal is configured to a rack, a slot in the rack, and the channelnumber when HandlingTool is loaded. See Figure 3–3 and Figure 3–4.You can change the configuration ofD Rack – the physical location on which the input or output process I/Oboard or ...

  • Page 159

    MARO2HT4405801E3–63. GENERAL SETUPFigure 3–4. Modular I/O Hardware Layout For Analog I/OCHANNELRACKSLOTB-Size Controlleri-Size Controller(Operator box)Controlling outputs allows you to set the analog output value and turn iton in a program or to force it on manually. Analog I/O can be cont...

  • Page 160

    MARO2HT4405801E3–73. GENERAL SETUPProcedure 3–1 Configuring Analog I/O – Rack, Slot, Channel1Press MENUS.2Select I/O.3Press F1, [TYPE].4Select Analog. You will see either the analog input or output screens.See the following screen for an example.I/O Analog Out JOINT 50 ...

  • Page 161

    MARO2HT4405801E3–83. GENERAL SETUP7Configure the I/O:aMove the cursor to RACK, type the value, and press ENTER.bMove the cursor to SLOT, type the value, and press ENTER.cMove the cursor to CHANNEL, type the value, and press ENTER.8To add a comment:aPress F4, DETAIL. You will see a screen simi...

  • Page 162

    MARO2HT4405801E3–93. GENERAL SETUPCAUTIONWhen all I/O is configured, save the information to a defaultdevice (disk) so that you can reload the configuration data ifnecessary. Otherwise, if the configuration is altered, you willhave no record of it.10To save the information (when all I/O is co...

  • Page 163

    MARO2HT4405801E3–103. GENERAL SETUPDigital I/O signals provide access to data on a single input or output signalline. Digital I/O signals can be ON or OFF.NOTE If you configure UOP input and output signals, the UI and UOphysical locations are actually digital I/O on the process I/O board orm...

  • Page 164

    MARO2HT4405801E3–113. GENERAL SETUPFigure 3–5. Process I/O Board Hardware Layout for Digital I/ODigital I/O PlugsI–Size ControllerB-Size ControllerPROCESS I/O BOARDCRM2BCRM2AFigure 3–6. Modular I/O Hardware Layout For Digital I/OSTARTING POINTRACKSLOTB-Size ControllerI–Size Controlle...

  • Page 165

    MARO2HT4405801E3–123. GENERAL SETUPControlling outputs allows you to set the digital output value and turn it onin a program or to force it on manually. Digital I/O can be controlledindividually. Refer to Chapter 6 to turn on output signals from a program,and Chapter 7 to force output signal...

  • Page 166

    MARO2HT4405801E3–133. GENERAL SETUPProcedure 3–2 Configuring Digital I/O – Rack, Slot, Start PointNOTE Digital I/O is configured by the system. Use this procedure if youwant to change the configuration.1Press MENUS.2Select I/O.3Press F1, [TYPE].4Select Digital. You will see either the d...

  • Page 167

    MARO2HT4405801E3–143. GENERAL SETUP6Configure the I/O:aMove the cursor to RACK, type the value, and press ENTER.bMove the cursor to SLOT, type the value, and press ENTER.cMove the cursor to START PT, type the value, and press ENTER.7To add a comment:aPress F4, DETAIL. You will see a screen si...

  • Page 168

    MARO2HT4405801E3–153. GENERAL SETUPCAUTIONWhen all I/O is configured, save the information to a defaultdevice (disk) so that you can reload the configuration data ifnecessary. Otherwise, if the configuration is altered, you willhave no record of it.9To save the information (when all I/O is co...

  • Page 169

    MARO2HT4405801E3–163. GENERAL SETUPProcedure 3–3 Configuring Digital I/O – Polarity and Complementary Pairs1Press MENUS.2Select I/O.3Press F1, [ TYPE ].4Select Digital. You will see either the digital input or digital outputscreen. See the following screen for an example. # SIM...

  • Page 170

    MARO2HT4405801E3–173. GENERAL SETUP6Move the cursor to the input or output group you want to configure.7Press F4, DETAIL.8To set polarity,aMove the cursor to the polarity of the signal you want to set. Youwill see a screen similar to the following. Digital Output Detail 12/2312...

  • Page 171

    MARO2HT4405801E3–183. GENERAL SETUPCAUTIONWhen all I/O is configured, save the information to a defaultdevice (disk) so that you can reload the configuration data ifnecessary. Otherwise, if the configuration is altered, you willhave no record of it.10To save the information (when all I/O is c...

  • Page 172

    MARO2HT4405801E3–193. GENERAL SETUPEach group must be configured to a rack, a slot in the rack, the startingpoint for numbering, and the number of points when HandlingTool isloaded. See Figure 3–7 and Figure 3–8. You can change the configurationof:D Rack – the physical location on whic...

  • Page 173

    MARO2HT4405801E3–203. GENERAL SETUPFigure 3–8. Modular I/O Hardware Layout For Group I/OSTARTING POINTRACKSLOTB-Size ControllerI–Size Controller(Operator’s box)Controlling outputs allows you to set the group output value and turn it onin a program or to force it on manually. Refer to C...

  • Page 174

    MARO2HT4405801E3–213. GENERAL SETUPProcedure 3–4 Configuring Group I/O – Rack, Slot, Start Point, Num Pts1Press MENUS.2Select I/O.3Press F1, [TYPE].4Select Group. You will see either the group input or group outputscreens. See the following screen for an example. # SIM VALUE ...

  • Page 175

    MARO2HT4405801E3–223. GENERAL SETUP6Configure the I/O:aMove the cursor to RACK, type the value, and press ENTER.bMove the cursor to SLOT, type the value, and press ENTER.cMove the cursor to START PT, type the value, and press ENTER.The starting point can be any number up to and including 999.d...

  • Page 176

    MARO2HT4405801E3–233. GENERAL SETUPCAUTIONWhen all I/O is configured, save the information to a defaultdevice (disk) so that you can reload the configuration data ifnecessary. Otherwise, if the configuration is altered, you willhave no record of it.9To save the information (when all I/O is co...

  • Page 177

    MARO2HT4405801E3–243. GENERAL SETUPProcedure 3–5 Configuring Robot I/O1Press MENUS.2Select I/O.3Press F1, [TYPE].4Select Robot. You will see either the robot input or robot outputscreens. See the following screen for an example. # STATUS 1/24 RO[ 1] OFF [ ...

  • Page 178

    MARO2HT4405801E3–253. GENERAL SETUP6Press F2, DETAIL. You will see a screen similar to the following. Robot Output Detail 29/6021 Comment:[ 21] [ ]22 Comment:[ 22] [ ]23 Comment:[ 23] [ ]24 Comment:[ 24] [ ]25...

  • Page 179

    MARO2HT4405801E3–263. GENERAL SETUP8To set polarity,aMove the cursor to the polarity of the signal you want to set. Seethe following screen for an example. Robot Output Detail 25/6025 Polarity:[ 1] NORMAL 26 Polarity:[ 2] NORMAL 27 Polarity:[ 3] NORMAL 28 Polar...

  • Page 180

    MARO2HT4405801E3–273. GENERAL SETUPCAUTIONWhen all I/O is configured, save the information to a defaultdevice (disk) so that you can reload the configuration data ifnecessary. Otherwise, if the configuration is altered, you willhave no record of it.10To save the information (when all I/O is c...

  • Page 181

    MARO2HT4405801E3–283. GENERAL SETUPThe optional I/O interconnect feature allows you to output the states ofrobot digital input (RI) and digital input (DI) signals to digital output (DO)and robot output (RO) signals to notify external devices of the input statesof the signals.With I/O InterConn...

  • Page 182

    MARO2HT4405801E3–293. GENERAL SETUPTable 3–1 lists and describes each item on the I/O InterConnect screen.The I/O InterConnect screens are shown in Procedure 3–6 .Table 3–1. I/O Interconnect Screen ItemsITEMDESCRIPTIONNo.Line number of the interconnect. The ITEM key can be used to ...

  • Page 183

    MARO2HT4405801E3–303. GENERAL SETUP5Press F3, [SELECT]. If RI –> DO had been selected previously, youwill see a screen similar to the following:INTER CONNECT JOINT 100% 1/24 No. Enb/Disabl INPUT OUTPUT 1 DISABLE RI [ 1] –> DO [ 0] 2 DISABLE ...

  • Page 184

    MARO2HT4405801E3–313. GENERAL SETUPIf you select DI –> DO, you will see a screen similar to the following.INTER CONNECT JOINT 100% 1/24 No. Enb/Disabl INPUT OUTPUT 1 DISABLE DI [ 0] –> DO [ 0] 2 DISABLE DI [ 0] –> DO [ 0] 3 DI...

  • Page 185

    MARO2HT4405801E3–323. GENERAL SETUPIf you select ES –> DO, you will see a screen similar to the following.INTER CONNECT JOINT 100% 1/14 No. Enb/Disabl INPUT OUTPUT 1 DISABLE [EMGOP ] –> DO [ 31] 2 DISABLE [EMGTP ] –> DO [ 29] 3 DISA...

  • Page 186

    MARO2HT4405801E3–333. GENERAL SETUPThe User Operator Panel (UOP) provides 18 input signals and 20 or 24output signals (four are optional outputs), that can be connected to aremote device or a remote operator panel for control of the robot.Most UOP I/O signals are active when the robot is in a ...

  • Page 187

    MARO2HT4405801E3–343. GENERAL SETUPFigure 3–9. Process I/O Board Hardware LayoutUOP I/O is accessed through CRM2B and CRM2A portsI–Size ControllerB-Size ControllerPROCESS I/O BOARDCRM2BCRM2AFigure 3–10. Modular I/O Hardware LayoutSTARTPOINTRACKSLOTB-Size ControllerI–Size Controller(...

  • Page 188

    MARO2HT4405801E3–353. GENERAL SETUPControlling outputs allows you to force a UOP signal manually.Adding comments about UOP I/O allows you to include text that describesthe signal. For example, you can add a comment to indicate the line that isphysically connected to the port.NOTE UOP I/O com...

  • Page 189

    MARO2HT4405801E3–363. GENERAL SETUPTable 3–3. (Cont’d) UOP Input SignalsUOP INPUT SIGNALDESCRIPTIONCSTOPIAlways activeUI[4]CSTOPI is the cycle stop input. The function of this signal depends on the systemvariable $SHELL_CFG.$USE_ABORT.If the system variable $SHELL_CFG.$USE_ABORT is set...

  • Page 190

    MARO2HT4405801E3–373. GENERAL SETUPTable 3–3. (Cont’d) UOP Input SignalsUOP INPUT SIGNALDESCRIPTIONPNS 1-8Active when the robot is ina remote condition(CMDENBL = ON)UI[9–16]PNS 1-8 inputs are program number select input signals. PNS selects programs forexecution, but does not execute...

  • Page 191

    MARO2HT4405801E3–383. GENERAL SETUPFigure 3–12. PNS Timing DiagramCMDENBL OUTPUTRemote ConditionPNS 1–8INPUTPNSTROBEINPUTPNSTROBEDETECTIONSNO1–8OUTPUTSNACKOUTPUTPROD_STARTINPUTPROGRUNOUTPUTProgram Number is SelectedWhile PNSTROBE is ON, program selection modification is not allowed.Puls...

  • Page 192

    MARO2HT4405801E3–393. GENERAL SETUPFor systems with a Process I/O board, the UOP signals are alreadyconfigured and assigned to dedicated ports. The UOP has the outputsignals that are listed and described in Table 3–4.Table 3–4. UOP Output SignalsUOP OUTPUT SIGNALDESCRIPTIONCMDENBLUO...

  • Page 193

    MARO2HT4405801E3–403. GENERAL SETUPUse Procedure 3–7 to configure UOP I/O – rack, slot and start point.Procedure 3–7 Configuring UOP I/O – Rack, Slot, Start Point1Press MENUS.2Select I/O.3Press F1, [TYPE].4Select UOP. You will see either the UOP input or UOP outputscreens. See the f...

  • Page 194

    MARO2HT4405801E3–413. GENERAL SETUP6Press F2, CONFIG. You will see a screen similar to the following. RANGE RACK SLOT START PT UO [ 1– 8] 0 0 UO [ 9– 16] 0 0 0 UO [ 17– 24] 0 0 0 UO [ 25– 32] 0 0 0 [TYPE...

  • Page 195

    MARO2HT4405801E3–423. GENERAL SETUP9To determine if the assignment is valid, press NEXT, >, and thenpress F2, VERIFY.D If the assignment is valid, the message, “Port assignment is valid,”is displayed.D If the assignment is not valid, the message, “Port assignment isinvalid,” is disp...

  • Page 196

    MARO2HT4405801E3–433. GENERAL SETUPInputs and outputs (I/O) are electrical signals that enable the controller tocommunicate with the robot and external devices. This section containsinformation on how to set up I/O for Model B I/O modules. SeeFigure 3–13 and Figure 3–14.NOTE Refer to Se...

  • Page 197

    MARO2HT4405801E3–443. GENERAL SETUPFigure 3–14. Model B I/O – B-size ControllerDistributed basic I/O unit

  • Page 198

    MARO2HT4405801E3–453. GENERAL SETUPThe following example describes each step of a typical distributed I/Osetup.The examples in this section assume that you are setting up an installationwith the distributed I/O interface unit mounted in the robot controller andthree basic digital I/O units whi...

  • Page 199

    MARO2HT4405801E3–463. GENERAL SETUPYou must set the following distributed I/O DIP switches:D On the interface unit, refer to Procedure 3–8 D On each basic digital I/O unit, refer to Procedure 3–9 Procedure 3–8 Setting the DIP Switches on the Interface UnitH The I/O modules are installed ...

  • Page 200

    MARO2HT4405801E3–473. GENERAL SETUP4Write down the positions of switches Q and H. You will need thisinformation when you configure the basic digital I/O units inProcedure 3–9 .5Set URDY to the OFF position.6Set the termination resistors, represented by switches R1 through R4.aExamine the te...

  • Page 201

    MARO2HT4405801E3–483. GENERAL SETUP2Set the unit number using switches 16, 8, 4, 2, and 1. These switchesare set to show the number of the unit in binary notation. Refer toTable 3–6.Table 3–6. Unit Number Settings of Switches 16, 8, 4, 2, and 1SettingsUnit Number1684211OFFOFFOFFOFFO...

  • Page 202

    MARO2HT4405801E3–493. GENERAL SETUPYou must set up each basic digital I/O unit you use. You do this from theI/O Link screen. Refer to Section 3.6 to set up Model B I/O basic digitalI/O units.After you have set up the DIP switches and have set up each basic digitalI/O unit, you can set up use...

  • Page 203

    MARO2HT4405801E3–503. GENERAL SETUPDigital I/O signals provide access to data on a single input or output signalline. Digital I/O signals can be ON or OFF.NOTE If you configure UOP input and output signals, the UI and UOphysical locations are actually digital I/O on the process I/O board orm...

  • Page 204

    MARO2HT4405801E3–513. GENERAL SETUPD Slot – varies depending on the kind of I/O you are using. Refer toTable 3–8.Table 3–8. Slot Assignments for Different Kinds of I/OKind of I/OSlot AssignmentModular (Model A) I/OThe space on the rack where the I/O module isconnected.Distributed (...

  • Page 205

    MARO2HT4405801E3–523. GENERAL SETUPProcedure 3–10 Configuring Digital I/O – Rack, Slot, Start PointNOTE Digital I/O is configured by the system. Use this procedure if youwant to change the configuration.1Press I/O.2Press F1, [TYPE].3Select Digital. You will see either the digital input ...

  • Page 206

    MARO2HT4405801E3–533. GENERAL SETUP5Configure the I/O:aMove the cursor to RACK, type the value, and press ENTER.bMove the cursor to SLOT, type the value, and press ENTER.cMove the cursor to START PT, type the value, and press ENTER.6To add a comment:aPress F4, DETAIL. You will see a screen si...

  • Page 207

    MARO2HT4405801E3–543. GENERAL SETUPCAUTIONWhen all I/O is configured, save the information to a defaultdevice (disk) so that you can reload the configuration data ifnecessary. Otherwise, if the configuration is altered, you willhave no record of it.8To save the information (when all I/O is co...

  • Page 208

    MARO2HT4405801E3–553. GENERAL SETUPProcedure 3–11 Configuring Digital I/O – Polarity and Complementary Pairs1Press I/O.2Press F1, [ TYPE ].3Select Digital. You will see either the digital input or digital outputscreen. See the following screen for an example. # SIM STATUS ...

  • Page 209

    MARO2HT4405801E3–563. GENERAL SETUP7To set polarity,aMove the cursor to the polarity of the signal you want to set. Youwill see a screen similar to the following. Digital Output Detail 12/2312 Polarity:[ 1] INVERSE13 Polarity:[ 2] NORMAL14 Polarity:[ 3] NORMAL15 Polarity:[...

  • Page 210

    MARO2HT4405801E3–573. GENERAL SETUPCAUTIONWhen all I/O is configured, save the information to a storagedevice so that you can reload the configuration data ifnecessary. Otherwise, if the configuration is altered, you willhave no record of it.9To save the information (when all I/O is configure...

  • Page 211

    MARO2HT4405801E3–583. GENERAL SETUPGroup I/O signals provide access to data on more than one input or outputsignal line at one time. Group I/O instructions allow a program to monitoror set a group of input or output signals as a binary number.NOTE If you configure UOP input and output signal...

  • Page 212

    MARO2HT4405801E3–593. GENERAL SETUPD Slot – varies depending on the kind of I/O you are using. Refer toTable 3–10.Table 3–10. Slot Assignments for Different Kinds of I/OKind of I/OSlot AssignmentModular (Model A) I/OThe space on the rack where the I/O module isconnected.Distributed...

  • Page 213

    MARO2HT4405801E3–603. GENERAL SETUPProcedure 3–12 Configuring Group I/O – Rack, Slot, Start Point, Num Pts1Press I/O.2Press F1, [TYPE].3Select Group. You will see either the group input or group outputscreens. See the following screen for an example. # SIM VALUE ...

  • Page 214

    MARO2HT4405801E3–613. GENERAL SETUP5Configure the I/O:aMove the cursor to RACK, type the value, and press ENTER.bMove the cursor to SLOT, type the value, and press ENTER.cMove the cursor to START PT, type the value, and press ENTER.The starting point can be any number up to and including 999.d...

  • Page 215

    MARO2HT4405801E3–623. GENERAL SETUPCAUTIONWhen all I/O is configured, save the information to a defaultdevice (disk) so that you can reload the configuration data ifnecessary. Otherwise, if the configuration is altered, you willhave no record of it.8To save the information (when all I/O is co...

  • Page 216

    MARO2HT4405801E3–633. GENERAL SETUPPLC I/O is an option package. In addition to the feature of transferring I/Osignal status information, you can configure your system to allow the cellcontroller (PLC) to control the modular and fixed discrete I/O within acontroller directly. You do this by a...

  • Page 217

    MARO2HT4405801E3–643. GENERAL SETUPFigure 3–18. PLC I/O Process I/O Board Hardware LayoutI–Size ControllerB-Size ControllerPROCESS I/O BOARDCRM2BCRM2APLC I/O is accessedthrough CRM2B andCRM2A portsFigure 3–19. PLC I/O Modular I/O Hardware LayoutSTARTING POINTRACKSLOTB-Size ControllerI...

  • Page 218

    MARO2HT4405801E3–653. GENERAL SETUPAdding comments about PLC I/O allows you to include text that describesthe signal. For example, you can add a comment to indicate the line that isphysically connected to the port.Use Procedure 3–13 to configure PLC I/O – rack slot and start point.Use Pr...

  • Page 219

    MARO2HT4405801E3–663. GENERAL SETUP5Press F2, CONFIG. You will see a screen similar to the following. # RANGE RACK SLOT START PT 1 PO [1 – 8] 0 0 2 PO [9 – 16] 0 0 0 3 PO [17 – 24] 0 0 0 4 PO [25 – 32] ...

  • Page 220

    MARO2HT4405801E3–673. GENERAL SETUP8To determine if the assignment is valid, press NEXT, >, and thenpress F2, VERIFY.D If the assignment is valid, the message, “Port assignment is valid,”is displayed.D If the assignment is not valid, the message, “Port assignment isinvalid,” is disp...

  • Page 221

    MARO2HT4405801E3–683. GENERAL SETUP5Press F2, CONFIG. You will see a screen similar to the following. # RANGE RACK SLOT START PT 1 PO [1 – 8] 1 1 2 PO [9 – 16] 1 1 9 3 PO [17 – 24] 1 1 1 4 PO [25 – 32] ...

  • Page 222

    MARO2HT4405801E3–693. GENERAL SETUP9To set complementary pairs (output signals only),aMove the cursor to the pair you want to set. You will see a screensimilar to the following. PLC Output Detail 20/2314Polarity:[ 4]NORMAL 15Polarity:[ 5]NORMAL 16Polarity:[ ...

  • Page 223

    MARO2HT4405801E3–703. GENERAL SETUPThe function of this screen is to set up Model B I/O unit and display theconfiguration of I/O link devices.I/O link screen consists of the following screens:D I/O link device screen, Section 3.6.1D Model B I/O detail screen, Section 3.6.2D Number of ports set...

  • Page 224

    MARO2HT4405801E3–713. GENERAL SETUPThe slot value of Model A and Model B on this screen is 0.For devices whose number of ports cannot be decided automatically, youcan use the detail screen to set the number of ports manually. SeeProcedure 3–15 .The devices that have access to the detail scr...

  • Page 225

    MARO2HT4405801E3–723. GENERAL SETUPUse Procedure 3–15 to access detail information for Model B I/O.Procedure 3–15 Accessing the Model B I/O Detail ScreenH You are already at the I/O Link Device screen.1Move the cursor to Model B.2Press F3, DETAIL. You will see a screen similar to the fol...

  • Page 226

    MARO2HT4405801E3–733. GENERAL SETUP4Select the appropriate base unit name.NOTE “*******” choice indicates no unit.You will see a screen similar to the following. I O Link Device JOINT 100% Model B Rack 1 1 30Slot Base Exp. Comment 1 BOD16A1 ****...

  • Page 227

    MARO2HT4405801E3–743. GENERAL SETUPWhen the cursor is on the line of 90–30 PLC, I/O Connect, JEMA PC, R-JMate, R-J2 Mate, or Unknown in the I/O link device screen, press F3,DETAIL. You will see a screen similar to the following. I/O Link Device JOINT 100% ...

  • Page 228

    MARO2HT4405801E3–753. GENERAL SETUPControlling I/O allows you to test the I/O in your system for properfunction during testing operations. Controlling I/O includes:D Forcing outputsD Simulating inputs and outputsForcing outputs is turning output signals on or off. Outputs can also beforced w...

  • Page 229

    MARO2HT4405801E3–763. GENERAL SETUP4Press the function key that corresponds to the value you want.For digital, robot, UOP, and SOP outputs, pressD F4 for OND F5 for OFFFor analog and group outputs, move the cursor to value, and use thenumeric keys to type the value. Value entry is always in d...

  • Page 230

    MARO2HT4405801E3–773. GENERAL SETUP5If you simulate a signal, you can force the status by setting it to avalue. When the signal is unsimulated, its actual status is displayed.6Move the cursor to the SIM column of the signal you want to simulate.D U means the signal is not simulated or unsimul...

  • Page 231

    MARO2HT4405801E3–783. GENERAL SETUPA frame is a set of three planes at right angles to each other. The pointwhere all three planes intersect is the origin of the frame. This set ofplanes is called a Cartesian coordinate system. In the robot system, theintersecting edges of the planes are th...

  • Page 232

    MARO2HT4405801E3–793. GENERAL SETUPThe tool frame is a Cartesian coordinate system that has the position of thetool center point (TCP) at its origin. You must set the tool frame to definethe point on the gripper at which the palletizing is to be done.The user frame is the reference frame for ...

  • Page 233

    MARO2HT4405801E3–803. GENERAL SETUPBy default, the origin of the tool frame is on the faceplate of the robot.You must move the origin of the tool frame to the position, both locationand orientation, where the work is to be done. This position is called thetool center point (TCP). See Figure ...

  • Page 234

    MARO2HT4405801E3–813. GENERAL SETUPYou can use three methods to define the tool frame:D Three point methodD Six point methodD Direct entry methodNOTE If you have a 4-axis robot (such as an A-520i, M-400i, orM-410i), you can define a tool frame using only the direct entry method.Use the three ...

  • Page 235

    MARO2HT4405801E3–823. GENERAL SETUPProcedure 3–18 Setting Up Tool Frame Using the Three Point MethodWARNINGIf you are setting up a new frame, make sure that all framedata is zero or uninitialized before you record anypositions. Press F4, CLEAR, to clear frame data.If you are modifying an e...

  • Page 236

    MARO2HT4405801E3–833. GENERAL SETUP10To select a frame,aPress F3, FRAME.bType the desired frame number.cPress ENTER.11Press F2, [METHOD].12Select Three Point. You will see a screen similar to the following.Tool Frame Setup / Three Point 1/4Frame number: 2 X: 0.0 Y: 0.0 Z: 0.0 ...

  • Page 237

    MARO2HT4405801E3–843. GENERAL SETUP16Record the third approach point:aMove the cursor to Approach point 3.bRotate the tool about either the x or y axis of the tool coordinates.cJog the robot so that the tool tip touches the reference point usedin Step 14.dPress and hold the SHIFT key and press...

  • Page 238

    MARO2HT4405801E3–853. GENERAL SETUPProcedure 3–19 Setting Up Tool Frame Using the Six Point MethodWARNINGIf you are setting up a new frame, make sure that all framedata is zero or uninitialized before you record anypositions. Press F4, CLEAR, to clear frame data.If you are modifying an exi...

  • Page 239

    MARO2HT4405801E3–863. GENERAL SETUP10To select a frame,aPress F3, FRAME.bType the desired frame number.cPress ENTER.11Press F2, [METHOD].12Select Six Point. You will see a screen similar to the following.Tool Frame Setup/ Six Point 1/7 Frame number: 2 X: 0.0 Y: 0.0 Z: ...

  • Page 240

    MARO2HT4405801E3–873. GENERAL SETUP15Record the second approach point:aMove the cursor to Approach point 2.bRotate the faceplate at least 90° (but no more than 360°) about thez axis of the tool coordinates.cJog the robot so that the tool tip touches the reference point usedin Step 14.dPress ...

  • Page 241

    MARO2HT4405801E3–883. GENERAL SETUP18Define the +X Direction Point:aMove the cursor to X Direction Point.bChange the jog coordinate system to WORLD.cJog the robot so that the tool moves in the +x direction. Forexample, if the x axis of the tool is aligned with the world x axis,jog in the +x d...

  • Page 242

    MARO2HT4405801E3–893. GENERAL SETUPCAUTIONWhen all I/O is configured, save the information to a defaultdevice (disk) so that you can reload the configuration data ifnecessary. Otherwise, if the configuration is altered, you willhave no record of it.22To save the frames and related system vari...

  • Page 243

    MARO2HT4405801E3–903. GENERAL SETUPProcedure 3–20 Setting Up Tool Frame Using the Direct Entry MethodWARNINGIf you are setting up a new frame, make sure that all framedata is zero or uninitialized before you record anypositions. Press F4, CLEAR, to clear frame data.If you are modifying an ...

  • Page 244

    MARO2HT4405801E3–913. GENERAL SETUP10To select a frame,aPress F3, FRAME.bType the desired frame number.cPress ENTER.11Press F2, [METHOD].12Select Direct Entry. You will see a screen similar to the following.Tool Frame Setup / Direct Entry 1/7Frame number: 1 1 Comment: 2 X:0.000 3 Y:0.000 ...

  • Page 245

    MARO2HT4405801E3–923. GENERAL SETUPCAUTIONWhen all I/O is configured, save the information to a defaultdevice (disk) so that you can reload the configuration data ifnecessary. Otherwise, if the configuration is altered, you willhave no record of it.16To save the frames and related system vari...

  • Page 246

    MARO2HT4405801E3–933. GENERAL SETUPProcedure 3–21 Selecting a Tool FrameNOTE To select the number of tool frame you want to use, you can alsouse jog menu. Refer to Section 2.2.8.H The tool frame you want to select has been set up.1Press MENUS.2Select SETUP.3Press F1, [TYPE].4Select Frames....

  • Page 247

    MARO2HT4405801E3–943. GENERAL SETUPUser frame is a frame that you can set up in any location, with anyorientation.CAUTIONRecorded positions are not affected by UFRAME and UFRAMEhas no affect during playback. However, position registersare recorded with respect to UFRAME. If you changeUFRAME,...

  • Page 248

    MARO2HT4405801E3–953. GENERAL SETUPYou can use three methods to define the user frame:D Three point methodD Four point methodD Direct entry methodRecording three points defines the user frame. The three points are theorigin, a position along the +x-axis of the user frame, and a position on th...

  • Page 249

    MARO2HT4405801E3–963. GENERAL SETUP6If user frames are not displayed, press F3, [OTHER], and selectUser Frame. If F3, [OTHER], is not displayed, press PREV.7To display the settings for all frames, press PREV repeatedly untilyou see a screen similar to the following.SETUP Frames ...

  • Page 250

    MARO2HT4405801E3–973. GENERAL SETUP14Define the origin point of the user frame.aMove the cursor to Orient Origin Point.bJog the robot TCP to the origin. In Figure 3–25, the origin islabeled 1.cPress and hold the SHIFT key and press F5, RECORD.Figure 3–25. Defining the Origin+Y+Z+X1ORIGIN...

  • Page 251

    MARO2HT4405801E3–983. GENERAL SETUP16Define a point on the positive X-Y plane:aMove the cursor to Y Direction Point.bJog the robot to a location on the positive X-Y plane. InFigure 3–27, this point is labeled number 3.cPress and hold the SHIFT key and press F5, RECORD.Figure 3–27. Defini...

  • Page 252

    MARO2HT4405801E3–993. GENERAL SETUPCAUTIONWhen all I/O is configured, save the information to a defaultdevice (disk) so that you can reload the configuration data ifnecessary. Otherwise, if the configuration is altered, you willhave no record of it.20To save the frames and related system vari...

  • Page 253

    MARO2HT4405801E3–1003. GENERAL SETUPProcedure 3–23 Setting Up User Frame Using the Four Point MethodWARNINGIf you are setting up a new frame, make sure that all framedata is zero or uninitialized before you record anypositions. Press F4, CLEAR, to clear frame data.If you are modifying an ex...

  • Page 254

    MARO2HT4405801E3–1013. GENERAL SETUP10To select a frame,aPress F3, FRAME.bType the desired frame number.cPress ENTER.11Press F2, [METHOD].12Select Four Point. You will see a screen similar to the following.User/RTCP Frame Setup/ Four Point 1/5Frame number: 2 X: 0.0 Y: 0.0 Z: ...

  • Page 255

    MARO2HT4405801E3–1023. GENERAL SETUP15Define the +X Direction Point:aMove the cursor to X Direction Point.bJog the robot TCP to a point along the +x-axis of the box. InFigure 3–29, the origin is labeled 2.cPress F5, RECORD, to record a position.Figure 3–29. Defining the X Direction Point...

  • Page 256

    MARO2HT4405801E3–1033. GENERAL SETUP17Teach the origin of the second user frame.aMove the cursor to System Origin Point.bJog the robot TCP to the origin of the second user frame. InFigure 3–31, the origin is labeled 4.cPress F5, RECORD, to record a position.Figure 3–31. Defining the Seco...

  • Page 257

    MARO2HT4405801E3–1043. GENERAL SETUPCAUTIONWhen all I/O is configured, save the information to a defaultdevice (disk) so that you can reload the configuration data ifnecessary. Otherwise, if the configuration is altered, you willhave no record of it.22To save the frames and related system var...

  • Page 258

    MARO2HT4405801E3–1053. GENERAL SETUPProcedure 3–24 Setting Up User Frame Using the Direct Entry MethodWARNINGIf you are setting up a new frame, make sure that all framedata is zero or uninitialized before you record anypositions. Press F4, CLEAR, to clear frame data.If you are modifying an ...

  • Page 259

    MARO2HT4405801E3–1063. GENERAL SETUP9Press F2, DETAIL.10To select a frame,aPress F3, FRAME.bType the desired frame number.cPress ENTER.11Press F2, [METHOD].12Select Direct Entry. You will see a screen similar to the following.User/RTCP Frame Setup/ Direct Entry 1/7Frame number: 11 Comment:...

  • Page 260

    MARO2HT4405801E3–1073. GENERAL SETUPCAUTIONWhen all I/O is configured, save the information to a defaultdevice (disk) so that you can reload the configuration data ifnecessary. Otherwise, if the configuration is altered, you willhave no record of it.17To save the frames and related system var...

  • Page 261

    MARO2HT4405801E3–1083. GENERAL SETUPProcedure 3–25 Selecting a User FrameNOTE To select the number of the user frame you want to use, you canalso use the jog menu. Refer to Section 2.2.8.H The user frame you want to select has been set up.1Press MENUS.2Select SETUP.3Press F1, [TYPE].4Selec...

  • Page 262

    MARO2HT4405801E3–1093. GENERAL SETUP7The system variable $USEUFRAME defines whether the current valueof $MNUFRAMENUM[group_no] will be assigned to the position’suser frame when it is being recorded or touched up.When $USEUFRAME=FALSE, the initial recording of positions andthe touching up of ...

  • Page 263

    MARO2HT4405801E3–1103. GENERAL SETUPYou must define a remote TCP (RTCP) frame before you can use theremote TCP option to jog or include remote TCP within a motioninstruction. Use Procedure 3–27 to set up an RTCP frame. You definethis frame using the location of the remote TCP as the origi...

  • Page 264

    MARO2HT4405801E3–1113. GENERAL SETUPProcedure 3–26 Setting Up a Remote TCP Frame Using the Three Point MethodWARNINGIf you are setting up a new frame, make sure that all framedata is zero or uninitialized before you record anypositions. Press F4, CLEAR, to clear frame data.If you are modif...

  • Page 265

    MARO2HT4405801E3–1123. GENERAL SETUP9To select a frame,aPress F3, FRAME.bType the desired frame number.cPress ENTER.10Press F2, [METHOD].11Select Three Point. You will see a screen similar to the following.User/RTCP Setup/ Three Point 1/4Frame Number: 2 X: 0.0 Y: 0.0 Z: 0....

  • Page 266

    MARO2HT4405801E3–1133. GENERAL SETUP13Define the origin point of the remote TCP frame.aMove the cursor to Orient Origin Point.bJog the robot so that the TCP of the end-of-arm tooling or setuppointer touches the remote TCP of the fixed tool. SeeFigure 3–33.cPress and hold the SHIFT key and p...

  • Page 267

    MARO2HT4405801E3–1143. GENERAL SETUP17To select the RTCP frame to use, press F5, SETIND, type thenumber of the user frame you want, and press ENTER. This sets theactive user frame ($MNUFRAMNUM[1]) to the number of the frameyou want.NOTE To select the number of the RTCP frame you want to use,...

  • Page 268

    MARO2HT4405801E3–1153. GENERAL SETUPProcedure 3–27 Setting Up a Remote TCP Frame Using the Direct EntryMethodWARNINGIf you are setting up a new frame, make sure that all framedata is zero or uninitialized before you record anypositions. Press F4, CLEAR, to clear frame data.If you are modif...

  • Page 269

    MARO2HT4405801E3–1163. GENERAL SETUP5Press MENUS.6Select SETUP.7Press F1, [TYPE].8Select Frames.9If user/RTCP frames are not displayed, press F3, [OTHER], andselect User/RTCP. If F3, [OTHER], is not displayed, press PREV.10To display the settings for all the frames, press PREV repeatedlyuntil...

  • Page 270

    MARO2HT4405801E3–1173. GENERAL SETUP15Select Direct Entry. You will see a screen similar to the following.User/RTCP Setup/ Direct Entry 1/7Frame Number: 11 Comment:2 X: 0.0003 Y: 0.0004 Z: 0.0005 W: 0.0006 P: 0...

  • Page 271

    MARO2HT4405801E3–1183. GENERAL SETUPCAUTIONWhen you are finished setting the frame configuration, save theinformation to a default device (disk) so that you can reload theconfiguration data if necessary. Otherwise, if the configurationis altered, you will have no record of it.20To save the fr...

  • Page 272

    MARO2HT4405801E3–1193. GENERAL SETUPProcedure 3–28 Selecting an RTCP FrameNOTE To select the number of the RTCP frame you want to use, you canalso use the jog menu. Refer to Section 2.2.8.H The user frame you want to select has been set up.1Press MENUS.2Select SETUP.3Press F1, [TYPE].4Sele...

  • Page 273

    MARO2HT4405801E3–1203. GENERAL SETUPJog frame is a frame that you can set up in any location, with anyorientation. Jog frame provides a convenient way to move along a partwhen the part is oriented differently from the world frame. SeeFigure 3–35.You can set up jog frame so that the coordin...

  • Page 274

    MARO2HT4405801E3–1213. GENERAL SETUPProcedure 3–29 Setting Up the Jog Frame Using the Three Point MethodWARNINGIf you are setting up a new frame, make sure that all framedata is zero or uninitialized before you record anypositions. Press F4, CLEAR, to clear frame data.If you are modifying ...

  • Page 275

    MARO2HT4405801E3–1223. GENERAL SETUP10To select a frame,aPress F3, FRAME.bType the desired frame number.cPress ENTER.11Press F2, [METHOD].12Select Three Point. You will see a screen similar to the following.Jog Frame Setup / Three Point 1/4Frame number: 2 X 0.0 Y 0.0 Z ...

  • Page 276

    MARO2HT4405801E3–1233. GENERAL SETUP16Define the +X Direction Point:aMove the cursor to X Direction Point.bJog the robot along the x-axis of the box. In Figure 3–37 theorigin is labeled 2.cPress and hold the SHIFT key and press F5, RECORD.Figure 3–37. Defining the X Direction Point+X-AXI...

  • Page 277

    MARO2HT4405801E3–1243. GENERAL SETUP18To move to a recorded position, press and hold the SHIFT key andpress F4, MOVE_TO.19To set the numerical values to zero, move the cursor to the framenumber and press F4, CLEAR.20To select the jog frame to use, press F5, JGFRM, type the desiredframe number ...

  • Page 278

    MARO2HT4405801E3–1253. GENERAL SETUPProcedure 3–30 Setting Up the Jog Frame Using the Direct Entry MethodWARNINGIf you are setting up a new frame, make sure that all framedata is zero or uninitialized before you record anypositions. Press F4, CLEAR, to clear frame data.If you are modifying ...

  • Page 279

    MARO2HT4405801E3–1263. GENERAL SETUP10To select a frame,aPress F3, FRAME.bType the desired frame number.cPress ENTER.11Press F2, [METHOD].12Select Direct Entry. You will see a screen similar to the following.Jog Frame Setup / Direct Entry 1/7Frame number: 1 1 Comment: 2 X: ...

  • Page 280

    MARO2HT4405801E3–1273. GENERAL SETUPCAUTIONWhen all I/O is configured, save the information to a defaultdevice (disk) so that you can reload the configuration data ifnecessary. Otherwise, if the configuration is altered, you willhave no record of it.16To save the frames and related system var...

  • Page 281

    MARO2HT4405801E3–1283. GENERAL SETUPProcedure 3–31 Selecting a Jog FrameNOTE To select the number of the jog frame you want to use, you canalso use the jog menu. Refer to Section 2.2.8.H The jog frame you want to select has been set up.1Press MENUS.2Select SETUP.3Press F1, [TYPE].4Select F...

  • Page 282

    MARO2HT4405801E3–1293. GENERAL SETUPSaving Frame data saves the frame positions and comments. UseProcedure 3–32 to save frame data to a file.Procedure 3–32 Saving Frame Data to a File1Press MENUS.2Select SETUP.3Press F1, [TYPE].4Select Frames.5Press F2, DETAIL.6To select a frame,aPress F...

  • Page 283

    MARO2HT4405801E3–1303. GENERAL SETUPCAUTIONWhen all I/O is configured, save the information to a defaultdevice (disk) so that you can reload the configuration data ifnecessary. Otherwise, if the configuration is altered, you willhave no record of it.9To save the frames and related system vari...

  • Page 284

    MARO2HT4405801E3–1313. GENERAL SETUPProduction operation setup allows you to set up a program so that it is runautomatically during production.To run production you can useD Robot Service Request (RSR)D Program Number Select (PNS)D UOP PRODUCTION START inputD SOP CYCLE START inputThis section ...

  • Page 285

    MARO2HT4405801E3–1323. GENERAL SETUPTable 3–13 lists and describes each RSR setup item.Table 3–13. RSR Setup Item DescriptionRSR SETUP ITEMDESCRIPTIONRSR or PNSThis item allows you to specify the kind of production operation you want: RSR or PNS.RSR1 Program NumberThis item allows yo...

  • Page 286

    MARO2HT4405801E3–1333. GENERAL SETUPProcedure 3–33 RSR SetupH UOP signals must be installed and configured.H The program name must be RSR[nnnn] where [nnnn] represents a fourdigit number from 0001 to 9999.1Press MENUS.2Select SETUP.3Press F1, [TYPE].4Select RSR/PNS. You will see a screen si...

  • Page 287

    MARO2HT4405801E3–1343. GENERAL SETUPA Program Number Select (PNS) is a method of selecting the name of aprogram to be run by some external device. The name of the program tobe run comes as a group of input signals from an external device on eightPNS input lines.The following sequence takes pl...

  • Page 288

    MARO2HT4405801E3–1353. GENERAL SETUPTable 3–14. PNS Setup Item DescriptionPNS SETUP ITEMDESCRIPTIONRSR or PNSThis item allows you to specify the kind of production operation you want: RSR or PNS.Base NumberThis item allows you to enter a number that when added to the PNS1–8 binary sig...

  • Page 289

    MARO2HT4405801E3–1363. GENERAL SETUPA macro command program is a separate program that contains a series ofinstructions to perform a task, and specify to run whenD A teach pendant key is pressedD An item on the MANUAL FCTNS menu is selectedD An instruction in a program is executedTo use a macr...

  • Page 290

    MARO2HT4405801E3–1373. GENERAL SETUPSee Figure 3–39 for the location of these keys.Figure 3–39. Teach Pendant User KeysÏÏÏÏÏÏÏÏÏÏÏÏÏÏÏÏÏÏÏÏÏÏÏÏÏÏÏÏÏÏÏÏÏÏÏÏÏÏÏÏÏÏÏÏÏÏÏÏÏÏÏÏÏÏÏÏÏÏÏÏÏÏÏÏÏÏÏÏÏÏÏÏÏÏÏÏÏÏÏÏÏÏÏÏÏ...

  • Page 291

    MARO2HT4405801E3–1383. GENERAL SETUPYou can set up a macro command program to be executed when the inputsignal you specify is received. You can assign a macro command to adigital input (DI), robot input (RI), or User Operator Panel input (UI).For digital input signals, indexes 0 through 99 ar...

  • Page 292

    MARO2HT4405801E3–1393. GENERAL SETUPProcedure 3–35 Setting Up a Macro CommandH A macro program has been created.H The macro program has been tested and runs properly.1Press MENUS.2Select SETUP.3Press F1, [TYPE].4Select Macro. You will see a screen similar to the following. Instruction n...

  • Page 293

    MARO2HT4405801E3–1403. GENERAL SETUP10Select the macro command assignment you want and press ENTER:D For a user key without SHIFT, select UK.D For a user key with SHIFT, select SU.D For a MANUAL FCTNS menu item, select MF.D For a digital input, select DI.D For a robot input, select RI.D For a ...

  • Page 294

    MARO2HT4405801E3–1413. GENERAL SETUPAfter you have set up macro commands you can run them, using one of thefollowing methods:D Press a teach pendant user keyD Press a teach pendant user key with the SHIFT keyD Select a MANUAL FCTNS Macros screen itemD Execute a macro program from within anothe...

  • Page 295

    MARO2HT4405801E3–1423. GENERAL SETUP2Press the teach pendant user key that corresponds to the macrocommand you assigned. If you assigned the key to be pressed with theSHIFT key, press and hold SHIFT and press the user key.See Figure 3–40.Figure 3–40. Teach Pendant User KeysUK [7]andSU [7...

  • Page 296

    MARO2HT4405801E3–1433. GENERAL SETUPBefore you can use these six pre–defined macro commands, you must:D Create and write a macro program for each macro command.D Make sure the macro programs control the RI/RO so that the hand– Opens– Closes– RelaxesD Assigned each macro program to its ...

  • Page 297

    MARO2HT4405801E3–1443. GENERAL SETUPUse Procedure 3–38 to execute a macro command that has been assignedto a MANUAL FCTNS menu item. Refer to Section 3.10 for Macrosetup.Procedure 3–38 Executing a Macro Command from the MANUAL FCTNS MenuH The program you want to use as a macro command ha...

  • Page 298

    MARO2HT4405801E3–1453. GENERAL SETUPAxis limits define the motion range of the robot. The operating range ofthe robot axes can be restricted because of:D Work area limitationsD Tooling and fixture interference pointsD Cable and hose lengthsThere are three methods used to prevent the robot fro...

  • Page 299

    MARO2HT4405801E3–1463. GENERAL SETUPDisplays the upper limits of each axis, or the axis limits in a positivedirection.Displays the lower limits of each axis, or the axis limits in a negativedirection.After you change the axis limits, turn off the controller and then turn it onagain so the new ...

  • Page 300

    MARO2HT4405801E3–1473. GENERAL SETUP5Move the cursor to the axis limit you want to set.WARNINGDo not depend on axis limit software settings to control themotion range of your robot. Use the axis limit switchesand hardstops also; otherwise, injury to personnel ordamage to equipment could occur...

  • Page 301

    MARO2HT4405801E3–1483. GENERAL SETUPBrake timers define the length of time the robot remains idle before thebrakes are applied. Brake timers are specified in milliseconds. Forexample, if you want the timer to be set to 2 seconds, you must set it to2000.After you set the brake timers, you mus...

  • Page 302

    MARO2HT4405801E3–1493. GENERAL SETUP5Determine which brakes control each axis:aMove the cursor to $SCR_GRP and press ENTER.bIf you have more than one motion group, select the motion groupnumber of the axes and press ENTER.cMove the cursor to SCR_GRP_T and press ENTER.dMove the cursor to $BRK_N...

  • Page 303

    MARO2HT4405801E3–1503. GENERAL SETUP7Set the brake timer for the axes you want:aMove the cursor to $PARAM_GROUP and press ENTER.bIf you have more than one motion group, select the motion groupnumber of the axes and press ENTER.cMove the cursor to MPR_GRP_T and press ENTER.dMove the cursor to $...

  • Page 304

    MARO2HT4405801E3–1513. GENERAL SETUPBrake on Hold defines whether the robot brakes are engaged (enabled) ordisengaged (disabled) when the robot is placed in a hold condition. Theavailable settings are summarized in Table 3–15. Use Procedure 3–41 toset brake on hold.Table 3–15. Br...

  • Page 305

    MARO2HT4405801E3–1523. GENERAL SETUPCurrent language allows you to change the current language. You canselect from only those languages that have dictionaries.Use Procedure 3–42 to set the current language.Procedure 3–42 Setting Current Language1Press MENUS.2Select SETUP.3Press F1, [TYPE...

  • Page 306

    MARO2HT4405801E3–1533. GENERAL SETUPThis function ignores the position offset specified by an OFFSETinstruction.D When this function is disabled, the robot moves to the position towhich a position offset has been applied (default setting).D When this function is enabled, the robot moves to the...

  • Page 307

    MARO2HT4405801E3–1543. GENERAL SETUPThis function ignores the position offset specified by a TOOL OFFSETinstruction.D When this function is disabled, the robot moves to the position forwhich a tool offset has been applied (default setting).D When this function is enabled, the robot moves to th...

  • Page 308

    MARO2HT4405801E3–1553. GENERAL SETUPThe Setting User Alarm screen allows you to define a message that will bedisplayed on the teach pendant status line. This message is displayedwhen a user alarm instruction is executed in a teach pendant program.For example, if you define the message of user...

  • Page 309

    MARO2HT4405801E3–1563. GENERAL SETUPProcedure 3–45 Setting User Alarm1Press MENUS.2Select SETUP.3Press F1, [TYPE].4Select User Alarm. You will see a screen similar to the following.Setting/User Alarm JOINT 10%[ TYPE ] 1/10 Alarm No. U...

  • Page 310

    MARO2HT4405801E3–1573. GENERAL SETUPProcedure 3–46 Setting User Alarm Severity1Press MENUS.2Select SYSTEM.3Press F1, [TYPE].4Select Variables. You will see a screen similar to the following. 1 $ANGTOL 2 $APPLICATION [3] of STRING [21] 3 $AP_MAXAX 0 4 $AP_...

  • Page 311

    MARO2HT4405801E3–1583. GENERAL SETUPOverride select setup allows you to specify four different speed limitingpercentages for production operation. When enabled, override select is ineffect when the teach pendant is disabled and the REMOTE/LOCALkeyswitch is set to REMOTE.You specify two digita...

  • Page 312

    MARO2HT4405801E3–1593. GENERAL SETUPTable 3–18 lists and describes the items on the override select screen youmust set.Table 3–18. Override Select Menu ListingITEMDESCRIPTIONFunction EnableThis item allows you to specify whether or not the override select will function. When setto EN...

  • Page 313

    MARO2HT4405801E3–1603. GENERAL SETUPProcedure 3–47 Setting Up Override SelectH You have set up the digital input signals you want to use for overrideselect.1Press MENUS.2Select SETUP.3Press F1, [TYPE].4Select OVRD Select. You will see a screen similar to the following. ...

  • Page 314

    MARO2HT4405801E3–1613. GENERAL SETUPA password is a combination of up to 12 letters, numbers, and symbols,used to allow authorized personnel access to various operations andscreens. The password feature is an option and might not be used at yoursite. Password protection is inactive unless th...

  • Page 315

    MARO2HT4405801E3–1623. GENERAL SETUPIf you want to use passwords, you must first identify the Install User foryour site. The Install user must assign the Install username and passwordand then log in. After logging in, the Install user assigns usernames,levels, and passwords for each user.NOT...

  • Page 316

    MARO2HT4405801E3–1633. GENERAL SETUPThe Install User must:D Assign the Install username and password (Procedure 3–48 )D Assign usernames, levels, and passwords for all other users(Procedure 3–48 )D Enable, disable, and display the Password Log (Procedure 3–52 andProcedure 3–53 in Sec...

  • Page 317

    MARO2HT4405801E3–1643. GENERAL SETUP6Press ENTER. Use the arrow and function keys to type the Installusername. When you are finished, press ENTER. You will see ascreen similar to the following.1Uppercase2Lower Case 3Punctuation4Options--Insert----Set password for BOB Old password:’’New ...

  • Page 318

    MARO2HT4405801E3–1653. GENERAL SETUPIf you press F4, YES, you will see a screen similar to the following. 1/10 USERNAME PWDLEVEL TIME(min)1@BOB*INSTALL15 2* 03* 04* 05* 06* 07* 08* 09* 0Password has been setSETUP Passwords WORLD VFINE ...

  • Page 319

    MARO2HT4405801E3–1663. GENERAL SETUP17To modify the number of usernames in the system,CAUTIONIf you modify the number of usernames to be fewer than thenumber of users currently assigned, some users will be deletedfrom the system.aPress PREV to display the first SETUP Passwords screen.bMove the...

  • Page 320

    MARO2HT4405801E3–1673. GENERAL SETUPProgram and Setup users can:D Log in (Procedure 3–49 )D Log out (Procedure 3–50 )D Change their password (Procedure 3–51 )D Display the Password Log (Procedure 3–53 in Section 3.19.3)Procedure 3–49 Logging InH Passwords have already been set up. ...

  • Page 321

    MARO2HT4405801E3–1683. GENERAL SETUP7If you want to change the timeout value, move the cursor to theTIMEOUT value for the current user and type a new timeout value.You can adjust the Default User Timeout value from 0 to 10080minutes (seven days).NOTE If the Default User Timeout value is 0 whe...

  • Page 322

    MARO2HT4405801E3–1693. GENERAL SETUPProcedure 3–51 Changing Your PasswordH Passwords have already been set up. (Refer to Section 3.19.1)H You are currently logged in. (Refer to Procedure 3–49 )1If you are using FULL menus,aPress MENUS.bSelect SETUP.cPress F1, [TYPE].dSelect Passwords.2If...

  • Page 323

    MARO2HT4405801E3–1703. GENERAL SETUPIf the Log Events item is set to ENABLE by the Install user on the SETUPPasswords screen, the following events will be displayed in the PasswordLog:D Password eventsD Programming eventsD File manipulation eventsEach time an event occurs, such as when a user ...

  • Page 324

    MARO2HT4405801E3–1713. GENERAL SETUPTable 3–20. (Cont’d) Password Error MessagesMessageDescriptionPWD-021 Delete pos %d, %s.TPThe specified position has been deleted from the specifiedprogram.PWD-022 Renumber pos %d as %d, %s.TPThe specified position has been renumbered to the specifiedp...

  • Page 325

    MARO2HT4405801E3–1723. GENERAL SETUPProcedure 3–53 Displaying the Password LogH The Install User has set Log events to ENABLE. (Procedure 3–52 )H You are logged in at the Install, Program, or Setup level.H FULL menus are displayed.1Press MENUS.2Select ALARM.3Press F1, [TYPE].4Select Passw...

  • Page 326

    MARO2HT4405801E3–1733. GENERAL SETUPDepending on which level you are logged in, the following passwordscreen permissions are available:D n/a = The screen is not displayedD C = The information on the screen can be displayed, changed and operations can be performedD D = The screen can only be di...

  • Page 327

    MARO2HT4405801E3–1743. GENERAL SETUPTable 3–21. (Cont’d) Password Level Screen PermissionsPassword LevelMenuTeach PendantScreenInstallSetupProgramFullOperatorQuickOperatorGeneral SetupCCDDn/aFrame SetupCCDDn/aPort InitCCDDn/aMacroCCDDn/aReferencePositionCCDDn/aUser AlarmCCDDn/aOverride S...

  • Page 328

    MARO2HT4405801E3–1753. GENERAL SETUPTable 3–21. (Cont’d) Password Level Screen PermissionsuPassword LevelMenuTeach PendantScreenInstallSetupProgramFullOperatorQuickOperatorSelectSelectCCCCn/aEditEditCCCCn/aRegisterCCCDDtaPositionRegisterCCCDDDatLoad ClutchCCCCn/aPalletizingRegisterCCCCn/...

  • Page 329

    MARO2HT4405801E3–1763. GENERAL SETUPRobot payload is the weight of the robot end-of-arm tooling andworkpiece. If you have not set up the proper robot payload duringsoftware installation, or if you need to change the robot payload becauseyou have changed end-of-arm tooling or the workpiece, yo...

  • Page 330

    MARO2HT4405801E3–1773. GENERAL SETUPTable 3–22. SYSTEM Payload ScreenITEMDESCRIPTIONPayload (kg)Weight of the end-of-arm tooling. Note: There are 2.21 pounds in a kilogram.Payload center X (cm)The up and down offset of the payload center of gravity from the center of the faceplate.Posi...

  • Page 331

    MARO2HT4405801E3–1783. GENERAL SETUPUse Procedure 3–54 to set robot payload.Procedure 3–54 Setting Robot PayloadNOTE Automatic robot payload estimation is not available for all robotmodels. If your robot model does not have the payload setting feature, themessage, “IDENT is not suppor...

  • Page 332

    MARO2HT4405801E3–1793. GENERAL SETUP5To set up payload information manually for the schedule you chose,move the cursor the payload schedule you want and pressF3, DETAIL. You will see a screen similar to the following1Schedule No[ 1]:[****************]2PAYLOAD[kg]120.003PAYLOAD CENTER X[cm] 3...

  • Page 333

    MARO2HT4405801E3–1803. GENERAL SETUP8To set arm load information, press PREV until the payload schedulelisting screen is displayed, and press F4, ARMLOAD. You will see ascreen similar to the following.1ARM LOAD AXIS #1 [kg]250.002ARM LOAD AXIS #3 [kg] 20.00Please power off/on after modifica...

  • Page 334

    MARO2HT4405801E3–1813. GENERAL SETUPfMove the cursor to PAYLOAD CALIBRATION.gPress and hold SHIFT and press F4, EXECUTE.hCalibration will be performed. When it is finished, thePAYLOAD CALIBRATION status will be changed to DONE andthe payload calibration position will be displayed.iTo delete c...

  • Page 335

    MARO2HT4405801E3–1823. GENERAL SETUP11To set the active payloadaPress PREV until the payload schedule listing screen is displayed.bPress F5, SETIND.cType the number of the payload schedule you want and pressENTER.12When you are finished setting payload information, cold start therobot:aOn the ...

  • Page 336

    MARO2HT4405801E3–1833. GENERAL SETUPRefer to Figure 3–41 for inertia equations to use in calculating inertia.Figure 3–41. Inertia EquationsCylinderCuboidInertia of Object about Axis Parallel to Major AxisInertia of Object about Axis at Angle to Major AxisM = Mass, D= Diameter, L = Length,...

  • Page 337

  • Page 338

    Page 3-24 SYSTEMCONFIGURATION SETUP

  • Page 339

    4 SYSTEM CONFIGURATION SETUPMARO2HT4405801E4–1Topics In This ChapterPageSystem ConfigurationSetup ScreenThis section contains descriptions of each of the items on the SystemConfiguration Setup screen.4–2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Sy...

  • Page 340

    MARO2HT4405801E4–24. SYSTEM CONFIGURATION SETUPTable 4–1 contains the screen items from the System ConfigurationSetting screen, a detailed description of each item, and any related systemvariable information.Table 4–1. System Configuration Setup Screen ItemsScreen ItemDescriptionRelat...

  • Page 341

    MARO2HT4405801E4–34. SYSTEM CONFIGURATION SETUPTable 4–1. (Cont’d) System Configuration Setup Screen ItemsScreen ItemRelated System VariableDescriptionRestore selectedprogramThis item specifies whether the program that was selected whenthe power was cut after a cold start, is selected ag...

  • Page 342

    MARO2HT4405801E4–44. SYSTEM CONFIGURATION SETUPTable 4–1. (Cont’d) System Configuration Setup Screen ItemsScreen ItemRelated System VariableDescriptionUse PPABN signalAbnormal–pressure (*PPABN) detection enable or disable isspecified for each motion group. Position the cursor on this ...

  • Page 343

    MARO2HT4405801E4–54. SYSTEM CONFIGURATION SETUPTable 4–1. (Cont’d) System Configuration Setup Screen ItemsScreen ItemRelated System VariableDescriptionAuto display of alarmmenuThis item selects whether the alarm screen is displayedautomatically. When TRUE is specified for this item, the...

  • Page 344

    MARO2HT4405801E4–64. SYSTEM CONFIGURATION SETUPUse Procedure 4–1 to set up items on the System Configuration Setupscreen.Procedure 4–1 System Setting1Press MENUS.2Select SYSTEM.3Press F1, [TYPE].4Select Config. You will see a screen similar to the following.System/Config ...

  • Page 345

    MARO2HT4405801E4–74. SYSTEM CONFIGURATION SETUP5Move the cursor to the item you want to set, then enter a value byusing the numeric keys or function keys on the teach pendant. Referto Table 4–1 for detailed information about each field on the screen.D To type a character string, move the c...

  • Page 346

  • Page 347

    Page 4-25 PLANNING ANDCREATING A PROGRAM

  • Page 348

    5 PLANNING AND CREATING A PROGRAMMARO2HT4405801E5–1Topics In This ChapterPagePlanning a ProgramBefore you write a program, you should plan the program. Planning involves considering the best way possible to perform a specific task before programming the robot to complete that task. Planning b...

  • Page 349

    MARO2HT4405801E5–25. PLANNING AND CREATING A PROGRAMThis section provides hints that will help you program specific tasks moreefficiently. It contains hints for programmingD MotionD Predefined positionsD PalletizingNOTE The hints in this section are for programming, not jogging. Worldframe ...

  • Page 350

    MARO2HT4405801E5–35. PLANNING AND CREATING A PROGRAMAbrupt changes in wrist orientation can sometimes increase cycle time.Smooth, gradual changes are faster and more efficient. Plan motions tominimize wrist orientation changes when possible.When changes are necessary, distribute the rotation ...

  • Page 351

    MARO2HT4405801E5–45. PLANNING AND CREATING A PROGRAMYou can use predefined positions in a program. A predefined position is aposition you define that can be used several times in a program or in otherprograms.Robot motion to a predefined position is often tied to an input signal. Therobot mu...

  • Page 352

    MARO2HT4405801E5–55. PLANNING AND CREATING A PROGRAMPosition registers can be used as predefined positions. Each positionregister can only contain one robot position. Refer to Section 6.8 for moreinformation about position registers.To set up a position register as a predefined position,1.Pr...

  • Page 353

    MARO2HT4405801E5–65. PLANNING AND CREATING A PROGRAMThe home position (Perch), is a position away from the workpiece transferarea. Program the robot to move to home before the first position,between cycles, and any time the robot must be away from workcellactivity.Figure 5–2 shows an exam...

  • Page 354

    MARO2HT4405801E5–75. PLANNING AND CREATING A PROGRAMThe repair position is a position where robot repair operations areperformed. Program the robot to move to the repair position any timerepair operations must be performed. Record the repair position awayfrom other equipment and the transfer...

  • Page 355

    MARO2HT4405801E5–85. PLANNING AND CREATING A PROGRAMThe safe position, (Pounce), is away from fixtures and the workpiecetransfer area. Program the robot to move to the safe position any time it isnecessary to move the robot away from other workcell activities.Figure 5–4 shows an example of ...

  • Page 356

    MARO2HT4405801E5–95. PLANNING AND CREATING A PROGRAMYou can write new programs and modify existing programs to direct therobot to perform a task. Writing a program includes:D Naming the programD Defining default instructionsD Adding instructions to the programModifying a program includes:D Se...

  • Page 357

    MARO2HT4405801E5–105. PLANNING AND CREATING A PROGRAMWhen you write a new program you mustD Name the program.D Modify default instruction information. This includes modifyingmotion instructions and other instructions.D Add motion instructions to the program.D Add other instructions to the pro...

  • Page 358

    MARO2HT4405801E5–115. PLANNING AND CREATING A PROGRAMThe detail of program header information includes:D Creation dateD Modification dateD Copy SourceD Number of positions and program sizeD Program NameD Sub TypeD CommentD Group maskD Write protectionD Ignore pauseRefer to Section 6.1 for deta...

  • Page 359

    MARO2HT4405801E5–125. PLANNING AND CREATING A PROGRAMProcedure 5–1 Creating and Writing a New ProgramH All personnel and unnecessary equipment are out of the workcell.H The teach pendant is turned on.1Press SELECT.2If F2, CREATE, is not displayed, press NEXT, >.3Continuously press the DE...

  • Page 360

    MARO2HT4405801E5–135. PLANNING AND CREATING A PROGRAMcWhen you are finished, press ENTER. You will see a screensimilar to the following.2 Upper Case3 Lower Case4 Options ––– Create Teach Pendant Program –––Program Name [RSR1000 ] ...

  • Page 361

    MARO2HT4405801E5–145. PLANNING AND CREATING A PROGRAM8To select a sub type, move the cursor to the sub type and press F4,[ CHOICE ]. You will see a screen similar to the following. Refer toSection 6.1.6 for more information on sub types.Program Detail JOINT 10%12345Program...

  • Page 362

    MARO2HT4405801E5–155. PLANNING AND CREATING A PROGRAMNOTE After the group mask has been set, and motion instructions havebeen added to the program, the group mask cannot be changed for thatprogram.11To set write protection, move the cursor to Write protect. Refer toSection 6.1.9 for informat...

  • Page 363

    MARO2HT4405801E5–165. PLANNING AND CREATING A PROGRAMFor example, to change the speed value, move the cursor to 100%.Type a new value and press ENTER. The new value will be displayed.Each time you add this instruction to the program the new value willbe used.8Repeat Steps 5 through 7 for each...

  • Page 364

    MARO2HT4405801E5–175. PLANNING AND CREATING A PROGRAMYou can modify an existing program any time you want to change thecontent of the program. Modifying a program includesD Selecting a programD Modifying motion instructionsD Modifying palletizing instructionsD Modifying other instructionsD In...

  • Page 365

    MARO2HT4405801E5–185. PLANNING AND CREATING A PROGRAMCopying and pasting allows you to select a group of instructions, make acopy of the group, and insert the group at one or more locations in theprogram. You can paste copied program instructions using the methodsdescribed in Table 5–1.Tab...

  • Page 366

    MARO2HT4405801E5–195. PLANNING AND CREATING A PROGRAMTable 5–1. (Cont’d) Paste MethodsMethodPasted Program InstructionsDescriptionRM-POS-ID(NEXT+F3)D Pastes all instructions except motion instructions inreverse orderD Motion instructions are created using the current (first)and next (sec...

  • Page 367

    MARO2HT4405801E5–205. PLANNING AND CREATING A PROGRAMFinding and replacing is finding specific instructions and, if desired,replacing those instructions with new instructions. This function is useful,for example, when setup information that affects the program is changed.It is also useful whe...

  • Page 368

    MARO2HT4405801E5–215. PLANNING AND CREATING A PROGRAMThis function displays comments of I/O and registers on the teach pendantprogram screen. This gives you the ability to confirm comments whileyou edit a teach pendant program, without having to display anotherscreen.You can only display comm...

  • Page 369

    MARO2HT4405801E5–225. PLANNING AND CREATING A PROGRAMProcedure 5–2 Modifying a ProgramH All personnel and unnecessary equipment are out of the workcell.H The program has been created and all detail information has been setcorrectly. (Procedure 5–1 )1Press SELECT.2Display the appropriate ...

  • Page 370

    MARO2HT4405801E5–235. PLANNING AND CREATING A PROGRAM3To change other motion instruction components, move the cursor tothe component using the arrow keys, and press the appropriatefunction keys to modify the component:D If function key labels are available, press the appropriate one.D If no fu...

  • Page 371

    MARO2HT4405801E5–245. PLANNING AND CREATING A PROGRAM1Move the cursor to the line number of the instruction you want tomodify.2Move the cursor to the component you want to modify and press theappropriate key:D If function key labels are available, press the appropriate one.D If no function key...

  • Page 372

    MARO2HT4405801E5–255. PLANNING AND CREATING A PROGRAM1Press NEXT, > until F5, [EDCMD] is displayed.2Press F5, [EDCMD].3Select 3, Copy.4Move the cursor to the first line to be copied.5Press F2, COPY.6Move the cursor to select the range of lines to be copied.The line number of each line to be...

  • Page 373

    MARO2HT4405801E5–265. PLANNING AND CREATING A PROGRAMD RM–POS–ID (NEXT+F3) – pastes all instructions except motioninstructions in reverse order. Motion instructions are created usingthe current (first) and next (second) motion instruction: Originalposition numbers are retained. Refer ...

  • Page 374

    MARO2HT4405801E5–275. PLANNING AND CREATING A PROGRAM1Move the cursor to the line number of any instruction.2Press NEXT, >, until F5, [EDCMD], is displayed.3Press F5, [EDCMD].4Select 4, Find.5Select the type of instruction to find.6When prompted, enter the necessary information.The system s...

  • Page 375

    MARO2HT4405801E5–285. PLANNING AND CREATING A PROGRAM1Move the cursor to the line number of any instruction.2Press NEXT, >, until F5, [EDCMD], is displayed.3Press F5, [EDCMD].4Select 6, Renumber.5Renumber the positions:D If you do not want to renumber positions press F5, NO.D To renumber po...

  • Page 376

    MARO2HT4405801E5–295. PLANNING AND CREATING A PROGRAM3If you select Comment, the comments turn off.PNS0001 JOINT 10 % 1/3 1: R[2]=DI[3] 2: DO[1]=ON[END][ INST ] [EDCMD]>PNS0001 JOINT 1...

  • Page 377

    MARO2HT4405801E5–305. PLANNING AND CREATING A PROGRAMBackground editing is used to modify a program when the teach pendant isoff. This can also be used to edit a program while another program isrunning. You do not have to stop the robot to modify or check anotherprogram. This option can imp...

  • Page 378

    MARO2HT4405801E5–315. PLANNING AND CREATING A PROGRAMFigure 5–6 and Figure 5–7 show how the Background Edit process flows.Figure 5–6. Background Edit ProcessAAA PAUSEDBBB<<BACKGROUND>>1:2:3:–BCKEDT– ABORTEDBBB<<BACKGROUND>>1:2:3: <...

  • Page 379

    MARO2HT4405801E5–325. PLANNING AND CREATING A PROGRAMFigure 5–7. Background Edit Process (continued)You could not implement themodifications because theprogram was executing orpausing OKDo you want the modifications which havebeen edited in theBACKGROUND to be implemented?...

  • Page 380

    MARO2HT4405801E5–335. PLANNING AND CREATING A PROGRAMProcedure 5–3 Modifying a Program in the BackgroundH All personnel and unnecessary equipment are out of the workcell.H The program has been created and all detail information has been setcorrectly. (Procedure 5–1 )H Make sure the $BACK...

  • Page 381

    MARO2HT4405801E5–345. PLANNING AND CREATING A PROGRAM5Press ENTER.6You will see a confirmation message. Press ENTER.“<<BACKGROUND>>” will be displayed at the beginning of theprogram.7Modify the program. Refer to Procedure 5–2 .NOTE Any modifications you make to the backgro...

  • Page 382

    MARO2HT4405801E5–355. PLANNING AND CREATING A PROGRAMWhen using Background Edit you might experience one or more of theproblems mention in Table 5–2. Use the Cause and Remedy informationin Table 5–2 to eliminate any problems that might occur during normaloperation.Table 5–2. Troub...

  • Page 383

    MARO2HT4405801E5–365. PLANNING AND CREATING A PROGRAMTable 5–2. (Cont’d) Troubleshoot Background Edit – Problem Cause and RemedyProblemRemedyCauseThe status of a running subprogram, thatwas executed from the BCKEDTprogram, changed to ABORTED whenyou disabled the teach pendant. Theprog...

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    Page 5-376 PROGRAM ELEMENTS

  • Page 385

    6 PROGRAM ELEMENTSMARO2HT4405801E6–1A program element is a component of a program. A palletizing program isa series of program elements selected and organized to perform apalletizing application.Topics In This ChapterPageProgram HeaderInformationProgram header information is specific informati...

  • Page 386

    MARO2HT4405801E6–26. PROGRAM ELEMENTSTopics In This ChapterPageBranching InstructionsBranching instructions cause the program to branch, or jump, from oneplace in a program to another6–105. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . DLabel Definition ...

  • Page 387

    MARO2HT4405801E6–36. PROGRAM ELEMENTSTopics In This ChapterPagePayload InstructionFor some applications, you might need to adjust the payload severaltimes within your teach pendant program6–137. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Collision GuardInstructionsYou ca...

  • Page 388

    MARO2HT4405801E6–46. PROGRAM ELEMENTS– Wait instructions to delay program execution.– Skip instructions to move the robot until a signal is received.After the signal is received, stop and branch to the specifiedstatement.– Offset and tool offset instructions to offset positional informat...

  • Page 389

    MARO2HT4405801E6–56. PROGRAM ELEMENTSProgram header information is specific information that identifies andclassifies the program. Program header information consists ofD Creation dateD Modification dateD Copy sourceD Whether program contains positions and program sizeD Program nameD Sub type...

  • Page 390

    MARO2HT4405801E6–66. PROGRAM ELEMENTSPositions indicates whether the program contains recorded robot positions.When you first create a program, positions is always set to FALSE. Sizeis the size of the program in bytes. The program size can be displayedusing the [ATTR] function key on the SEL...

  • Page 391

    MARO2HT4405801E6–76. PROGRAM ELEMENTSSub type identifies the kind of program you want to write. These are:D NoneD MacroD CondIf you select none, the program will not have a sub type. This means thatyou can include any instructions in your teach pendant program.A macro program can contain an...

  • Page 392

    MARO2HT4405801E6–86. PROGRAM ELEMENTSWhen you create a program, you define the group mask that identifies thegroup of axes, or motion group, that the program will control. Motiongroups define different groups of axes that can be used for independentpieces of equipment, positioning tables, and...

  • Page 393

    MARO2HT4405801E6–96. PROGRAM ELEMENTSIgnore pause allows you to specify whether the program will continue torun even when an error occurs, a command is issued (such as pushingEMERGENCY STOP or HOLD), or the teach pendant is enabled. Ignorepause is allowed only in programs that do not have mot...

  • Page 394

    MARO2HT4405801E6–106. PROGRAM ELEMENTSA line number is inserted automatically next to each instruction you add toa program. If you remove an instruction or move an instruction to a newposition in the program, the program instructions will be renumberedautomatically so that the first line is a...

  • Page 395

    MARO2HT4405801E6–116. PROGRAM ELEMENTSA motion instruction directs the robot to move to a specific location in theworkcell using a specified speed and moving in a specified way. A motioninstruction includes:D Motion type – How the robot moves to the positionD Positional information – Wher...

  • Page 396

    MARO2HT4405801E6–126. PROGRAM ELEMENTSMotion type defines how the robot will move to the destination position.There are three motion types:D JointD LinearD CircularJoint motionD Causes the robot to move all required axes to the destination positionsimultaneously. The motion of each axis start...

  • Page 397

    MARO2HT4405801E6–136. PROGRAM ELEMENTSLinear motionD Causes the robot to move the tool center point in a straight line fromthe start position to the destination position.D Is programmed at the destination position.D Speed is specified in millimeters per second, centimeters per second,inches pe...

  • Page 398

    MARO2HT4405801E6–146. PROGRAM ELEMENTSLinear motion type can also be used to rotate tool about the tool centerpoint while maintaining that position. The speed for this type of motion isin degrees per second. Figure 6–5 shows an example of linear motionused for rotation about the tool cente...

  • Page 399

    MARO2HT4405801E6–156. PROGRAM ELEMENTSTo program a complete circle, add two circular motion instructions. Thecircular motion instructions can be added by:D Inserting a line.D Returning to DEFAULT.D Selecting [INST].D Editing a default instruction to add the circular motion instruction.D Teach...

  • Page 400

    MARO2HT4405801E6–166. PROGRAM ELEMENTSIn Figure 6–7 a single-step stop occurs at the destination position of acircular motion instruction. You can then jog the robot.Figure 6–7. Restart of Circular Motion InstructionStartpointMiddle pointEndpointStep stopManual feedIn Figure 6–8 when p...

  • Page 401

    MARO2HT4405801E6–176. PROGRAM ELEMENTSIn general, we do not recommend that you teach a very small circular arcwith large orientation changes. Even with small orientation changes, it isimportant to teach circular points correctly to achieve the circular arc youwant. The information in this se...

  • Page 402

    MARO2HT4405801E6–186. PROGRAM ELEMENTSExample 2: Effect of UTOOL AccuracySee Figure 6–10 for an illustration of the effect of UTOOL accuracy.Figure 6–10. Effect of UTOOL AccuracytooltoolIf the UTOOL is not accurate, especially in the case of a large tool offsetwith a small circular arc, ...

  • Page 403

    MARO2HT4405801E6–196. PROGRAM ELEMENTSExample 3: Effect of Via Point OrientationUse the following guidelines for via point orientation:D For a small circular arc, do not teach a large orientation change. If youteach a large orientation change, fast orientation motion will occur,even though t...

  • Page 404

    MARO2HT4405801E6–206. PROGRAM ELEMENTSPositional information describes the location of the tool center pointwhen a motion instruction is added to a program. Positional informationis recorded when the motion instruction is added to the program. Refer toSection 5.2.2 for more information on ad...

  • Page 405

    MARO2HT4405801E6–216. PROGRAM ELEMENTSThe User Frame (UF) and User Tool frame number (UT) are displayed atthe top of the Position Detail screen. See the following screen for anexample. P[1] UF:0 UT:1 CONF: N 00X 100.000 mm W 12.555 degY 100.000 mm P 3.123 degZ ...

  • Page 406

    MARO2HT4405801E6–226. PROGRAM ELEMENTSFigure 6–12 shows the frame numbers used for the positional data in aprogram example.Figure 6–12. Frame Number of Positional Data Example Program1: UTOOL_NUM = 12: J P[1] 100% FINE /* P[1] UT=1 */3: J P[2] 100% FINE /* P[2] UT=2 */Table 6–2 des...

  • Page 407

    MARO2HT4405801E6–236. PROGRAM ELEMENTSSpeed defines how fast the robot moves to a position.The motion type used determines the units of speed. Depending on themotion type you want, you can specify speed in millimeters per second,centimeters per minute, inches per minute, rotational degrees pe...

  • Page 408

    MARO2HT4405801E6–246. PROGRAM ELEMENTSLinear and circular motions useD Millimeters per second (mm/sec), with a range of values from 1 to2000 millimeters per second.D Centimeters per minute (cm/min), with a range of values from 1 to12000 centimeters per minute.D Inches per minute (inch/min), wi...

  • Page 409

    MARO2HT4405801E6–256. PROGRAM ELEMENTSThe following examples show various motion type instructions that taketheir speed value from a register (R[ ]).D Joint motion typeJ P[2] R[1]% CNT100D Linear motion typeL P[1] R[2]mm/sec FINED Circular motion typeC P[2] P[3] R[3]cm/min FINED Multiple moti...

  • Page 410

    MARO2HT4405801E6–266. PROGRAM ELEMENTSUse Procedure 6–1 to change the motion speed from a specific motionspeed value to a variable (register) speed value.Procedure 6–1 Changing Motion Speed (from Speed Value to Register)H You are currently editing a teach pendant program that contains mot...

  • Page 411

    MARO2HT4405801E6–276. PROGRAM ELEMENTSUse Procedure 6–2 to change the motion speed from a variable (register)speed value to a specific motion speed value.Procedure 6–2 Changing Motion Speed (from Register to Speed Value)H You are currently editing a teach pendant program that contains mot...

  • Page 412

    MARO2HT4405801E6–286. PROGRAM ELEMENTSUse Procedure 6–2 to replace speed values using the Motion Modifyscreen in [EDCMD] REPLACE.Procedure 6–3 Replacing Speed Values (using Motion Modify in [EDCMD]REPLACE)H You are currently editing a teach pendant program that contains motioninstructions...

  • Page 413

    MARO2HT4405801E6–296. PROGRAM ELEMENTS3Select Motion modify. See the following screen for an example. Modify motion menu 1 Replace speed 5 2 Replace term 6 3 Insert option 7 4 Remove option 8RSR0001 10 % 1/4 1: ...

  • Page 414

    MARO2HT4405801E6–306. PROGRAM ELEMENTS6Specify the speed type of the motion instruction you want to searchfor:D All type – searches for motion instructions that use a speed value,a variable (register) value, or an indirect variable (register) speedvalue.D Speed value – searches only for mo...

  • Page 415

    MARO2HT4405801E6–316. PROGRAM ELEMENTS8Select the speed type of the replacement motion instruction:D Speed value – changes the speed of the found (searched) motioninstruction to a speed value.D R[ ] – changes the speed of the found (searched) motioninstruction to a variable (register) spee...

  • Page 416

    MARO2HT4405801E6–326. PROGRAM ELEMENTSTermination type defines how the robot ends the move in the motioninstruction. There are three termination types:D FineD ContinuousD Corner distance – available only if you have the AccuPath optionThe fine and continuous termination types are described ...

  • Page 417

    MARO2HT4405801E6–336. PROGRAM ELEMENTSContinuous termination type allows the robot to decelerate as itapproaches the destination position but does not stop at it before itaccelerates toward the next position. A value from 0 to 100 defines howclose the robot comes to the destination position. ...

  • Page 418

    MARO2HT4405801E6–346. PROGRAM ELEMENTSMotion options can be used to provide additional information to performspecific tasks during robot motion. Motion options includeD Wrist joint motionD Acceleration overrideD Skip labelD OffsetD Offset position registerD Tool_offsetD Tool_offset position r...

  • Page 419

    MARO2HT4405801E6–356. PROGRAM ELEMENTSThe acceleration override motion option specifies theacceleration/deceleration override value for each axis during motion.Acceleration override shortens or lengthens the acceleration time when therobot moves from a starting position to the destination posi...

  • Page 420

    MARO2HT4405801E6–366. PROGRAM ELEMENTSThe Skip, LBL[x] motion option redirects program execution based onwhether a predefined SKIP CONDITION is true. A SKIP CONDITIONinstruction defines an example I/O condition. The execution of the motioninstruction that contains the Skip, LBL[x] motion opt...

  • Page 421

    MARO2HT4405801E6–376. PROGRAM ELEMENTSThe offset motion option is used with the OFFSET CONDITIONinstruction to alter positional information programmed at the destinationposition by the offset amount specified in a position register. TheOFFSET CONDITION instruction defines the position registe...

  • Page 422

    MARO2HT4405801E6–386. PROGRAM ELEMENTSThe Tool_offset motion option is used with theTOOL_OFFSET_CONDITION instruction to alter positional informationprogrammed at the destination position by the tool offset amount specifiedin a position register. The TOOL_OFFSET_CONDITION instructiondefines t...

  • Page 423

    MARO2HT4405801E6–396. PROGRAM ELEMENTSD If you enable the ignore function for the tool offset instruction, thecurrent position is taught as position data and you will not receive anyerror messages. The robot moves to the taught position, even if a tooloffset instruction is executed.D If you p...

  • Page 424

    MARO2HT4405801E6–406. PROGRAM ELEMENTSFigure 6–19. Tool Offset InstructionXZP[2]P[1]XZX:Y:Z:W:P:R:0.0000.0000.0000.00010.0000.000OFFSET DATAUF:UT:FFPR[ 1 ]Currently selectedtool coordinate systemYYExample 1)1: TOOL_OFFSET CONDITION PR[1]2: J P[1] 100% FINE3: L P[2] 500mm/sec FINE Tool_Offse...

  • Page 425

    MARO2HT4405801E6–416. PROGRAM ELEMENTSIn addition to the programmed robot speed, the extended velocity (EV)motion option allows the specification of the programmed extended axisspeed. The EV motion option has the following two options:D Simultaneous EVD Independent EVThe programmed simultaneo...

  • Page 426

    MARO2HT4405801E6–426. PROGRAM ELEMENTSThe remote TCP motion option (RTCP) provides a method of controllingthe orientation of the robot in applications where the tool is fixed in theworkcell and the robot manipulates the workpiece around the tool. Theframe used for jogging and programming is a...

  • Page 427

    MARO2HT4405801E6–436. PROGRAM ELEMENTSFigure 6–22 contains an example of how to use the RTCP motion option.Figure 6–22. Remote TCP (RTCP) Motion Option ExampleJ P[1] 40% FINEL P[2] 400mm/sec CNT100 RTCPL P[3] 400mm/sec CNT100 RTCPL P[4] 400mm/sec CNT100 RTCPL P[5] 400mm/sec FINE RTCPJ P[1...

  • Page 428

    MARO2HT4405801E6–446. PROGRAM ELEMENTSThe PTH motion option allows you to increase the robot accelerationbetween positions in a series of positions, or path. You can use the PTHmotion option only in motion instructions that use continuous terminationtype.If you have a short series of continuo...

  • Page 429

    MARO2HT4405801E6–456. PROGRAM ELEMENTSThe corner rounding specifies an SC value for each axis during motion.The corner rounding shortens the interval from this motion start to the nextmotion start. The SC value for the corner rounding is programmed at thedestination position. The SC value fo...

  • Page 430

    MARO2HT4405801E6–466. PROGRAM ELEMENTSFigure 6–24. Pick and PlaceLLJUSE SC1-100USE SC1-100P[1]P[3]P[2]P[4]The following are the guidelines to select a SC value:Create and execute the program below. 10: J P[1] 100% CNT1 11: TIMER[1] = RESET 12: TIMER[1] = START 13: L P[2] 2000mm/sec CNT1...

  • Page 431

    MARO2HT4405801E6–476. PROGRAM ELEMENTSCategory 2: Instructions in this category cause the robot to decelerate atall times, regardless of the termination type specified. You cannot changethese default values. The instructions in this category are as follows:D Frame instructions: UFRAME_NUM,...

  • Page 432

    MARO2HT4405801E6–486. PROGRAM ELEMENTSD Speed accuracyThe robot will try to maintain the programmed speed around a corneras long as the motion is within the mechanical capability of the robot.If constant speed is not feasible, AccuPath will lower the corner speedfrom the programmed speed autom...

  • Page 433

    MARO2HT4405801E6–496. PROGRAM ELEMENTSIf you want to adjust the corner rounding distance for a motion instruction,you can use the corner distance termination type, CDy. When you use theCD termination type, you must specify the corner distance.Corner distance is the distance from the corner pa...

  • Page 434

    MARO2HT4405801E6–506. PROGRAM ELEMENTSBy default, AccuPath will direct the robot to maintain the programmedspeed around a corner, as long as this is within the mechanical capabilityof the robot. If constant speed is not possible, based on robot tuning,AccuPath will lower the corner speed from...

  • Page 435

    MARO2HT4405801E6–516. PROGRAM ELEMENTSCategory 2: Instructions in this category cause the robot to decelerate atall times, regardless of the termination type specified. You cannot changethese default values. The instructions in this category are as follows:D Frame instructions: UFRAME_NUM,...

  • Page 436

    MARO2HT4405801E6–526. PROGRAM ELEMENTSDuring teaching, you can check AccuPath warning messages by setting$VC_PARAMGRP[].$warnmessenb = TRUE. AccuPath warningmessages inform you of certain conditions of the taught path, such as“Corner speed slowdown,” and “Can’t maintain C-Dist.” Th...

  • Page 437

    MARO2HT4405801E6–536. PROGRAM ELEMENTSFor AccuPath, the deviation distance CAN NOT exceed the half distance. When the segment distance between taught points is short, the halfdistance rule is applied, in which the deviation distance is set equal to halfthe segment distance, as shown in Figure...

  • Page 438

    MARO2HT4405801E6–546. PROGRAM ELEMENTSD Given two taught positions, the segment time is computed as the largerof location time and orientation time. Location time is the time tomove from the start location to the destination location based onprogram speed. Orientation time is the time to mov...

  • Page 439

    MARO2HT4405801E6–556. PROGRAM ELEMENTSYou must be careful about the half distance rule. Keep in mind thatbecause of the half distance rule, the specified corner distance can not besatisfied when the distance is short. The following are tips on teaching apath:D Minimize the number of taught p...

  • Page 440

    MARO2HT4405801E6–566. PROGRAM ELEMENTSWhen you use AccuPath, you can teach a small corner with relatively fewpositions. See Figure 6–31.Figure 6–31. Teaching a Flexible PathP1Without AccuPathWith AccuPathP2P3P4P5P6P1P4P2P3To teach a flexible path, you should1.Determine the straight line ...

  • Page 441

    MARO2HT4405801E6–576. PROGRAM ELEMENTSThe motion control functions that are supported both in the $GROUPsystem variables and in the teach pendant motion instruction use the valuethat is specified in the teach pendant motion instruction. Refer toTable 6–4 for the correspondence between the ...

  • Page 442

    MARO2HT4405801E6–586. PROGRAM ELEMENTSThe IntelliTrak function improves robot path accuracy. You do not have tocreate a special program for IntelliTrak.IntelliTrak performs the following functions:D Cartesian motion control for improving path accuracy in linear motion.D Path accuracy has been ...

  • Page 443

    MARO2HT4405801E6–596. PROGRAM ELEMENTSD If a programmed speed is too high, the maximum allowable speed fora certain axis might be reached. In this case, if the system variable$PARAM_GROUP.$mot_lim_stp is set to FALSE (default), thewarning message “SRVO–026 Motor speed limit” appears. T...

  • Page 444

    MARO2HT4405801E6–606. PROGRAM ELEMENTSPalletizing instructions tell the robot when and how to palletize. Thesepalletizing instructions allow you to either stack the pallet or unload thepallet. There are four types of palletizing instructions:D PALLETIZING-BD PALLETIZING-BXD PALLETIZING-ED PA...

  • Page 445

    MARO2HT4405801E6–616. PROGRAM ELEMENTSFigure 6–32. Palletizing Program Example 1: R[1]=0 2: PL[1]=[1,1,1] 3: PL[2]=[1,1,1] 4: THE NEXT LINE OPENS THE GRIPPER 5: RDO[1]=ON ...

  • Page 446

    MARO2HT4405801E6–626. PROGRAM ELEMENTSThe PALLETIZING-B instruction is the basic type of palletizinginstruction. You use this instruction when:D The approach and retreat routes of your robot always have the samedirection and orientation. The route is the number of robot positionsyou record t...

  • Page 447

    MARO2HT4405801E6–636. PROGRAM ELEMENTSTable 6–5. (Cont’d) PALLETIZING-B Pallet Editor ItemsITEMDESCRIPTIONIncr[ 2, 1, 1 ]Allows you to specify how the pallet register will increment or decrement. This value,along with the specified order, controls which position will be processed by the...

  • Page 448

    MARO2HT4405801E6–646. PROGRAM ELEMENTSTable 6–5. (Cont’d) PALLETIZING-B Pallet Editor ItemsITEMDESCRIPTIONRowsAllows you to specify the total number of rows in the stack.LayersAllows you to specify the total number of layers in the stack.Auxiliary PosAllows you to specify whether or not ...

  • Page 449

    MARO2HT4405801E6–656. PROGRAM ELEMENTSNOTE The term Paletizing_1 in the example screen indicates that this isthe first palletizing instruction in the program.1To return to your program at any time, press F1, PROG.aPress F4, YES, to return to your program.bPress F5, NO, to remain in the Pallet...

  • Page 450

    MARO2HT4405801E6–666. PROGRAM ELEMENTS13When you are finished setting up the PALLETIZING B instruction,press F5, DONE. See the following screen for an example.Main Pallet JOINT 10%TEACH BOTTOM POINTS1: *P[1,1,1]2: *P[10,1,1]3: *P[1,2,1]4: *P[1,1,2]BACK RECOR...

  • Page 451

    MARO2HT4405801E6–676. PROGRAM ELEMENTS1To return to your program at any time, press >, and then press F1, PROG.aPress F4, YES, to return to your program.bPress F5, NO, to remain in the Pallet Editor.2To return to the Pallet Editor at any time, press F1, BACK.3To set up position default info...

  • Page 452

    MARO2HT4405801E6–686. PROGRAM ELEMENTSThe PALLETIZING-BX instruction is a basic type of palletizinginstruction that allows you to specify multiple route patterns. You use thisinstruction when:D The approach and retreat routes of your robot have different directionsand orientations. The route...

  • Page 453

    MARO2HT4405801E6–696. PROGRAM ELEMENTSTable 6–6. PALLETIZING-BX Pallet Editor ItemsITEMDESCRIPTIONCommentAllows you to enter a comment about this palletizing instruction.TypeAllows you to specify whether this palletizing instruction will palletize or depalletize. If setto PALLET, the ro...

  • Page 454

    MARO2HT4405801E6–706. PROGRAM ELEMENTSTable 6–6. (Cont’d) PALLETIZING-BX Pallet Editor ItemsITEMDESCRIPTIONPal RegAllows you to specify the pallet register that will be used to store the next position to beprocessed.OrderAllows you to specify the order in which the robot will palletize o...

  • Page 455

    MARO2HT4405801E6–716. PROGRAM ELEMENTS3Select PALLETIZING-BX. The Pallet Editor will be displayed. Seefollowing screen for an example.Main Pallet JOINT 10%PALLETIZING CONFIGURATIONPALETIZING_1 [ ]TYPE = [PALLET] INCR = [ 1]PAL REG = [ 1] ...

  • Page 456

    MARO2HT4405801E6–726. PROGRAM ELEMENTS6Enter the order. Available orders include: CRL, CLR, RCL, RLC.aTo select rows, press F2, R.bTo select columns, press F3, C.cTo select layers, press F4, L.7Enter the total number of columns.8Enter the total number of rows.9Enter the total number of layers...

  • Page 457

    MARO2HT4405801E6–736. PROGRAM ELEMENTS1To return to your program at any time, press >, and then press F1, PROG.aPress F4, YES, to return to your program.bPress F5, NO, to remain in the Pallet Editor.2To return to the Pallet Editor at any time, press F1, BACK.3To record each position:aJog th...

  • Page 458

    MARO2HT4405801E6–746. PROGRAM ELEMENTS4When you are finished recording positions, press F5, DONE. See thefollowing screen for an example.Main Pallet JOINT 10%PALLETIZING ROUTE POINTS IF PL[1] = [*,*,*}1: J PAL_1[A_2] 30% FINE2: J PAL_1[A_1] 30% FINE3: J PAL_1[BTM] 30% FI...

  • Page 459

    MARO2HT4405801E6–756. PROGRAM ELEMENTSThe PALLETIZING-E instruction is an extended type of palletizinginstruction that allows you to specify different types of stackingarrangements. You use this instruction when:D The approach and retreat route of your robot always has the samedirection and o...

  • Page 460

    MARO2HT4405801E6–766. PROGRAM ELEMENTSTable 6–7 lists and describes each PALLETIZING-E instruction item youcan specify in the Pallet Editor.Table 6–7. PALLETIZING-E Pallet Editor ItemsITEMDESCRIPTIONCommentAllows you to enter a comment about this palletizing instruction.TypeAllows you...

  • Page 461

    MARO2HT4405801E6–776. PROGRAM ELEMENTSTable 6–7. (Cont’d) PALLETIZING-E Pallet Editor ItemsITEMDESCRIPTIONOrderAllows you to specify the order in which the robot will palletize or depalletize. Theavailable options are CRL, CLR, RCL, or RLC whereS C = ColumnS R = RowS L = LayerColumnsRow...

  • Page 462

    MARO2HT4405801E6–786. PROGRAM ELEMENTS3Select PALLETIZING-E. The Pallet Editor will be displayed. See thefollowing screen for an example.Main Pallet JOINT 10%PALLETIZING CONFIGURATIONPALETIZING_1 [ ]TYPE = [PALLET] INCR = [ 1]PAL REG = [ 1] ...

  • Page 463

    MARO2HT4405801E6–796. PROGRAM ELEMENTS6Enter the order. Available orders include: CRL, CLR, RCL, RLC.aTo select rows, press F2, R.bTo select columns, press F3, C.cTo select layers, press F4, L.7Set up your column information.aEnter the total number of columns.bSelect the type of positions.–...

  • Page 464

    MARO2HT4405801E6–806. PROGRAM ELEMENTS14When you are finished setting up the PALLETIZING E instruction,press F5, DONE. See the following screen for an example.Main Pallet JOINT 10%TEACH BOTTOM POINTS1: *P[1,1,1]2: *P[10,1,1]3: *P[1,2,1]4: *P[1,1,2]BACK RECOR...

  • Page 465

    MARO2HT4405801E6–816. PROGRAM ELEMENTS1To return to your program at any time, press >, and then press F1, PROG.aPress F4, YES, to return to your program.bPress F5, NO, to remain in the Pallet Editor.2To return to the Pallet Editor at any time, press F1, BACK.3To set up position default info...

  • Page 466

    MARO2HT4405801E6–826. PROGRAM ELEMENTSThe PALLETIZING-EX instruction can be used in the following cases:D The approach and retreat routes of your robot have different directionsand orientations. The route is the number of robot positions yourecord to move your robot to the pallet and then awa...

  • Page 467

    MARO2HT4405801E6–836. PROGRAM ELEMENTSFigure 6–36. Example of PALLETIZING-EX InstructionÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎ...

  • Page 468

    MARO2HT4405801E6–846. PROGRAM ELEMENTSTable 6–8. (Cont’d) PALLETIZING-BX Pallet Editor ItemsITEMDESCRIPTIONIncr[ 2, 1, 1 ]Allows you to specify how the pallet register will increment or decrement. This value,along with the specified order, controls which position will be processed by th...

  • Page 469

    MARO2HT4405801E6–856. PROGRAM ELEMENTSTable 6–8. (Cont’d) PALLETIZING-BX Pallet Editor ItemsITEMDESCRIPTIONColumnsRowsLayersAllows you to specify the total number of columns, rows, or layers in the stack, whetherpattern is a linear or free, and whether the orientation of the TCP is a fix...

  • Page 470

    MARO2HT4405801E6–866. PROGRAM ELEMENTS3Select PALLETIZING-EX. The Pallet Editor will be displayed. Seethe following screen for an example.Main Pallet JOINT 10%PALLETIZING CONFIGURATIONPALETIZING_1 [ ]TYPE = [PALLET] INCR = [ 1]PAL REG = [ 1] ...

  • Page 471

    MARO2HT4405801E6–876. PROGRAM ELEMENTS6Enter the order. Available orders include: CRL, CLR, RCL, RLC.aTo select rows, press F2, R.bTo select columns, press F3, C.cTo select layers, press F4, L.7Set up your column information.aEnter the total number of columns.bSelect the type of positions.–...

  • Page 472

    MARO2HT4405801E6–886. PROGRAM ELEMENTS14When you are finished setting up the PALLETIZING EX instruction,press F5, DONE. See the following screen for an example.Main Pallet JOINT 10%TEACH BOTTOM POINTS1: *P[1,1,1]2: *P[10,1,1]3: *P[1,2,1]4: *P[1,1,2]BACK RECO...

  • Page 473

    MARO2HT4405801E6–896. PROGRAM ELEMENTS1To return to your program at any time, press >, and then press F1, PROG.aPress F4, YES, to return to your program.bPress F5, NO, to remain in the Pallet Editor.2To return to the Pallet Editor at any time, press F1, BACK.3To set up each pattern,aCursor ...

  • Page 474

    MARO2HT4405801E6–906. PROGRAM ELEMENTSThe PALLETIZING-END instruction resets the pallet register after therobot has finished stacking or unstacking a pallet.6.5.5 PALLETIZING-ENDInstruction

  • Page 475

    MARO2HT4405801E6–916. PROGRAM ELEMENTSA pallet register stores layer, row, and column information for palletizing.Thirty-two registers are available for all the programs in the controllercombined. Pallet registers are identified by numbers, 1-32. Pallet registerinstructions manipulate pallet...

  • Page 476

    MARO2HT4405801E6–926. PROGRAM ELEMENTSThe PL[x] = [value] instruction stores a value in a pallet register. SeeFigure 6–38.Figure 6–38. PL[x] = [value]PL[x]=[value](1–32)Direct:Indirect:R[x] Where contents of R[x] = pallet register numberPL[R[x]], Indirect Pallet registerPL[x], Direct P...

  • Page 477

    MARO2HT4405801E6–936. PROGRAM ELEMENTSA register stores one number. A maximum of 256 registers are availablefor all the programs in the controller combined. The default number ofregisters is 32. Registers are identified by numbers. To increase thenumber of registers, perform a controlled s...

  • Page 478

    MARO2HT4405801E6–946. PROGRAM ELEMENTSThe R[x] = [value] instruction stores a value in a register. SeeFigure 6–41.Figure 6–41. R[x] = [value]SO[x], SOP output signalValue of SOP digital output signal x = contents of R[x]SI[x], SOP input signalValue of SOP digital input signal x = content...

  • Page 479

    MARO2HT4405801E6–956. PROGRAM ELEMENTSD Whole number division (DIV)D Remainder division (MOD)See Figure 6–42.You can use multiple arithmetic operators in a single instruction.However, there are the following limitations:D You cannot mix +, –, or */ in the same instruction.D The maximum num...

  • Page 480

    MARO2HT4405801E6–966. PROGRAM ELEMENTSA position register stores positional information (x,y,z,w,p,r,configuration). A maximum of 64 position registers are available for allprograms in the controller combined. The default number of positionregisters is 32. Position registers are identified ...

  • Page 481

    MARO2HT4405801E6–976. PROGRAM ELEMENTSThe PR[GRPn:x] = [value] [operator] [value] instructions store the resultof an arithmetic operation in a register. The arithmetic operations areaddition and subtraction. See Figure 6–44.You can use multiple arithmetic operators in a single instruction....

  • Page 482

    MARO2HT4405801E6–986. PROGRAM ELEMENTSThe PR[i,j] = [value] instruction stores positional information in a positionregister element. See Figure 6–46.Figure 6–46. PR[i,j] = [value]AI[x], Analog input signalPositionregisternumberAO[x], Analog output signalPositionregisterelementnumberPR[i,...

  • Page 483

    MARO2HT4405801E6–996. PROGRAM ELEMENTSThe PR[i,j] = [value] [operator] [value] instructions store the result of anarithmetic operation in a position register element. The arithmeticoperations are addition, subtraction, multiplication, division, wholenumber division (DIV), and remainder divisi...

  • Page 484

    MARO2HT4405801E6–1006. PROGRAM ELEMENTSInput/output, or I/O, instructions allow the program to turn on and offoutput signals and receive input signals. There are several kinds of I/Oinstructions:D Digital input and output instructionsD Robot digital input and output instructionsD Analog input...

  • Page 485

    MARO2HT4405801E6–1016. PROGRAM ELEMENTSThe DO[x]=PULSE [,width] instruction turns on the digital output signalfor the time specified. See Figure 6–50.Figure 6–50. DO[x] = PULSE [,width]DO[x] = PULSE [,width]Indirect:Direct:Amount of time topulse, in seconds(0.1–25.0 sec)Digital output ...

  • Page 486

    MARO2HT4405801E6–1026. PROGRAM ELEMENTSThe RO[x] = ON/OFF instruction turns on or off the specified robot digitaloutput signal. See Figure 6–53.Figure 6–53. RO[x] = ON/OFFRO[x] = [value]Direct:Indirect:Robot digital output signal numberON – turns on the outputOFF – turns off the outp...

  • Page 487

    MARO2HT4405801E6–1036. PROGRAM ELEMENTSAnalog input (AI) and analog output (AO) signals are continuous inputand output signals whose magnitudes indicate data values, such astemperatures and voltages. Refer to Section 3.1.1.The R[x] = AI[x] instruction stores the value on an analog input chann...

  • Page 488

    MARO2HT4405801E6–1046. PROGRAM ELEMENTSGroup input (GI) and group output (GO) signals are several digital inputand output signals that have been assigned to a group, can be read as abinary number, and can be controlled by one instruction. Refer toSection 3.1.3.The R[x] = GI[x] instruction pla...

  • Page 489

    MARO2HT4405801E6–1056. PROGRAM ELEMENTSBranching instructions cause the program to branch, or jump, from oneplace in a program to another. There are three kinds of branchinginstructions:D Label definition instructionD Unconditional branching instructionsD Conditional branching instructionsD P...

  • Page 490

    MARO2HT4405801E6–1066. PROGRAM ELEMENTSThe CALL program instruction causes the program to branch to anotherprogram and execute it. When the called program finishes executing, itreturns to the main program at the first instruction after the call programinstruction. See Figure 6–62.Figure 6...

  • Page 491

    MARO2HT4405801E6–1076. PROGRAM ELEMENTSInput/output IF instructions compare an input or output value with anothervalue and take an action if the comparison is true.See Figure 6–65 to Figure 6–67.Figure 6–65. I/O IF Instruction for DI/DO, RI/RO, SI/SO and UI/UO<> (not equal)DI[x]I...

  • Page 492

    MARO2HT4405801E6–1086. PROGRAM ELEMENTSFor an IF instruction, conditions can be connected using AND or OR, asfollows:D AND operatorIF [cond1] AND [cond2] AND ..., [action]For example,1: IF R[1]=1 AND R[2]=2 AND DI[2]=ON, JMP LBL[2]D OR instructionIF[cond1] OR [cond2] OR ..., [action]For exam...

  • Page 493

    MARO2HT4405801E6–1096. PROGRAM ELEMENTSWait instructions delay program execution for a specified time or until aspecified condition is true. When a wait instruction is executed, the robotdoes not execute any motion instructions. There are two kinds of waitinstructions:D WAIT time – delays ...

  • Page 494

    MARO2HT4405801E6–1106. PROGRAM ELEMENTSFigure 6–70. WAIT Condition<> (not equal)DI[x]= (equal)DO[x]RI[x]RO[x]SI[x]SO[x]UI[x]UO[x]R[x]OnOffDI[x]DO[x]RI[x]RO[x]SI[x]SO[x]UI[x]UO[x]On+Off–ForeverTIMEOUT –LBL[x]WAIT [item] [operator] [value] [time]Figure 6–71. WAIT ConditionR[x]Con...

  • Page 495

    MARO2HT4405801E6–1116. PROGRAM ELEMENTSFor WAIT instructions, logical instruction editing can contain multiplelogical statements connected by AND or OR operators.D AND operatorWAIT [cond1] AND [cond2] AND ...For example,1: WAIT DI[1]=ON AND DI[2]=ON, TIMEOUT, LBL[1]D OR instructionWAIT [cond1...

  • Page 496

    MARO2HT4405801E6–1126. PROGRAM ELEMENTSThere are miscellaneous instructions for production control, user alarms,timer setting, speed override, program remarks, message handling, andparameter setting.The RSR enable/disable instruction enables and disables the queueingprocess of the specified RS...

  • Page 497

    MARO2HT4405801E6–1136. PROGRAM ELEMENTSTimer instructions allow you to start, stop, and reset up to ten differenttimers in a program. Timers allow you to determine how long a routinetakes to execute, or how long your entire production program takes toexecute. Timers can be started in one pro...

  • Page 498

    MARO2HT4405801E6–1146. PROGRAM ELEMENTSYou can display and change the value of a system variable through theparameter name instruction, by using teach pendant read and writeoperations. Refer to Section 8.6 for more information on system variables.NOTE Some system variables only allow you to ...

  • Page 499

    MARO2HT4405801E6–1156. PROGRAM ELEMENTSThe [value] = $[parameter name] instruction allows you to display (read)the value of a system variable. See Figure 6–79.Figure 6–79. Parameter Name Read InstructionSystem variable namelimited to 30 characters[value] = $[parameter name]R[x]PR[x]Proce...

  • Page 500

    MARO2HT4405801E6–1166. PROGRAM ELEMENTS4Select Parameter name. You will see a screen similar to the following.D 1 = System variable write operation $...=...D 2 = System variable read operation ...=$... 1 $...=... 52 ...=$... 63 74 8IF stat...

  • Page 501

    MARO2HT4405801E6–1176. PROGRAM ELEMENTS6If you select 2 to display (read) a system variable using the parametername instructionaYou will see a screen similar to the following. Miscellaneous stat JOINT 10 %1 R[ ] 52 PR[ ] 63 74 ...

  • Page 502

    MARO2HT4405801E6–1186. PROGRAM ELEMENTSThe maximum speed instructions set the maximum speed of joint motionand linear or circular motion in the program. If the motion speed exceedsthe value designated by this instruction, the motion speed is limited by thedesignated value.If you use a maximum...

  • Page 503

    MARO2HT4405801E6–1196. PROGRAM ELEMENTSThe skip instruction sets the conditions for executing robot motion whenusing the skip motion option in a motion instruction. These conditions aretrue until they are reset by another skip instruction. Refer to Section 6.3.6for more information.See Figur...

  • Page 504

    MARO2HT4405801E6–1206. PROGRAM ELEMENTSERR_NUM =aaabbb aaa : Error ID (decimal); Refer to Section A.1.1 bbb : Error number (decimal)If 0 is specified as error number “aaabbb,” when any kind of error occurs,the condition is satisfied.For example,SKIP CONDITION ERR_NUM=11006This spe...

  • Page 505

    MARO2HT4405801E6–1216. PROGRAM ELEMENTSOffset instructions specify positional offset information or the frames usedfor positional information. There are five offset instructions:D Positional offset condition – contains information on the distance ordegrees to offset positional informationCA...

  • Page 506

    MARO2HT4405801E6–1226. PROGRAM ELEMENTSThe UFRAME_NUM=[value] instruction sets the number of the userframe to use. A value of zero indicates that no user frame is used. Thismeans that world frame is used. See Figure 6–88. Refer to Section 3.8.2for setting up the user frame.NOTE To verif...

  • Page 507

    MARO2HT4405801E6–1236. PROGRAM ELEMENTSThe UFRAME[i] = PR[x] instruction defines the specified user frameusing the information contained in a position register. See Figure 6–90.Figure 6–90. UFRAME[i] = PR[x]UFRAME[i] = PR[x]User frame number (0–5)Direct:Indirect:R[x], where user framen...

  • Page 508

    MARO2HT4405801E6–1246. PROGRAM ELEMENTSA tool offset condition instruction specifies the offset condition used in atool offset instruction. Execute a tool offset condition instruction beforeexecuting the corresponding tool offset instruction. After the tool offsetconditions have been specifi...

  • Page 509

    MARO2HT4405801E6–1256. PROGRAM ELEMENTSMultiple control instructions are used for multi-tasking. Multi-taskingallows you to execute more than one task at a time.The SEMAPHORE[x] = ON/OFF instruction sets the semaphore numberto on or off. Semaphores are used in multi-tasking to start or delay...

  • Page 510

    MARO2HT4405801E6–1266. PROGRAM ELEMENTSThe macro command instruction specifies the macro command to beexecuted when the program is run. A macro command is a separateprogram that contains a series of instructions to perform a task.You can define as many as 20 macro commands, depending on how y...

  • Page 511

    MARO2HT4405801E6–1276. PROGRAM ELEMENTSProgram control instructions direct program execution. Use these whenyou want areas of your program to pause, abort, resume a program, andhandle errors.A PAUSE instruction suspends program execution in the followingmanner:D Any motion already begun conti...

  • Page 512

    MARO2HT4405801E6–1286. PROGRAM ELEMENTSThe error program instruction defines the program name that will be storedin the system variable $ERROR_PROG. The use of the $ERROR_PROGsystem variable varies depending on how your system is set up. SeeFigure 6–99.Figure 6–99. Error ProgramERROR_PR...

  • Page 513

    MARO2HT4405801E6–1296. PROGRAM ELEMENTSSensor instructions send and receive information from external sensorsthrough the RS-232-C serial port. The R-J2 controller can receive positionoffset data and transformation data from any sensory device that is capableof handling the R-J2 sensor protoco...

  • Page 514

    MARO2HT4405801E6–1306. PROGRAM ELEMENTSThe receive sensor branch instruction waits until the register specified bythe SEND instruction indicates that all information has been received. Itthen terminates the connection and continues the program execution.If an error occurs (negative register v...

  • Page 515

    MARO2HT4405801E6–1316. PROGRAM ELEMENTSMotion group instructions allow you to program multiple motion groupsindependently of each other.Motion group instruction can be used to specify the:D Motion type for individual groups (except for circular motions)D Travel speed for individual groupsD Ter...

  • Page 516

    MARO2HT4405801E6–1326. PROGRAM ELEMENTSProcedure 6–9 describes how to define an Independent or Simultaneousmotion group instruction. The example program specifies motion groups1 and 3,with motion mask [1,*,1,*,*].NOTE You cannot define an Independent or Simultaneous motion groupinstructio...

  • Page 517

    MARO2HT4405801E6–1336. PROGRAM ELEMENTS4For a motion instruction already within a Independent or Simultaneousmotion group instruction, change the motion type, speed, andtermination type in the same way as for ordinary motion instructions.Refer to Section 6.3 for more information.NOTE You can...

  • Page 518

    MARO2HT4405801E6–1346. PROGRAM ELEMENTSWhile the robot is executing a program, it reads the lines ahead of the linecurrently being executed (look-ahead execution). The position registerlook-ahead execution function enables look-ahead execution for positionregisters. The position register loo...

  • Page 519

    MARO2HT4405801E6–1356. PROGRAM ELEMENTSThe condition monitor function monitors the condition of an I/O signal,register value, or alarm status, during teach pendant program execution.As soon as the condition is triggered, the specified teach pendant programis executed and interrupts the current...

  • Page 520

    MARO2HT4405801E6–1366. PROGRAM ELEMENTSFigure 6–109. Condition for Register, System Variable, and I/O ParametersWHEN [item] [operator] [value] [action]R[x]Constant valueCALL program= (equal)<> (not equal)< (less than)<= (less than orequal)> (greater than)>= (greater than o...

  • Page 521

    MARO2HT4405801E6–1376. PROGRAM ELEMENTSFor some applications, you might need to adjust the payload several timeswithin your teach pendant program. For example, if your applicationrequires a change of end-of-arm tooling, you will need to adjust payloadinformation to reflect this change.See Fig...

  • Page 522

    MARO2HT4405801E6–1386. PROGRAM ELEMENTSRefer to Figure 6–114 for inertia equations to use in calculating inertia.Figure 6–114. Inertia EquationsCylinderCuboidInertia of Object about Axis Parallel to Major AxisInertia of Object about Axis at Angle to Major AxisM = Mass, D= Diameter, L = Le...

  • Page 523

    MARO2HT4405801E6–1396. PROGRAM ELEMENTSYou can use the Collision Guard instructions to control Collision Guardduring programmed motion.By default, Collision Guard is enabled.D To disable Collision Guard, include the COL DETECT OFFinstruction in a teach pendant program.D To enable Collision Gua...

  • Page 524

  • Page 525

    Page 6-27 TESTING A PROGRAM &RUNNING PRODUCTION

  • Page 526

    7TESTING A PROGRAM AND RUNNINGPRODUCTIONMARO2HT4405801E7–1Topics In This ChapterPageProgram Pause andRecoveryYou can EMERGENCY STOP or HOLD any program running in production7–2. . . DEMERGENCY STOP and Recovery7–2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . DHOLD and Re...

  • Page 527

    MARO2HT4405801E7–27. TESTING A PROGRAM AND RUNNING PRODUCTIONYou can EMERGENCY STOP or HOLD any program running inproduction using D The EMERGENCY STOP button on the teach pendant or operatorpanelD The HOLD button on the teach pendant or operator panelPress the EMERGENCY STOP button on the ope...

  • Page 528

    MARO2HT4405801E7–37. TESTING A PROGRAM AND RUNNING PRODUCTIONProcedure 7–2 Recovery from EMERGENCY STOP1Turn the EMERGENCY STOP button clockwise to release it.2Press the RESET button on the teach pendant or operator panel.Press the HOLD button on the teach pendant or operator panel to pause ...

  • Page 529

    MARO2HT4405801E7–47. TESTING A PROGRAM AND RUNNING PRODUCTIONIf you have the Control Reliable (RS-1/RS-4) option and resume aprogram while in AUTO mode, and the distance between the resumeposition and the stop position is greater than the stop tolerance, a promptbox is displayed. When this oc...

  • Page 530

    MARO2HT4405801E7–57. TESTING A PROGRAM AND RUNNING PRODUCTIONFigure 7–1. Resume Tolerance ExampleThe robot position is out ofstop tolerance.Please select action.Choosing CONTINUE willrequire cycle start.ABORT CONTINUEDDistance between resume position and stop position = 10 mmDStop tol...

  • Page 531

    MARO2HT4405801E7–67. TESTING A PROGRAM AND RUNNING PRODUCTIONTable 7–1. (Cont’d) Tolerance Setup ItemsITEMDESCRIPTIONAxes ToleranceRotational Axesdefault: 20 degreesmin: 0.1 degreemax: 80 degreesIf the robot has extended axes, this is the angular or orientation distance between theres...

  • Page 532

    MARO2HT4405801E7–77. TESTING A PROGRAM AND RUNNING PRODUCTIONIf you resume a program in which the current robot position exceeds thestop tolerance, you must perform specific procedures appropriate to theconditions. Use Procedure 7–5 to resume a program that exceeds the stoptolerance.Proced...

  • Page 533

    MARO2HT4405801E7–87. TESTING A PROGRAM AND RUNNING PRODUCTION4To move the robot into tolerance and restart the program,aSet the MODE SELECT switch to the T1 or T2 position.bJog the robot to a position that is within the tolerance.cSet the MODE SELECT switch to the AUTO position.dInput the star...

  • Page 534

    MARO2HT4405801E7–97. TESTING A PROGRAM AND RUNNING PRODUCTIONYou must test your program before you run production. For each step inthe following test plan you must set up test cycle conditions as appropriatefor the kind of testing you are performing.A typical testing plan will1.Single step th...

  • Page 535

    MARO2HT4405801E7–107. TESTING A PROGRAM AND RUNNING PRODUCTIONSetting up the test cycle allows you to control the conditions for testrunning a program. These conditions are in effect any time a program isrun until you decide to change the conditions.You can set the test cycle conditions liste...

  • Page 536

    MARO2HT4405801E7–117. TESTING A PROGRAM AND RUNNING PRODUCTIONProcedure 7–6 Setting Up Test Cycle Conditions1Press SELECT.2Select the program you want to test and press ENTER.3Press MENUS.4Select 2, TEST CYCLE. You will see a screen similar to thefollowing.GROUP: 1 1 Robot lock: ...

  • Page 537

    MARO2HT4405801E7–127. TESTING A PROGRAM AND RUNNING PRODUCTIONSingle step testing is running individual program instructions one at a time.You use the teach pendant to single step the current program displayed onthe teach pendant screen.If you have the Control Reliable (RS-1/RS-4) option, the ...

  • Page 538

    MARO2HT4405801E7–137. TESTING A PROGRAM AND RUNNING PRODUCTIONFigure 7–2 contains an example program which shows how to performbackward execution from the 4th line of the sub program SUB_PROG.Figure 7–2. Example Program Showing Backward ExecutionMAIN_PROG1:2: R[1] = R[1] + 13: J P[1] 100%...

  • Page 539

    MARO2HT4405801E7–147. TESTING A PROGRAM AND RUNNING PRODUCTIONProcedure 7–7 Single Step TestingNOTE If you have the Control Reliable (RS-1/RS-4) option, if the MODESELECT switch is in the T1 position, the robot speed will be no greaterthan 250mm/sec, regardless of any other speed settings.N...

  • Page 540

    MARO2HT4405801E7–157. TESTING A PROGRAM AND RUNNING PRODUCTION6Set the speed to the value you want. A low speed is recommended.7Check program status on the top line of the teach pendant screen. If itis PAUSED, press FCTN and select ABORT (ALL).WARNINGThe next step causes a program instructio...

  • Page 541

    MARO2HT4405801E7–167. TESTING A PROGRAM AND RUNNING PRODUCTIONContinuous testing is running a program from beginning to end withoutstopping. You can test a program continuously using the teach pendant orthe operator panel CYCLE START button.If you have the Control Reliable (RS-1/RS-4) option,...

  • Page 542

    MARO2HT4405801E7–177. TESTING A PROGRAM AND RUNNING PRODUCTION4Move the cursor to line 1. The program will start at the current cursorposition.5Continuously press the DEADMAN switch and turn the teach pendantON/OFF switch to ON.NOTE If you have the Control Reliable (RS-1/RS-4) option and you...

  • Page 543

    MARO2HT4405801E7–187. TESTING A PROGRAM AND RUNNING PRODUCTIONProcedure 7–9 Continuous Testing Using the Operator Panel CYCLE STARTButtonNOTE If you have the Control Reliable (RS-1/RS-4) option, you canperform continuous testing using the CYCLE START button only with theMODE SELECT switch i...

  • Page 544

    MARO2HT4405801E7–197. TESTING A PROGRAM AND RUNNING PRODUCTIONWARNINGThe next step causes a program instruction to run. Thiscould cause the robot to move, the process to run, andother unexpected events to occur. Make sure all personneland unnecessary equipment are out of the workcell andtha...

  • Page 545

    MARO2HT4405801E7–207. TESTING A PROGRAM AND RUNNING PRODUCTIONYou can monitor a running program from the SELECT menu. When youmonitor a running program, the program is displayed and the cursorhighlights the line currently being executed.Use Procedure 7–10 to monitor a running program.Proce...

  • Page 546

    MARO2HT4405801E7–217. TESTING A PROGRAM AND RUNNING PRODUCTIONDuring program execution, release wait allows you to override pauses inthe program when the robot is waiting for I/O conditions to be satisfied.Release wait works only when a program is running.WARNINGBe careful when using release w...

  • Page 547

    MARO2HT4405801E7–227. TESTING A PROGRAM AND RUNNING PRODUCTIONProduction operation is automatic execution of the program. The programruns continuously and repeatedly with full speed, palletizing, I/O, andmotion conditions enabled.If you have the Control Reliable (RS-1/RS-4) option, the MODE S...

  • Page 548

    MARO2HT4405801E7–237. TESTING A PROGRAM AND RUNNING PRODUCTIONProcedure 7–12 Running Production Using Standard Operator Panel (SOP)Cycle StartH The robot is powered up and all faults have been corrected.H The program has been tested thoroughly and found to operatecorrectly.H All personnel an...

  • Page 549

    MARO2HT4405801E7–247. TESTING A PROGRAM AND RUNNING PRODUCTIONA User Operator Panel Start is a method of automatically running theselected program. Selecting Start implies that you are not using RSR orPNS, but will use the START input on the User Operator Panel (UOP) toinitiate production ope...

  • Page 550

    MARO2HT4405801E7–257. TESTING A PROGRAM AND RUNNING PRODUCTIONH RSR and PNS are disabled.H If you have the Control Reliable (RS-1/RS-4) option, the MODESELECT switch is in the AUTO position.H If you have a European controller, the mode select switch is set toAUTO when this switch is installed....

  • Page 551

    MARO2HT4405801E7–267. TESTING A PROGRAM AND RUNNING PRODUCTIONProcedure 7–14 Running Production Using Robot Service Requests (RSR)H The robot is powered up and all faults have been corrected and cleared.H The program has been tested thoroughly and found to operatecorrectly.H All personnel an...

  • Page 552

    MARO2HT4405801E7–277. TESTING A PROGRAM AND RUNNING PRODUCTIONA program number select (PNS) is a method of selecting a program to berun by some external device. The name of the program to be run isreceived by the controller as a group of input signals from an externaldevice on a total of eigh...

  • Page 553

    MARO2HT4405801E7–287. TESTING A PROGRAM AND RUNNING PRODUCTIONH If you have a European controller, the mode select switch is set toAUTO when it is installed.WARNINGThis procedure starts production run. Make sure all safetybarriers are in place, all personnel are outside of theworkcell, all eq...

  • Page 554

    MARO2HT4405801E7–297. TESTING A PROGRAM AND RUNNING PRODUCTIONDuring production or program run, you might need to adjust positioninformation without stopping program execution.Program adjust allows you to adjust positional offsets. A positional offsetis a value that specifies how much of a d...

  • Page 555

    MARO2HT4405801E7–307. TESTING A PROGRAM AND RUNNING PRODUCTIONProcedure 7–16 Adjusting Programs During Program or Production RunH The program you want to adjust is currently selected.1Press MENUS.2Select UTILITIES.3Press F1, [TYPE].4Select Prog Adjust. You will see a screen similar to the f...

  • Page 556

    MARO2HT4405801E7–317. TESTING A PROGRAM AND RUNNING PRODUCTION7To display the DETAIL for a different program, press ENTER.aMove the cursor to select a method of naming the program: UpperCase, Lower Case, Punctuation, or Options.bPress the function keys whose labels correspond to the name of t...

  • Page 557

    MARO2HT4405801E7–327. TESTING A PROGRAM AND RUNNING PRODUCTION17If you want to clear the x, y, z, w, p, and r portion of this schedule,press NEXT, >, and then press F2, CLR_ADJ. This– Changes the x, y, z, w, p, and r offset values to 0– Retains the program name and line numbers– Does...

  • Page 558

    MARO2HT4405801E7–337. TESTING A PROGRAM AND RUNNING PRODUCTIONYou can use macro commands that appear on the MANUAL FCTNS menuto perform maintenance and repair procedures during production. Refer toChapter 3 for more information about how to set up macro commands.Use Procedure 7–17 to perfo...

  • Page 559

  • Page 560

    Index8 STATUS DISPLAYSAND INDICATORS

  • Page 561

    8 STATUS DISPLAYS AND INDICATORSMARO2HT4405801E8–1Topics In This ChapterPageStatus IndicatorsTeach pendant and standard operator panel status indicators show various conditions of the system8–2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . DTeach Pendant Statu...

  • Page 562

    MARO2HT4405801E8–28. STATUS DISPLAYS AND INDICATORSTeach pendant and standard operator panel status indicators show variousconditions of the system. Your system can also have other indicators onuser operator panels. See your supervisor for information about useroperator panel indicators.Teac...

  • Page 563

    MARO2HT4405801E8–38. STATUS DISPLAYS AND INDICATORSStandard operator panel status indicators indicate the system conditionwhen you are using the operator panel to control the system.Figure 8–2 and Figure 8–3 show the standard operator panel statusindicators. Table 8–2 lists and describ...

  • Page 564

    MARO2HT4405801E8–48. STATUS DISPLAYS AND INDICATORSFigure 8–3. R-J2 Controller (B-Size) Standard Operator PanelB-SIZEHOLDFAULT RESETCYCLE STARTÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎÎONOFFTEACH PENDANTFAULTBATTERYREMOTERS–232–CEMERGENCYSTOPALARMENABLED...

  • Page 565

    MARO2HT4405801E8–58. STATUS DISPLAYS AND INDICATORSThe user screen displays messages sent to the user from a runningprogram. You cannot use this screen to change information.User messages are controlled using the MESSAGE instruction in yourprogram. Each time the MESSAGE instruction is used, ...

  • Page 566

    MARO2HT4405801E8–68. STATUS DISPLAYS AND INDICATORSThe DATA Register screen displays the current value of each register inthe system. You can change the value of any register and add commentsusing the register screen. Refer to Section 6.7 for information on registers.Use Procedure 8–2 to ...

  • Page 567

    MARO2HT4405801E8–78. STATUS DISPLAYS AND INDICATORS5To change the value of the registeraMove the cursor to the register value.bType the new value and press ENTER.6To save the register values to a fileaPress FCTN.bSelect SAVE. The registers will be saved to the file,NUMREG.VR, on the default d...

  • Page 568

    MARO2HT4405801E8–88. STATUS DISPLAYS AND INDICATORSThe DATA Position Reg screen displays the current value of each positionregister in the system. You can change the value of any position registerand add comments using the DATA Position Reg screen. For informationon position registers, refer...

  • Page 569

    MARO2HT4405801E8–98. STATUS DISPLAYS AND INDICATORS4To add a commentaMove the cursor to the position register number and press ENTER.bMove the cursor to select a method of naming the comment:Words, Upper Case, Lower Case, or Options.cPress the function keys whose labels correspond to the name ...

  • Page 570

    MARO2HT4405801E8–108. STATUS DISPLAYS AND INDICATORS7To enter positional information manually,aPress F4, POSITION. You will see a screen similar to thefollowing. PR[1] UF:F UT:F CONF:N 0 0 X 0.500 mm W 0.00 deg Y 1.320 mm P 90.00 deg Z 0.750 ...

  • Page 571

    MARO2HT4405801E8–118. STATUS DISPLAYS AND INDICATORSPallet registers allow you to define the number of layers, rows, andcolumns that will be used to palletize. There are 32 pallet registersavailable.Procedure 8–4 Displaying the Pallet Register Screen1Press MENUS.2Select DATA.3Press F1, [TYP...

  • Page 572

    MARO2HT4405801E8–128. STATUS DISPLAYS AND INDICATORS5To add a commentaMove the cursor to the pallet register number and press ENTER.bMove the cursor to select a method of naming the comment.cPress the function keys whose labels correspond to the name youwant to give to the comment. These labe...

  • Page 573

    MARO2HT4405801E8–138. STATUS DISPLAYS AND INDICATORSThe SYSTEM Variables status screen displays all system variables. Youcan change the value of several system variables using this screen. Youcan also change the value of a system variable in a program using theParameter name instruction. Re...

  • Page 574

    MARO2HT4405801E8–148. STATUS DISPLAYS AND INDICATORS7To save the variables to a fileaFrom any of the SYSTEM Variables screens, press FCTN.bSelect SAVE. All the system variables will be saved to the file,SYSVARS.SV, on the default device. Refer to Chapter 8 forinformation on setting the devic...

  • Page 575

    MARO2HT4405801E8–158. STATUS DISPLAYS AND INDICATORSThe STATUS Safety signal screen displays the status of safety-relatedcontrol signals coming into the controller.The safety signal screen displays the current state (TRUE or FALSE) ofeach safety signal. You cannot change the condition of the ...

  • Page 576

    MARO2HT4405801E8–168. STATUS DISPLAYS AND INDICATORSTable 8–3. (Cont’d) Safety SignalsSAFETYSIGNALDESCRIPTIONOvertravelIndicates whether the robot has moved beyond its overtravel limits. The status is TRUE when therobot has moved beyond its overtravel limits tripping the overtravel swit...

  • Page 577

    MARO2HT4405801E8–178. STATUS DISPLAYS AND INDICATORSProcedure 8–6 Displaying Safety Signal Status1Select MENUS.2Select STATUS.3Press F1, [TYPE].4Select Safety Signal. You will see a screen similar to the following.SIGNAL NAMESTATUS 1/131SOP E–Stop:TRUE2TP E–Stop:FALSE3Ext E–Stop:...

  • Page 578

    MARO2HT4405801E8–188. STATUS DISPLAYS AND INDICATORSThe program timer screen displays the execution time for a program thatcontains TIMER instructions. TIMER instructions allow you to specify inyour program when you want the timer to start, stop, or reset.Table 8–4 lists and describes each...

  • Page 579

    MARO2HT4405801E8–198. STATUS DISPLAYS AND INDICATORS5To add or change a timer value:aMove the cursor to the timer line and press ENTER.bEnter a value.cPress the appropriate function keys to add the value.dWhen you are finished, press ENTER.6To add or change a comment:aMove the cursor to the co...

  • Page 580

    MARO2HT4405801E8–208. STATUS DISPLAYS AND INDICATORSThe system timer screen displays lengths of time for turning on systempower, running time, waiting time, and welding time. Table 8–5 lists anddescribes each item on the system timer screen.Table 8–5. System Timer Menu ListingITEMDES...

  • Page 581

    MARO2HT4405801E8–218. STATUS DISPLAYS AND INDICATORS6Move the cursor to the timer type you want to turn ON or OFF.D To turn the lap counter ON, press F4, ON.D To turn the lap counter OFF, press F5, OFF.7To reset a lap counter:aMove the cursor to the timer type you want to reset.bPress F5, OFF ...

  • Page 582

    MARO2HT4405801E8–228. STATUS DISPLAYS AND INDICATORSThe clock menu displays the current data and time. Table 8–5 lists anddescribes each item on the clock screen.Table 8–6. System Timer Menu ListingITEMDESCRIPTIONDateDisplays the current date by year, month and then day.TimeDisplays ...

  • Page 583

    MARO2HT4405801E8–238. STATUS DISPLAYS AND INDICATORSThe STATUS Version ID screen displays information specific to yourcontroller. Use this information when you contact service if a problemoccurs with your controller. You cannot change the information displayedon this screen. Table 8–7 li...

  • Page 584

    MARO2HT4405801E8–248. STATUS DISPLAYS AND INDICATORS 1/60SOFTWARE:ID:1HandlingTool7D602S/W Order No.90200003Controller F No.F000004A-520-FM5Servo CodeJC14.016Cart. Mot. ParameterV1.047Joint Mot. ParameterV1.048Boot MONITORV4.229Teach Pendant7D01/09I10Softwa...

  • Page 585

    MARO2HT4405801E8–258. STATUS DISPLAYS AND INDICATORS4Press the key that corresponds to the version ID status screen you wantto display:D To display software version information, press F2,SOFTWARE.D To display motor types for each axis, press F3, MOT_ID. Youwill see a screen similar to the fo...

  • Page 586

    MARO2HT4405801E8–268. STATUS DISPLAYS AND INDICATORSThe memory status screen displays memory use status and hardwarememory structure. Table 8–8 lists and describes each memory status item.Use Procedure 8–11 to display memory status.Table 8–8. Memory StatusMEMORY STATUSDESCRIPTIONPools...

  • Page 587

    MARO2HT4405801E8–278. STATUS DISPLAYS AND INDICATORS4Press F2, DETAIL. See the following screen for an example.STATUS Memory JOINT 10%[ TYPE ]BASICHELP Pools –––––––––––––––––––––––––––––––– TPP 1024...

  • Page 588

    MARO2HT4405801E8–288. STATUS DISPLAYS AND INDICATORSThe POSITION screen displays positional information in joint angles orCartesian coordinates. The positional information on this screen isupdated continuously when the robot moves. You cannot change thedisplayed information using this screen...

  • Page 589

    MARO2HT4405801E8–298. STATUS DISPLAYS AND INDICATORSNOTE E1: , E2:, and E3 are displayed only if you have extended axes.D For user, press F3, USER. You will see a screen similar to thefollowing. Configuration: F, 0, 0, 0 x: 1906.256 y: .041 z: 361.121 w: 178.752 p: –89.963 r: ...

  • Page 590

    MARO2HT4405801E8–308. STATUS DISPLAYS AND INDICATORSTurn number display specifies the turn number displayed on the teachpendant screen. Figure 8–4 shows an example of where joint placementand turn number information is displayed on the STATUS Position screen.Refer to Section 8.13 for more i...

  • Page 591

    MARO2HT4405801E8–318. STATUS DISPLAYS AND INDICATORSFor the most robot models, the values of the system variable are as follows(with some exceptions):$SCR_GRP[group].$TURN_AXIS[1]=4$SCR_GRP[group].$TURN_AXIS[2]=5$SCR_GRP[group].$TURN_AXIS[3]=6See Figure 8–5.Figure 8–5. Turn Number Display...

  • Page 592

    MARO2HT4405801E8–328. STATUS DISPLAYS AND INDICATORSFigure 8–6. Joint Placement Configuration Examples for Fully Articulated RobotsA2A3 UpA3 DownTCPA2A3A3TCPA5A5No FlipFlipA2A3A5TCPA5A3TCPA2A1 rotated 180_

  • Page 593

    MARO2HT4405801E8–338. STATUS DISPLAYS AND INDICATORSFigure 8–7. Joint Placement Configuration Examples for Horizontally ArticulatedRobotsLeftRightTCPA–520iTop ViewIf a robot model has a turn number for the J1 axis, the usual configurationshown in Figure 8–5 will not represent the positi...

  • Page 594

    MARO2HT4405801E8–348. STATUS DISPLAYS AND INDICATORSThe program execution history function records the execution history ofthe most recently executed or halted program and enables checking of theexecution history when the program terminates or halts.NOTE Execution history of a program that is...

  • Page 595

    MARO2HT4405801E8–358. STATUS DISPLAYS AND INDICATORSProcedure 8–13 Displaying Program Execution History1Press STATUS.2Press F1, [TYPE].3Select Exec-hist. You will see a screen similar to the following. 1/20Program name Line. Dirc.Stat.10Aborted2PROG98...

  • Page 596

    MARO2HT4405801E8–368. STATUS DISPLAYS AND INDICATORSThe SOP I/O screen indicates the status of the standard operator panelsignals. SOP input signals (SI) and SOP output signals (SO) correspondto internal controller software Panel Digital Input signals (PDI) and PanelDigital Output signals (PD...

  • Page 597

    MARO2HT4405801E8–378. STATUS DISPLAYS AND INDICATORSProcedure 8–14 Displaying and Forcing SOP I/O1Press MENUS.2Select I/O.3Press F1, [TYPE].4Select SOP. See the following screen for an example. # STATUS SO[ 1] OFF [ ] SO[ 2] OFF [ ] SO[ 3] ...

  • Page 598

    MARO2HT4405801E8–388. STATUS DISPLAYS AND INDICATORSThe duty diagnosis feature provides servomotor duty cycle information.Duty is the physical load on the robot servomotor.You look at duty cycle information:D To check whether there is a high load on a servomotorD To diagnose a servomotor overh...

  • Page 599

    MARO2HT4405801E8–398. STATUS DISPLAYS AND INDICATORSNOTE If the servomotor for an axis overheats, the message, “SRVO-046SERVO OVC alarm,” will be displayed on the teach pendant screen. Thismessage is displayed before damage has been done to the servomotor.When you see this message, you s...

  • Page 600

    MARO2HT4405801E8–408. STATUS DISPLAYS AND INDICATORS6Press F2, DUTY. You will see a screen similar to the following. GRP[ 1] Duty DiagnosisTemperature –––– 25.00(C)J1 : DUTY –––– 89.35 %J2 : DUTY ––...

  • Page 601

    Page 8-419 PROGRAM AND FILE MANIPULATION

  • Page 602

    9 PROGRAM AND FILE MANIPULATIONMARO2HT4405801E9–1Topics In This ChapterPageStorage DevicesYou can store programs and files on three kinds of devices: controller memory, floppy disks, and the IBM PC or compatible personal computer. You can also print files to a serial printer..9–2. . . . . ....

  • Page 603

    MARO2HT4405801E9–29. PROGRAM AND FILE MANIPULATIONThree kinds of storage devices can be used to store programs and files:D Controller memoryD Floppy disksD IBM PC or compatible personal computerThis section describes how to set up storage devices for use. Dependingon the storage device, this ...

  • Page 604

    MARO2HT4405801E9–39. PROGRAM AND FILE MANIPULATIONAn IBM PC or compatible personal computer (PC) can be used to storefiles off-line. You can use OLPC, the FANUC Robotics off-lineprogramming software for the PC, to store files on a magnetic disk.To set up a personal computer for program and fi...

  • Page 605

    MARO2HT4405801E9–49. PROGRAM AND FILE MANIPULATIONFigure 9–1. Location of Standard and Optional Ports on an i-Size ControllerRS–232–C (P2:)(standard)Operator box(option)R-J2 ControllerTeach pendant (P1:)(standard)PORT2 (P3:)(option)JD17 (P4:)(option)

  • Page 606

    MARO2HT4405801E9–59. PROGRAM AND FILE MANIPULATIONThere are two standard ports (P1 and P2) and two optional ports (P3 andP4). Table 9–1 lists the ports. You can set up ports P2 through P4. Youcannot set up P1 (the teach pendant port).Table 9–1. Ports, P1 – P4PortItem Name onScreenKin...

  • Page 607

    MARO2HT4405801E9–69. PROGRAM AND FILE MANIPULATIONOn the SETUP Port screen, you can choose one of the following serialcommunications interfaces: RS-232-C or RS-422. The RS-422 interfaceis supported on port 2 and port 3. It is not supported on port 1.RS-232-C InterfaceD RS-232-C is available ...

  • Page 608

    MARO2HT4405801E9–79. PROGRAM AND FILE MANIPULATIONProcedure 9–1 Setting Up a Port1Press MENUS.2Select SETUP.3Press F1, [TYPE].4Select Port Init. You will see a screen similar to the following.SETUP Port Init JOINT 10 %ConnectorPortComment1RS–232–CP2:[Handy File]2PORT 2P...

  • Page 609

    MARO2HT4405801E9–89. PROGRAM AND FILE MANIPULATIONThe disk drives connect to the P2 controller port. The P2 controller port isan RS-232-C interface. The following disk drives are available:D Handy FileD FLOPPY CASSETTE ADAPTERD PS-100D PS-110D PS-200Use Procedure 9–2 to use a floppy disk a...

  • Page 610

    MARO2HT4405801E9–99. PROGRAM AND FILE MANIPULATIONThe Handy File, shown in Figure 9–4, is used with 3.5 inch 1.44M highdensity disks.Figure 9–4. Handy File Connected to the ControllerÌÌÌÌÌÌÌÌÌÌÌÌÌÌÌÌÌÌÌÌÌÌÌÌÌÌÌÌÌÌÌÌÌÌÌÌÌÌÌÌÌÌÌÌÌÌÌÌÌÌÌÌÌ...

  • Page 611

    MARO2HT4405801E9–109. PROGRAM AND FILE MANIPULATIONProcedure 9–2 Using a Floppy Disk and Disk DriveCAUTIONIf devices such as a printer, floppy disk drive, or vision systemare connected to the controller, always turn on the robot first,then turn on these devices; otherwise, equipment could be...

  • Page 612

    MARO2HT4405801E9–119. PROGRAM AND FILE MANIPULATIONThe memory card interface can connect either to the ER-2 board or directlyto the R-J2 controller backplane.Figure 9–6 shows the memory card interface module inserted into thecontroller. Use Procedure 9–3 to install a memory card in a con...

  • Page 613

    MARO2HT4405801E9–129. PROGRAM AND FILE MANIPULATIONFigure 9–7. Memory Card Interface and Memory Card Connected to the B-SizeControllerMemory CardPower Supply UnitProcedure 9–3 Using the Memory Card InterfaceNOTE Loading from a memory card is not available as a standardproduct.CAUTIONIf d...

  • Page 614

    MARO2HT4405801E9–139. PROGRAM AND FILE MANIPULATIONWARNINGDisconnect electrical power from the controller before youremove or replace components, or you could be injuredseriously.CAUTIONUse anti-static devices and observe anti-static safetyprecautions when handling any electronic material, oth...

  • Page 615

    MARO2HT4405801E9–149. PROGRAM AND FILE MANIPULATION3Identify the memory card interface module location inside thecontroller. See Figure 9–9 and Figure 9–10.Figure 9–9. Memory Card Interface Location on an i-size ControllerMemory CardPower Supply UnitFigure 9–10. Memory Card Interfac...

  • Page 616

    MARO2HT4405801E9–159. PROGRAM AND FILE MANIPULATION4To insert a memory card, hold the disk with the label facing the leftand the write protect switch on the top.D If you have an ER-2 printed circuit board, see Figure 9–11.Figure 9–11. Inserting a Memory Card with the ER-2 Printed Circuit ...

  • Page 617

    MARO2HT4405801E9–169. PROGRAM AND FILE MANIPULATIOND If you do not have an ER-2 printed circuit board, insert thememory card interface in the module located in the 1/2 slot next tothe power supply unit. The interface will only fit in the left slot.See Figure 9–12.Figure 9–12. Inserting a...

  • Page 618

    MARO2HT4405801E9–179. PROGRAM AND FILE MANIPULATIONCAUTIONDo not close the i-size controller door when the memory card isin the interface. Otherwise, you could damage the memorycard.WARNINGLethal voltage is present in the controller WHENEVER IT ISCONNECTED to a power source. Be extremely car...

  • Page 619

    MARO2HT4405801E9–189. PROGRAM AND FILE MANIPULATIONProcedure 9–4 Setting the Default DeviceCAUTIONBefore you connect the floppy disk to the controller, turn on thecontroller, then connect and turn on the floppy disk; otherwise,equipment could be damaged.H If you are setting the default devic...

  • Page 620

    MARO2HT4405801E9–199. PROGRAM AND FILE MANIPULATION5Move the cursor to the device you want to set as the default and pressENTER to select it. See the following screen for an example.FILE JOINT 10%FLPY:\*.*[TYPE][DIR]LOAD[BACKUP][UTIL] >The default device is now s...

  • Page 621

    MARO2HT4405801E9–209. PROGRAM AND FILE MANIPULATION4Select FILE.5Press F5, [UTIL].6Select Format. You will see a screen similar to the following.File Format JOINT 10%FLPY:\*.* Formatting FLPY:************* WARNING ************* ANY DATA ON THE DISK WILL BE L...

  • Page 622

    MARO2HT4405801E9–219. PROGRAM AND FILE MANIPULATIONThe Floppy Cassette adapter is an external memory unit connected to theR-J2 Mate controller to save files stored in the internal memory of thecontroller to a floppy disk or read files from a floppy disk. For detailedinformation about the Flopp...

  • Page 623

    MARO2HT4405801E9–229. PROGRAM AND FILE MANIPULATIONTable 9–6. Status Indicator LEDs and SwitchesGreenYellowStatusBlinking alternatelyNo floppy disk is inserted, or the door is not closed.OnOn(*1)Ready (with write protection not applied)OnBlinkingThe floppy disk is being formatted.Blinkin...

  • Page 624

    MARO2HT4405801E9–239. PROGRAM AND FILE MANIPULATIONThe Handy File is an external memory unit connected to the R-J2controller to save files stored in the internal memory of the controller to afloppy disk or read files from a floppy disk. For detailed information aboutthe Handy File (A16B–0159...

  • Page 625

    MARO2HT4405801E9–249. PROGRAM AND FILE MANIPULATIONProcedure 9–7 Operating a Handy File1Connect the Handy File to the controller.RS–232–Cinterface connector2Turn on the power to the Handy File.3Insert a floppy disk, then close the door. The Handy File is now readyfor operation.No fileRea...

  • Page 626

    MARO2HT4405801E9–259. PROGRAM AND FILE MANIPULATIONWhile on the setting menu, switch between menu items with the upand down arrow keys. To select an item, press the ENTER key.6Upon completion of protocol setting, press the END key.ENDSelect setting item#3 : Baud rate7When all menu items have ...

  • Page 627

    MARO2HT4405801E9–269. PROGRAM AND FILE MANIPULATION13Press the START key to start the formatting of the floppy disk.STARTInitialize FD :> ExecutingInitialize FD :> Complete14When you are finished formatting the floppy disk, press the END key.ENDSelect function#1 : Initialize FD15To exit ...

  • Page 628

    MARO2HT4405801E9–279. PROGRAM AND FILE MANIPULATIONAs programs are created they are stored automatically on controllermemory. A list of all programs stored on controller memory is displayedon the SELECT menu. See the following screen for an example.Select JOINT 10%...

  • Page 629

    MARO2HT4405801E9–289. PROGRAM AND FILE MANIPULATIONYou can select programs on the SELECT menu. Selecting a programchooses the program as the current program, for modifying, testing, orexecuting. Use Procedure 9–8 to select a program on the SELECT menu.Procedure 9–8 Selecting a Program o...

  • Page 630

    MARO2HT4405801E9–299. PROGRAM AND FILE MANIPULATIONSaving programs allows you to save a program and its relevant data to adisk. Refer to Section 9.1 for the kinds of disks available. UseProcedure 9–9 to save a program to a disk.Procedure 9–9 Saving a Program to a DiskH The default devic...

  • Page 631

    MARO2HT4405801E9–309. PROGRAM AND FILE MANIPULATION3Press NEXT, > and then press F4, SAVE. You will see a screensimilar to the following. JOINT 10% 1 Words 2 Upper Case 3 lower Case 4 Options ––Insert–– ––– Save Teach Penda...

  • Page 632

    MARO2HT4405801E9–319. PROGRAM AND FILE MANIPULATIONLoading programs allows you to load programs from a disk onto controllermemory. A program must be loaded into controller memory and listed onthe SELECT menu before it can be modified or executed. UseProcedure 9–10 to load programs.Procedu...

  • Page 633

    MARO2HT4405801E9–329. PROGRAM AND FILE MANIPULATION3Press NEXT, >, and then press F3, LOAD. You will see a screensimilar to the following. JOINT 10% 1 Words 2 Upper Case 3 lower Case 4 Options ––Insert–– ––– Load Teach Pend...

  • Page 634

    MARO2HT4405801E9–339. PROGRAM AND FILE MANIPULATIONProcedure 9–11 Copying a Program within the SELECT Menu1Press SELECT. You will see a screen similar to the following.Select JOINT 10%[ TYPE ]CREATEDELETEMONITOR [AFTER ]> 513712 bytes free ...

  • Page 635

    MARO2HT4405801E9–349. PROGRAM AND FILE MANIPULATIONIf you no longer want to have a program loaded on controller memory(displayed on the SELECT menu) you can delete it. If you want to keep acopy of the program, save it to floppy disk before you delete it from theSELECT menu.NOTE Deleting a pr...

  • Page 636

    MARO2HT4405801E9–359. PROGRAM AND FILE MANIPULATIONPrograms and teach pendant screens can be printed to a serial printer or anASCII file (optional feature). The printer must be properly connected andset up before you can print information from the controller.The printer you use must meet the ...

  • Page 637

    MARO2HT4405801E9–369. PROGRAM AND FILE MANIPULATIONTable 9–8. (Cont’d) File Output Using PRINTOperationFile nameOutput dataSelect SCREEN PRINT inFCTN menu at the teachpendantThe current screen imageTPSCRN.LSSelect SCREEN PRINT onFCTN menu at the CRTThe current CRT screenimageCTSCRN.LSYou...

  • Page 638

    MARO2HT4405801E9–379. PROGRAM AND FILE MANIPULATION3Press SELECT. You will see a screen similar to the following.Select JOINT 10%[ TYPE ]CREATEDELETEMONITOR [AFTER ]> 513712 bytes free 1/4 No. Program name Comment 1 MAIN_A ...

  • Page 639

    MARO2HT4405801E9–389. PROGRAM AND FILE MANIPULATIONProcedure 9–14 Printing a Teach Pendant ScreenH The printer is a serial printer.H The printer is connected to the port and is set up properly to use thatport. Refer to Procedure 9–1 .WARNINGMake sure the printer is a serial printer before...

  • Page 640

    MARO2HT4405801E9–399. PROGRAM AND FILE MANIPULATIONA file is a unit in which the system stores information. Files can be storedon a device attached to the controller port.You perform file manipulations using the FILE menu. See the followingscreen for an example.FILE ...

  • Page 641

    MARO2HT4405801E9–409. PROGRAM AND FILE MANIPULATIONTo manipulate a file you must know the type of file you are manipulating.Table 9–9 lists several types of files available. During your work on thecontroller, you might only work with a few types of files. You candetermine the file type by...

  • Page 642

    MARO2HT4405801E9–419. PROGRAM AND FILE MANIPULATIONA directory is a list of files on a specific storage device. You can display adirectory of files on the device connected to the port.Some devices contain hundreds of files. You can display a directory of allfiles, or a subset of the files. ...

  • Page 643

    MARO2HT4405801E9–429. PROGRAM AND FILE MANIPULATIONProcedure 9–15 Generating a Directory of Files1Press MENUS.2Select FILE. You will see a screen similar to the following.FILE JOINT 10%FLPY:\*.* 1/16 1 * * (all files)23456789**...

  • Page 644

    MARO2HT4405801E9–439. PROGRAM AND FILE MANIPULATION4Select the subset of files you want to display and press ENTER. Ifyou select *.SV to display all system files, see the following screen foran example. 1 SYSVARS SV (system file)(system file)(system file)SVSVSVSVKLCFTXLSDTFILE ...

  • Page 645

    MARO2HT4405801E9–449. PROGRAM AND FILE MANIPULATIONLoading files allows you to load a file and all of its relevant data from diskinto controller memory. You can load files into controller memory from afloppy disk.Typically, you load a file from a disk whenD You want to modify a program (teach...

  • Page 646

    MARO2HT4405801E9–459. PROGRAM AND FILE MANIPULATIONProcedure 9–16 Loading Files Using the FILE MenuCAUTIONBefore you connect the floppy disk drive to the controller, turnon the controller, then connect and turn on the floppy diskdrive; otherwise, equipment could be damaged.H If you are loadi...

  • Page 647

    MARO2HT4405801E9–469. PROGRAM AND FILE MANIPULATIONCAUTIONWhen you load or restore the file FRAMEVAR.SV,SYSVARS.SV, or SYSMAST.SV, make sure the motionconfiguration (items such as the number of motion groups andextended axes) of your system is the same as the motionconfiguration of the system ...

  • Page 648

    MARO2HT4405801E9–479. PROGRAM AND FILE MANIPULATIONProcedure 9–17 Restoring BACKUP Files Using the FILE MenuCAUTIONBefore you connect the floppy disk drive to the controller, turnon the controller, then connect and turn on the floppy diskdrive; otherwise, equipment could be damaged.H If you ...

  • Page 649

    MARO2HT4405801E9–489. PROGRAM AND FILE MANIPULATION7To restore system files, select System files. You will see a screensimilar to the following.Restore from PS-100/200 Disk(OVRWRT)? YES NOCAUTIONIn the next step, backed up files will be loaded and willoverwrite ...

  • Page 650

    MARO2HT4405801E9–499. PROGRAM AND FILE MANIPULATION8To restore .TP, .DF, and .MN files, select TP programs. You will seea screen similar to the following.Restore from PS-100/200 Disk(OVRWRT)? YES NOCAUTIONIn the next step, backed up files will be loaded and will...

  • Page 651

    MARO2HT4405801E9–509. PROGRAM AND FILE MANIPULATION9To restore non–program application files, select Application files.You will see a screen similar to the following.Restore from PS-100/200 Disk(OVRWRT)? YES NOCAUTIONIn the next step, backed up files will be lo...

  • Page 652

    MARO2HT4405801E9–519. PROGRAM AND FILE MANIPULATION10To restore application teach pendant programs (.TP, .DF, .MN)files, select Applic.-TP. You will see a screen similar to the following.Restore from PS-100/200 Disk(OVRWRT)? YES NOCAUTIONIn the next step, backed...

  • Page 653

    MARO2HT4405801E9–529. PROGRAM AND FILE MANIPULATION11To restore all files, select All of above. You will see a screen similarto the following.Restore from PS-100/200 Disk(OVRWRT)? YES NOCAUTIONIn the next step, backed up files will be loaded and willoverwrite ex...

  • Page 654

    MARO2HT4405801E9–539. PROGRAM AND FILE MANIPULATIONYou can back up program files, system files, application, and error log filesto floppy disk, Flash ROM disk, or memory card using the FILE screen.When you back up a file you save it from controller memory to a disk,such as a floppy disk, so th...

  • Page 655

    MARO2HT4405801E9–549. PROGRAM AND FILE MANIPULATIONError log files are ASCII files that give a snapshot of the errors in thesystem. They can be backed up to the default device, but cannot berestored or loaded into the controller. Two kinds of error log files arebacked up: ERRALL.LS and ERRA...

  • Page 656

    MARO2HT4405801E9–559. PROGRAM AND FILE MANIPULATIONProcedure 9–18 Backing Up System Files, TP Programs, and ApplicationFiles to DiskCAUTIONBefore you connect the floppy disk drive to the controller, turnon the controller, then connect and turn on the floppy diskdrive; otherwise, equipment c...

  • Page 657

    MARO2HT4405801E9–569. PROGRAM AND FILE MANIPULATION1To back up only teach pendant program files, select TP Programs.The first program name in controller memory (the SELECT menu)will be displayed.D To back up this program only, press F4, YES.D If you do not want to back up this program, press F...

  • Page 658

    MARO2HT4405801E9–579. PROGRAM AND FILE MANIPULATION1To back up all types of files, select All of above. You will see thefollowing message displayed at the bottom of the screen.Del PS-100/200 Disk, backup all files?YESNONOTE All files on floppy disk or memory card are deleted before thistype ...

  • Page 659

    MARO2HT4405801E9–589. PROGRAM AND FILE MANIPULATIONDisplaying a text file shows the contents of an ASCII file on the screen.You can display the contents of only ASCII files. Loadable files cannot bedisplayed.Displayable files are ASCII or text files. They areD KAREL program files (.KL)D Comm...

  • Page 660

    MARO2HT4405801E9–599. PROGRAM AND FILE MANIPULATIONYou can copy a single file or a subset of files from one file device toanother. These devices include floppy disk, Flash ROM disk, and memorycard. Use Procedure 9–20 to copy files to a disk.Procedure 9–20 Copying Files to a DiskCAUTIONB...

  • Page 661

    MARO2HT4405801E9–609. PROGRAM AND FILE MANIPULATION6To copy a group of files, move the cursor to the subset of files youwant to copy and press NEXT, >, and then press F2, COPY.To copy a single file, generate a directory that displays the file name,move the cursor to the name of the file you...

  • Page 662

    MARO2HT4405801E9–619. PROGRAM AND FILE MANIPULATION9To change the name of the filename to which the selected file will becopied, press F4, CHANGE. You will see a screen similar to thefollowing.1 Words2 Upper Case3 Lower Case4 OptionsSelectJOBPROCMOV_––Insert––TESTFLPY:\From:To Device:...

  • Page 663

    MARO2HT4405801E9–629. PROGRAM AND FILE MANIPULATIONProcedure 9–21 Deleting Files from a DiskH If you are deleting files from a floppy disk, the serial disk drive isconnected to the controller port, is turned on, and contains a formatteddisk.1Set the default device:aPress MENUS.bSelect FILE.c...

  • Page 664

    MARO2HT4405801E9–639. PROGRAM AND FILE MANIPULATIONSaving files allows you to save variables and other data to the defaultdevice. The following information can be saved using the SAVE function:D System variables will be saved to sysvars.sv. The SYSTEM:SYSTEM Variables screen must be display...

  • Page 665

    MARO2HT4405801E9–649. PROGRAM AND FILE MANIPULATIONProcedure 9–22 Saving Files to the Default DeviceH If you are saving program data, the program you want is the defaultprogram.1Display the screen that contains the information you want to save.Refer to Table 9–11.Table 9–11. Valid ...

  • Page 666

    MARO2HT4405801E9–659. PROGRAM AND FILE MANIPULATIONYou can check the amount of memory you are using in the file systemusing the File Memory screen. In addition, you can purge unused memoryspace on the Flash ROM disk.The purge operation is necessary only when the Flash ROM disk does nothave en...

  • Page 667

    MARO2HT4405801E9–669. PROGRAM AND FILE MANIPULATIONController backup and restore allows an R-J2 controller to back up andrestore controller memory. This capability is divided into two parts:D Controller backupD Controller restoreController backup is performed at controlled 2 start. During co...

  • Page 668

    MARO2HT4405801E9–679. PROGRAM AND FILE MANIPULATIONIn addition to creating the backup files, the backup utility creates a .cf filefor each memory card or floppy disk. The first one is called restore.cf.The rest of the files will have unique names based on the date and timestamp from when the ...

  • Page 669

    MARO2HT4405801E9–689. PROGRAM AND FILE MANIPULATIONProcedure 9–24 Backing up a Controller to a Floppy or Memory Card DeviceNOTE If an error occurs during controller backup, correct the error andtry to continue. If the system does not allow you to continue, repeat theentire controller backu...

  • Page 670

    MARO2HT4405801E9–699. PROGRAM AND FILE MANIPULATION2Press MENUS.3Select File.4Press F5, [UTIL].5Select Floppy disk or Mem Card (MC:).6Press F4, [BACKUP].CAUTIONBacking up files to a memory card or floppy disk will erase allthe information on the card or disk before the backup isperformed. You...

  • Page 671

    MARO2HT4405801E9–709. PROGRAM AND FILE MANIPULATIONTo continue, press F4, CONTINUE. You will see a screen similar tothe following.FILE Backup CONTROL START 2 MENUSBackup may require 2 2MB memory cardsor 36666 KB of storage and will takeapproximately 15 minutes per card.WARNING: ...

  • Page 672

    MARO2HT4405801E9–719. PROGRAM AND FILE MANIPULATION9To continue, press F4, CONTINUE.If you do not want to continue the backup, press F5, CANCEL.The system will start to write backup files.If you want to cancel, press PREV. However, the system will notrespond until it has completed writing the...

  • Page 673

    MARO2HT4405801E9–729. PROGRAM AND FILE MANIPULATIONThe controller restore function allows you to restore controller memory ona controller from a backed up controller. Use Procedure 9–25 to restore acontroller.CAUTIONIf you restore a controller and a file already exists on thecontroller, th...

  • Page 674

    MARO2HT4405801E9–739. PROGRAM AND FILE MANIPULATION2Insert the first memory card or floppy disk in the memory cardinterface or floppy disk drive.3Press NEXT, >, until F2, INSTALL, is displayed.4Press F2, INSTALL, and press ENTER.5Press NEXT, >, until F5, RESTORE, is displayed.BMON> IN...

  • Page 675

  • Page 676

    Page 9-210 ADVANCED FUNCTIONS

  • Page 677

    10 ADVANCED FUNCTIONSMARO2HT4405801E10–1Topics In This ChapterPageMirror Image UtilityMirror image allows you to flip the positions of an entire teach pendant program or a portion of a program, creating a mirror image of the original program or program portion.10–4. . . . . . . . . . . . . . ...

  • Page 678

    MARO2HT4405801E10–210. ADVANCED FUNCTIONSTopics In This ChapterPageMotion Start DelayDetection FunctionThe motion start delay detection function detects and displays delay in a motion start. If deceleration or oscillation occurs, it is possible to determine the program line to be corrected ac...

  • Page 679

    MARO2HT4405801E10–310. ADVANCED FUNCTIONSTopics In This ChapterPageCondition MonitorFunctionThe Condition Monitor Function monitors the condition of an I/O signal, register value, or alarm status, during program execution. As soon as the condition is triggered, the specified program is execut...

  • Page 680

    MARO2HT4405801E10–410. ADVANCED FUNCTIONSThe mirror image utility allows for translating an entire teach pendantprogram or portion of a teach pendant program to mirror image theoriginal programmed points. This option can be used to teach symmetricalparts easily, or to copy a program used on a...

  • Page 681

    MARO2HT4405801E10–510. ADVANCED FUNCTIONSFigure 10–2. Parallel Mirror Image with Mirror Plane Offset from Center of RobotP1Q1DDMirror PlaneABCA’B’C’D – Equal DistanceCAUTIONTo be sure the parallel mirror image works correctly, you musthave an exact TCP. If you do not, the resulting...

  • Page 682

    MARO2HT4405801E10–610. ADVANCED FUNCTIONSExtended (Ext) axes determines how the mirror image function willtranslate the program when you are using extended axes. Possibleextended axes configurations are:D Robot axes only – allows you to mirror the axes of the robot withoutmirroring any non-...

  • Page 683

    MARO2HT4405801E10–710. ADVANCED FUNCTIONSD With ext axes – allows you to mirror positions for robot axes and anyextended axes in your system. The amount of mirror image for therobot is calculated by using the change in the TCP. The amount ofshift for the extended axes is calculated using t...

  • Page 684

    MARO2HT4405801E10–810. ADVANCED FUNCTIONS5Move the cursor to Original Program. If the program you want tomirror is not selected, press ENTER. Use the appropriate functionkeys to type the name of the program and press ENTER.NOTE The last program selected using the SELECT menu willautomatical...

  • Page 685

    MARO2HT4405801E10–910. ADVANCED FUNCTIONS7If you selected to mirror PART of a program,D Move the cursor to Start line and type the starting line number.Press ENTER.D Move the cursor to End line and type the ending line number.Press ENTER.8Move the cursor to New Program and press ENTER. Use th...

  • Page 686

    MARO2HT4405801E10–1010. ADVANCED FUNCTIONSFigure 10–8. Mirroring a Portion of a ProgramÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÅÅÅÅÅÅÅÅÅÅÅ...

  • Page 687

    MARO2HT4405801E10–1110. ADVANCED FUNCTIONSP1 and Q1 should not be part of the program to be mirrored. They shouldbe new positions that are located at an equal distance from the mirrorplane. (See Figure 10–1.) Use the following guidelines to teach thesepositions:aJog the robot to zero degr...

  • Page 688

    MARO2HT4405801E10–1210. ADVANCED FUNCTIONSaMove the cursor to Source position (see Figure 10–1). You willsee a screen similar to the following. 2/7SHIFT AMOUNT/TEACH Position data X :******** Y :******** Z :******** 1 Rotation: ...

  • Page 689

    MARO2HT4405801E10–1310. ADVANCED FUNCTIONSD To record a position, jog the robot to the destination position(Q1). Press and hold in the SHIFT key and press F5,RECORD.D To specify a previously recorded position or positionregister, press F4, REFER. Select the position or positionregister.dReco...

  • Page 690

    MARO2HT4405801E10–1410. ADVANCED FUNCTIONSbMove the robot to the first source position (P1) and either recordor specify the position:D To record a position, jog the robot to the position you want,press and hold in the SHIFT key and press F5, RECORD.D To specify a previously recorded position o...

  • Page 691

    MARO2HT4405801E10–1510. ADVANCED FUNCTIONSSome positions in your program might not be able to be mirrored.When this happens, the mirror image software keeps the position in theprogram at the exact location and orientation it was in before the mirrorimage was executed. To correct this, you mus...

  • Page 692

    MARO2HT4405801E10–1610. ADVANCED FUNCTIONSThe program shift utility allows you to offset the positions of an entireteach pendant program or a portion of a teach pendant program. This is aneasy way to adjust a teach pendant program after a fixture or the physicallocation of a robot has been ch...

  • Page 693

    MARO2HT4405801E10–1710. ADVANCED FUNCTIONSFigure 10–10. Shifting Portions of a ProgramÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÈÈÈÈÈÈÈÈÈÈÈÈÈÈÈÈÈÈÈÈÈÈÈÈÈÈÈÈÈÈÈÈÈÈÈÈÈÈÈÈÈÈÈÈÈÈÈÈÈÅÅÅÅÅÅÅÅÅÅÅ...

  • Page 694

    MARO2HT4405801E10–1810. ADVANCED FUNCTIONSA parallel and rotational shift is accomplished by reteaching the locationof three points from the original (source) program (P1, P2 and P3) to thedestination program (Q1, Q2 and Q3). See Figure 10–12.Figure 10–12. Parallel and Rotating ShiftSour...

  • Page 695

    MARO2HT4405801E10–1910. ADVANCED FUNCTIONSExtended (Ext) axes determines how the program shift function willtranslate the program when you are using extended axes. Possible ext axestypes are:D Robot axes only – allows you to shift the axes of the robot withoutshifting a non-integrated exten...

  • Page 696

    MARO2HT4405801E10–2010. ADVANCED FUNCTIONSD With ext axes – allows you to shift positions for robot axes and anyextended axes in your system. The amount of shift for the robot iscalculated by using the change in the TCP. The amount of shift for theextended axes is calculated using the diff...

  • Page 697

    MARO2HT4405801E10–2110. ADVANCED FUNCTIONSD Replace Ext axes – allows you to shift positions for only the extendedaxes in your system without affecting any robot angles. The shiftamount for the extended axes is calculated using the differencebetween an original position (P1) and a new posit...

  • Page 698

    MARO2HT4405801E10–2210. ADVANCED FUNCTIONS6Move the cursor to Range and select to shift the WHOLE program orPART of the program.D To shift the whole program press F5, WHOLE. You will see ascreen similar to the following.PROGRAM SHIFT JOINT 50 % ...

  • Page 699

    MARO2HT4405801E10–2310. ADVANCED FUNCTIONS9If you are inserting lines into an existing program, move the cursorto Insert line and type the line number at which you want to insert theshifted data.10Press the SHIFT key while pressing the down arrow key. You will seethe Shift Position screen.11M...

  • Page 700

    MARO2HT4405801E10–2410. ADVANCED FUNCTIONS12Move the cursor to Source position (see Figure 10–11 andFigure 10–12). See the following screen for an example. 2/7Shift amount/Teach Position data X :******** Y :******** Z :******** 1 Ro...

  • Page 701

    MARO2HT4405801E10–2510. ADVANCED FUNCTIONS16If you are rotating the positions, record or specify all the destinationpositions.17To shift the program, press F2, EXECUTE.D To execute the shift, press F4, YES.D Not to not execute the shift, press F5, NO.NOTE For each position to shift, you recei...

  • Page 702

    MARO2HT4405801E10–2610. ADVANCED FUNCTIONSThe space check function, incorporated into a robot, monitors apredetermined interference area (space). When another robot or aperipheral unit is located within that space, the function stops robotoperation if a move command specifying movement into t...

  • Page 703

    MARO2HT4405801E10–2710. ADVANCED FUNCTIONSTable 10–2. Space Check Function Screen ItemsITEMDESCRIPTIONRectangular Space DETAILED Screen ItemsEnable/DisableEnables and disables the space check function. To set or modify other conditions for anarea, you must set the condition to Disable f...

  • Page 704

    MARO2HT4405801E10–2810. ADVANCED FUNCTIONSUse Procedure 10–3 to set the conditions for the space check function.Procedure 10–3 Setting the Conditions for the Space Check Function1Press MENUS.2Select SETUP.3Press the F1, [TYPE].4Select Space fnct. The space list screen appears. See the f...

  • Page 705

    MARO2HT4405801E10–2910. ADVANCED FUNCTIONS9Move the cursor to the item you want to change. Use the functionkeys or numeric keys to enter the appropriate information.10To define the location and size of a space, press F2, SPACE. Thespace setting screen appears. See the following screen for a...

  • Page 706

    MARO2HT4405801E10–3010. ADVANCED FUNCTIONSMulti-tasking allows more than one program to run on the controller on atime-sharing basis, so that multiple programs appear to runsimultaneously. The maximum number of user programs, or tasks, thatcan be executed simultaneously is four. The default ...

  • Page 707

    MARO2HT4405801E10–3110. ADVANCED FUNCTIONSThe following restrictions apply to executing multiple programs:D Up to four programs can be run at a time.D The controller must contain 500KB or 1MB of data memory. Refer toSection 8.12 for information on how to check the amount of datamemory you hav...

  • Page 708

    MARO2HT4405801E10–3210. ADVANCED FUNCTIONSYou can start the execution of multiple programs using the standardoperator panel (SOP) CYCLE START button. Use Procedure 10–4 toexecute multiple programs using the SOP CYCLE START button.Procedure 10–4 Executing Multiple Programs Using the Stand...

  • Page 709

    MARO2HT4405801E10–3310. ADVANCED FUNCTIONSYou can start the execution of multiple programs using program numberselect (PNS). Use Procedure 10–4 to execute multiple programs usingPNS.Procedure 10–5 Running Multiple Programs Using Program Number Select(PNS)H The programs you will execute a...

  • Page 710

    MARO2HT4405801E10–3410. ADVANCED FUNCTIONSUse the RUN program within the main program to execute a second, third,or fourth program simultaneously. When you execute a program in whichyou have added RUN program instructions, the program you specify willexecute, and execution of the main program...

  • Page 711

    MARO2HT4405801E10–3510. ADVANCED FUNCTIONSWhen the main task is executed in single step mode, the subtask is alsoexecuted in single step mode. A task in which a RUN instruction is issuedis called a main task. A task activated by a RUN instruction within themain task is called a subtask. See...

  • Page 712

    MARO2HT4405801E10–3610. ADVANCED FUNCTIONSWhen the main task is restarted in backward execution mode, the subtaskis activated also in backward execution mode. See Figure 10–22.Figure 10–22. Single Step Backward ExecutionMain taskSubtaskRUN instructionActivated in the backwardexecution mo...

  • Page 713

    10–37MARO2HT4405801E10. ADVANCED FUNCTIONSIf you are going to make multiple holes arranged at equal distances on thecircumference of a circle (such as mounting bolt holes in a vehicle wheel),you can reduce the total number hours for a teach process by teaching datafor one hole and having data ...

  • Page 714

    MARO2HT4405801E10. ADVANCED FUNCTIONS10–38The rotation angle is specified in degrees for the rotation center and planedetermined by the three representative points. The rotation angle isdirectly entered as a signed real number. The positive number correspondsto the direction of rotation from...

  • Page 715

    10–39MARO2HT4405801E10. ADVANCED FUNCTIONSThe position data for program A has been transformed as follows: P[1]: Position rotated by 20deg from P[1] for program A P[2]: Position rotated by 20deg from P[2] for program A P[3]: Position rotated by 40deg from P[1] for program A P[4]: Posit...

  • Page 716

    MARO2HT4405801E10. ADVANCED FUNCTIONS10–40Each item is specified as described below. The specification methodslightly varies depending on whether to specify a rotation axis.D Method that a rotation axis is not specified:If “Rotation axis enable:” is set to “FALSE,” specify P1, P2, and...

  • Page 717

    10–41MARO2HT4405801E10. ADVANCED FUNCTIONSP0 can be specified by recording position, referring position, or directentry. The methods of recording position and referring position are thesame as those for the other representative points. The direct entrymethod only applies to P0. Pressing the ...

  • Page 718

    MARO2HT4405801E10. ADVANCED FUNCTIONS10–42In some robot models, some of the wrist axes can rotate more than 360deg. For these robots, even if the tool center point remains at the sameposition, the axis angle might be in a phase different by 360 deg. In thiscase, if you select an incorrect an...

  • Page 719

    MARO2HT4405801E10–4310. ADVANCED FUNCTIONSA reference position defines position limits within which an output signalwill turn on. To use the reference position utility you specify a jointposition for each axis of your robot, assign an output signal to the position,and, optionally, specify tol...

  • Page 720

    MARO2HT4405801E10–4410. ADVANCED FUNCTIONSTable 10–4. Reference Position DETAIL Screen ItemsITEMDESCRIPTIONReference positionnumberIndicates the reference position number the screen is currently displaying.CommentAllows you to enter a comment about the reference position. This can be se...

  • Page 721

    MARO2HT4405801E10–4510. ADVANCED FUNCTIONS12Select Ref Position. You will see a screen similar to the following.SETUP Ref Pos JOINT 50 % GROUP: 1 1/3No.Enb/Dsbl@Pos Comment 1DISABLEFALSE [ ] 2DISABLEFALSE [ ] 3DIS...

  • Page 722

    10–46MARO2HT4405801E10. ADVANCED FUNCTIONSWhile the robot is executing a program, it reads the lines ahead of the linecurrently being executed (look-ahead execution). The position registerlook-ahead execution function enables look-ahead execution for positionregisters. To understand fully th...

  • Page 723

    10–4710. ADVANCED FUNCTIONSMARO2HT4405801EThe position register look-ahead execution function enables look-aheadexecution for position registers. For this purpose, an instruction to lockposition registers and an instruction to unlock position registers areprovided. Using these instructions, ...

  • Page 724

    10–48MARO2HT4405801E10. ADVANCED FUNCTIONSFigure 10–26 shows how to use the LOCK PREG and UNLOCK PREGinstructions in a program.Figure 10–26. Position Register Look-Ahead Program Example 1: J P[1] 100% FINE 2: PR[1]=PR[2] 3: PR[2]=PR[3] 4: LOCK PREG 5: L P[2] 100mm/sec Cnt100 6: L P[3]...

  • Page 725

    10–4910. ADVANCED FUNCTIONSMARO2HT4405801EWhen executing position register look-ahead program instructions, beaware of the following:D The LOCK PREG and UNLOCK PREG instructions are not executedin backward program execution mode.D Look-ahead execution is not performed for the LOCK PREG andUNLO...

  • Page 726

    MARO2HT4405801E10–5010. ADVANCED FUNCTIONSThe shape generation option simplifies cutting two dimensional shapes.This shape generation software reduces the on-line programming time byreducing the number of required taught robot positions and providingfeatures like shape cut macros and on-the-fl...

  • Page 727

    MARO2HT4405801E10–5110. ADVANCED FUNCTIONSYou must set up specific information before you can use the shapegeneration option. You specify this information in the SETUP Shapesscreen. The information you specify in this screen will apply to all shapesyou generate using the shape generation opt...

  • Page 728

    MARO2HT4405801E10–5210. ADVANCED FUNCTIONSProcedure 10–7 Setting Up Shape Information1Press MENUS.2Select SETUP.3Press F1, [TYPE].4Select Shapes. You will see a screen similar to the following. SETUP Shapes JOINT 10 % 1/9 ...

  • Page 729

    MARO2HT4405801E10–5310. ADVANCED FUNCTIONSYou can set up schedules to define how you want to generate the followingshapes:D CircleD HexagonD RectangleD SlotThis section containsD A procedure for using shape SCHEDULE and DETAIL screensD Schedule screens contain information for circle, hexagon, ...

  • Page 730

    MARO2HT4405801E10–5410. ADVANCED FUNCTIONS4To display the DETAIL screen, press F2, DETAIL. You will see ascreen similar to the following. DATA Circles JOINT 10 % 1/10 1Schedule #: 1[CIRCLE 1 ]2Diameter:55.00 mm 3Speed:380 cm/min 4C...

  • Page 731

    MARO2HT4405801E10–5510. ADVANCED FUNCTIONSUp to 100 full and half circle schedules are available. Figure 10–27 showsthe circle schedule screen and Figure 10–28 shows the circle scheduleDETAIL screen. The items on these screens are listed and described inTable 10–6.Figure 10–27. Cir...

  • Page 732

    MARO2HT4405801E10–5610. ADVANCED FUNCTIONSTable 10–6. (Cont’d) Circle Schedule DataITEMDESCRIPTIONStart Axis (+/–X or +/–Y)The start axis is defined as whichaxis on the shape that the robotwill begin its cut. Shown beloware each of the four (4) start axischoices.Note: Half circle or...

  • Page 733

    MARO2HT4405801E10–5710. ADVANCED FUNCTIONSFigure 10–29. Circle Schedule TerminologyUp to 50 hexagon schedules are available. Figure 10–30 shows thehexagon schedule screen and Figure 10–31 shows the hexagon scheduleDETAIL screen. The items on these screens are listed and described inTa...

  • Page 734

    MARO2HT4405801E10–5810. ADVANCED FUNCTIONSTable 10–7. Hexagon Schedule DataITEMDESCRIPTIONSchedule #Range: (1 – 50)The current schedule to which the defined data corresponds.CommentEach schedule can be commented for ease of use.DiameterRange: (1 – 500 mm)The diameter in mm across t...

  • Page 735

    MARO2HT4405801E10–5910. ADVANCED FUNCTIONSFigure 10–32. Hexagon Schedule Terminology

  • Page 736

    MARO2HT4405801E10–6010. ADVANCED FUNCTIONSUp to 50 rectangle schedules are available. Figure 10–33 shows therectangle schedule screen and Figure 10–34 shows the rectangle scheduleDETAIL screen. The items on these screens are listed and described inTable 10–8.Figure 10–33. Rectangle...

  • Page 737

    MARO2HT4405801E10–6110. ADVANCED FUNCTIONSTable 10–8. (Cont’d) Rectangle Schedule DataITEMDESCRIPTIONSpeed Range: (1 - 9999 cm/sec)The cutting speed of the current rectangle.Radius 1Specifies the radius of the first corner encountered in the rectangle depending on cutdirection.Radius 2 S...

  • Page 738

    MARO2HT4405801E10–6210. ADVANCED FUNCTIONSFigure 10–35. Rectangle Schedule TerminologyUp to 50 slot schedules are available. Figure 10–36 shows the rectangleschedule screen and Figure 10–37 shows the rectangle schedule DETAILscreen. The items on these screens are listed and described ...

  • Page 739

    MARO2HT4405801E10–6310. ADVANCED FUNCTIONSFigure 10–37. Slot Schedule DETAIL Screen DATA Slot JOINT 10 % 1/10 1Schedule #: 1[Slot 1 ] 2Length:15.00 mm 3Width:10.00 mm 4Speed:350 cm/min 5Start Axis:+X 6X Work Angle:5.0 de...

  • Page 740

    MARO2HT4405801E10–6410. ADVANCED FUNCTIONSTable 10–9. (Cont’d) Slot Schedule DataITEMDESCRIPTIONX-Work AngleRange: (+/– 45_)Refer to Table 10–6.Y-Work AngleRange: (+/– 45_)Blend-In AngleRange: (0 – 45_)The angle from the start axis to the start position. See Figure 10–38.Ble...

  • Page 741

    MARO2HT4405801E10–6510. ADVANCED FUNCTIONSYou must include information in your program to perform shapegeneration. Instructions and information you include in a program is usedby the shape generation feature to generate the shapes you specify.You must include the following information in your...

  • Page 742

    MARO2HT4405801E10–6610. ADVANCED FUNCTIONSWARNINGMake sure your program stops the process (such as laseror water jet cutting) when an error occurs. The ShapeGeneration option does not automatically turn the processequipment off when an error occurs For example, if youare cutting shapes using...

  • Page 743

    MARO2HT4405801E10–6710. ADVANCED FUNCTIONSThe shape generation option requires that you use the following macros inyour shape generation program:D Calculate ShapeD Cut ShapeCalculate Shape MacrosThe Calculate Shape macros calculate the shape positions and store themin the corresponding Cut Sha...

  • Page 744

    MARO2HT4405801E10–6810. ADVANCED FUNCTIONSWithin the cut shape macros are calls to two process macros:D Process OnD Process OffThese macros are empty teach pendant programs that enable limit processcontrol by allowing you to program I/O manipulations.WARNINGProcess macros must not contain any ...

  • Page 745

    MARO2HT4405801E10–6910. ADVANCED FUNCTIONSFor added flexibility, you can override the following information in yourshape generation program, using an override register:D Kerf widthD SpeedD Cut directionAn override register is a register that contains a value that will change thecorresponding v...

  • Page 746

    MARO2HT4405801E10–7010. ADVANCED FUNCTIONSThe shape generation option has the following modes of operation:D Teach mode – While the robot is in step mode, teach mode is enabled.If Step through Center (set up on the SETUP:Shape screen) is enabled,the robot will step to the center position. I...

  • Page 747

    MARO2HT4405801E10–7110. ADVANCED FUNCTIONSThe Shape Adjust utility allows you to shift programmed shapes in twodimensions. The shapes can be offset in X or Y, along a frame relative totheir center position (shape frame). You cannot offset the shapes relativeto WORLD frame or the taught user ...

  • Page 748

    MARO2HT4405801E10–7210. ADVANCED FUNCTIONSX and Y offsets entered into the Shape Adjust screen will adjust a shape’sposition the next time you run the program. This new offset shapeposition will be used in the program until you disable or change theadjustment in the UTILITIES Shape Adjust s...

  • Page 749

    MARO2HT4405801E10–7310. ADVANCED FUNCTIONSFigure 10–46. Shape Rotation Program Example JOB123 JOINT 10 % JOB123 JOINT 10 % 6/6 1:R[20:Shape Schedule]=5 2:PR[1: Center ]=P[2: Hole 1 ] 3:R[2:Rot...

  • Page 750

    MARO2HT4405801E10–7410. ADVANCED FUNCTIONSUse Procedure 10–9 to perform shape adjustments using the Shape AdjustUtility.Procedure 10–9 Performing Shape Adjustments Using the Shape AdjustUtility1Press MENUS.2Select UTILITIES.3Press F1, [TYPE].4Select Shape Adjust. You will see a screen si...

  • Page 751

    MARO2HT4405801E10–7510. ADVANCED FUNCTIONSThe shape generation software utilizes shape frames. A shape frame iscalculated from a shape center position and current uframe.The shape frame X–direction is parallel to the object surface where thecurrent Uframe X–Y plane intersects the object a...

  • Page 752

    10–76MARO2HT4405801E10. ADVANCED FUNCTIONSIf the multiple motion group option is used to operate more than one robotconnected to one R-J2 controller unit, a program can control the multiplerobots simultaneously. However, only one robot can be jogged manuallyusing the teach pendant.A motion gr...

  • Page 753

    10–7710. ADVANCED FUNCTIONSMARO2HT4405801ERegardless of whether the teach pendant is enabled, programmed signalsmight be turned on depending on whether the motion group specified bythe program that is running or paused; the signals will not be turned onmerely by selecting a program. If a prog...

  • Page 754

    10–78MARO2HT4405801E10. ADVANCED FUNCTIONSThis section explains how the motion group DO output function workswhen a subprogram is called or when multi-tasking mode is used.The programmed signal is created by logically OR-ing signals from allmotion groups specified in the program that is runnin...

  • Page 755

    10–79MARO2HT4405801E10. ADVANCED FUNCTIONSWhen a robot must repeat motions within a short time (for example,because of short travel distance or high motion speed), the motions mightbe decelerated or oscillate even if the termination type of thecorresponding motion instruction is “CNT 100.”...

  • Page 756

    10–80MARO2HT4405801E10. ADVANCED FUNCTIONSThe motion start delay detection function detects a motion start delay if thefollowing condition is satisfied:Condition: When a motion instruction that uses CNT 100 ends,the next motion cannot be started immediately.If a delay is detected, the related...

  • Page 757

    10–81MARO2HT4405801E10. ADVANCED FUNCTIONSThis is a motion start delay memory buffer. It indicates the amount of adetected delay. The larger the value, the larger the delay.If you reference these buffers with the same index (in$PODATA_GRP[].$CUR_INDEX). you can identify the followinginformat...

  • Page 758

    10–82MARO2HT4405801E10. ADVANCED FUNCTIONSThe following sequence describes an example of how to use the motionstart delay detection function.1Test run a program given to the robot to assure safety.2Reset the following system variables. The function can be usedwithout resetting. However, rese...

  • Page 759

    10–83MARO2HT4405801E10. ADVANCED FUNCTIONSThe soft float function is a feature that is used to compensate for variancesin workpiece precision in applications where the robot is used to mountworkpieces on a machine tool.NOTE You must have the DSP V module to use the soft float function.In most...

  • Page 760

    10–84MARO2HT4405801E10. ADVANCED FUNCTIONSAn external force applied to a robot can prevent it from reaching the taughtpoint. The distance between the taught point and the point the robot canreach is nearly proportional to the magnitude of the external force.If a static load is applied to the ...

  • Page 761

    10–85MARO2HT4405801E10. ADVANCED FUNCTIONSD The soft float function cannot be enabled by any method other thanthe SOFTFLOAT instruction.D When the soft float function is enabled, the robot moves using thetermination type CNT0 (no position check is made), even if FINE hasbeen specified as motio...

  • Page 762

    10–86MARO2HT4405801E10. ADVANCED FUNCTIONSD When the soft float function is enabled, follow-up processing isnormally performed for individual motion instructions.This processing is enabled or disabled according to system variable$SFLT_DISFUP.$SFLT_DISFUP Default value: FALSE– If FALSE, fo...

  • Page 763

    10–87MARO2HT4405801E10. ADVANCED FUNCTIONSTable 10–13. (Cont’d) Soft Float Schedule Setup ItemsITEMDESCRIPTIONCoordinateSpecifies the frame used: World, User, or ToolX directionY directionZ directionX rotationY rotationZ rotationSpecifies the softness (flexibility) in the X, Y and Z axe...

  • Page 764

    10–88MARO2HT4405801E10. ADVANCED FUNCTIONSProcedure 10–11 Setting Up Soft Float SchedulesH You have set up payload information properly. Refer to Section 3.20.1Press MENUS.2Select SETUP.3Press F1, [TYPE].4Select Softfloat. See the following screen for an example of the listingscreen.SETUP ...

  • Page 765

    10–89MARO2HT4405801E10. ADVANCED FUNCTIONS7To enable or disable the soft float function for a direction, move thecursor to the word “ENABLE” or “DISABLE” and press F4,ENABLE, or F5, DISABLE.8Set the coordinate system to the desired value.9Set the softness ratio and softness tolerance t...

  • Page 766

    10–90MARO2HT4405801E10. ADVANCED FUNCTIONSThe following soft float instructions can be used:D SOFTFLOAT[n]D SOFTFLOAT ENDD FOLLOW UPSOFTFLOAT[n] enables the soft float function from the next instruction inyour teach pendant program until a SOFTFLOAT END instruction isexecuted. The soft float ...

  • Page 767

    10–91MARO2HT4405801E10. ADVANCED FUNCTIONSThe exec start ratio is specified as the percentage (from 0% to 100% in 1%steps) of a distance to be traveled before the robot reaches the taught pointthat corresponds to the motion instruction that contains theSOFTFLOAT[n] motion option.In Figure 10...

  • Page 768

    10–92MARO2HT4405801E10. ADVANCED FUNCTIONSPreviously, one of the axes of a robot could not be rotated in a givendirection continuously and indefinitely. The continuous turn functionallows the last axis and extended rotation axis of the robot to turn in agiven direction continuously and indefi...

  • Page 769

    10–93MARO2HT4405801E10. ADVANCED FUNCTIONSWhen continuous rotation is not performed with this function enabled (theusage will be explained later), the continuous turn axis turns in whicheverrotation direction minimizes the angular displacement from the currentposition to a target position. No...

  • Page 770

    10–94MARO2HT4405801E10. ADVANCED FUNCTIONSProcedure 10–12 Settings for the Continuous Turn Function1Press the MENUS key to display the screen menu.2Select SETUP.3Press F1 [TYPE] to display the screen switch menu.4Select Cont Turn. Then, the continuous turn rotation velocity screenappears.SE...

  • Page 771

    10–95MARO2HT4405801E10. ADVANCED FUNCTIONSAfter the settings for the continuous turn axis are complete, specify thestart point for continuous rotation by using the continuous turn rotationvelocity (CTV) instruction, an additional motion instruction.The following continuous turn rotation veloci...

  • Page 772

    10–96MARO2HT4405801E10. ADVANCED FUNCTIONSD In single-step execution (forward program execution and reverseprogram execution), continuous rotation is not performed even when acontinuous turn rotation velocity instruction is specified, and the axistakes the shortest rotational distance rule.D A...

  • Page 773

    10–97MARO2HT4405801E10. ADVANCED FUNCTIONSBefore using this function, note the following:D When continuous rotation is performed with a robot axis or integratedextended axis, both the X and Y components in the tool coordinatesmust be 0. (Only the Z–axis component can hold a non–0 value.)I...

  • Page 774

    10–98MARO2HT4405801E10. ADVANCED FUNCTIONSThe alarm codes related to this function are as follows:CNTR–001 WARN No global variablesCause:Continuous Turn global variables are not loaded.Remedy:Perform a controlled start and initialize motion softparts.CNTR–002 WARN No MIR pointerCause:Thi...

  • Page 775

    10–99MARO2HT4405801E10. ADVANCED FUNCTIONSThe CRT function enables a factory terminal to be connected to the R-J2controller. The factory terminal can provide almost the same display as ateach pendant and enables using a full keyboard.Connecting the R-J2 controller to a factory terminal requir...

  • Page 776

    10–100MARO2HT4405801E10. ADVANCED FUNCTIONSProcedure 10–13 Connecting a Factory Terminal1Turn off the controller.2Connect the RS-232-C cable from the factory terminal to the port onthe R-J2 controller.3Cold start the controller.4To set up the port to use the factory terminal, perform the fol...

  • Page 777

    10–101MARO2HT4405801E10. ADVANCED FUNCTIONSProcedure 10–14 Starting the Factory Terminal1Make sure the controller and the factory terminal are connected. Turnon the factory terminal. At this point, power is not supplied to theterminal, because the R-J2 controller unit has not been turned o...

  • Page 778

    10–102MARO2HT4405801E10. ADVANCED FUNCTIONSAfter the factory terminal has been started, the same display as the teachpendant appears on the CRT screen, and the full keyboard is available.See the following screen for an example.Example of DisplayÅÅÅÅÅÅÅÅÅÅÅÅÅÅÅÅÅÅÅÅÅÅÅÅ...

  • Page 779

    10–103MARO2HT4405801E10. ADVANCED FUNCTIONSTable 10–15 lists the operations on the teach pendant and thecorresponding operations on the factory terminal.Table 10–15. Operations on the Teach Pendant and the CorrespondingOperations on the Factory TerminalFunctionTeach pendantFactory ter...

  • Page 780

    10–104MARO2HT4405801E10. ADVANCED FUNCTIONSFor safety reasons, the factory terminal does not have keys that correspondto the following operations:D Forward/backward motion (FWD/BWD)D Manual feed coordinate system (COORD)D +%/–% (+%/–%)D Hold (HOLD)D Jog (JOG KEYS)D Step (STEP)D Reset (RESE...

  • Page 781

    10–105MARO2HT4405801E10. ADVANCED FUNCTIONSWhen you use the CRT, you might encounter the following problems:D No display appears on the factory terminal.– Check the connection between the R-J2 control unit and thefactory terminal.– Check the power to the controller and the power switch of ...

  • Page 782

    10–106MARO2HT4405801E10. ADVANCED FUNCTIONSWhen position data is used in Cartesian coordinates to perform motioninstruction teaching or position modification, the robot position might beclose to a singular point. In such a case, when the taught motioninstruction is executed, the robot can ope...

  • Page 783

    10–107MARO2HT4405801E10. ADVANCED FUNCTIONSConventional robots are capable of palletizing or depalletizing workpiecesin a single configuration. Refer to “Positional Information” forinformation about configuration.Figure 10–56 shows an example of palletizing with the FANUC RobotM–400 (...

  • Page 784

    10–108MARO2HT4405801E10. ADVANCED FUNCTIONSTo palletize or depalletize workpieces, maintaining the same attitude andconfiguration as that taught, perform the following setup procedure:1On the system variable screen, set system variable$PALCFG.$FREE_CFG_EN to TRUE (the initial value is TRUE).2O...

  • Page 785

    10–109MARO2HT4405801E10. ADVANCED FUNCTIONSWhen using this function, note the following:1FREE and INTER cannot be set for more than one direction ofCOLUMN, ROWS, and LAYERS (such setting is possible whensystem variable $PALCFG.$FREE_CFG_EN is FALSE, that is, thefunction is not used).This is be...

  • Page 786

    MARO2HT4405801E10–11010. ADVANCED FUNCTIONSThe coordinates offset function changes either the tool coordinate systemor the user coordinate system for a range of motion instructions in aprogram for which teaching has been completed. The function thenconverts the positional data so that the TCP...

  • Page 787

    MARO2HT4405801E10–11110. ADVANCED FUNCTIONSThe coordinates offset function performs the following:D Changes the tool coordinate system number or user coordinate systemnumber for the positional data (Cartesian coordinates) in all or a rangeof motion instructions in an existing program.D If the ...

  • Page 788

    MARO2HT4405801E10–11210. ADVANCED FUNCTIONSFor UTOOL OFFSET, you can select either of the following positionaldata conversion methods:D TCP fixed: This method lets you specify a new TOOL frame numberof your choice for use with a new or damaged tool. Programmedpositions are not changed. The ...

  • Page 789

    MARO2HT4405801E10–11310. ADVANCED FUNCTIONSD Robot fixed: This method lets you specify the TOOL frame numberto use with the current tool. Programmed positions are automaticallyadjusted to maintain the desired path. The robot’s motion does notchange. See Figure 10–59 and Figure 10–60....

  • Page 790

    MARO2HT4405801E10–11410. ADVANCED FUNCTIONSTable 10–16 lists and describes the items you set to perform the toolframe offset function. Use Procedure 10–15 to perform the tool frameoffset function.Table 10–16. Tool Offset Screen ItemsITEMDESCRIPTIONProgram Name Setting ScreenOrigin...

  • Page 791

    MARO2HT4405801E10–11510. ADVANCED FUNCTIONSProcedure 10–15 Executing a Tool Change or ShiftH A program is to be shifted. See the following screen for an example.H The new UTOOL you want to use has been defined.TEST1 JOINT 30% POINT SINGLE DUAL BACKUP TOUCHUP&g...

  • Page 792

    MARO2HT4405801E10–11610. ADVANCED FUNCTIONS7Hold down the SHIFT key and press the down arrow key to displaythe coordinate system number setting screen. To return to the programname setting screen, hold down the SHIFT key and press the up arrowkey.TOOL OFFSET JOINT 10%[TYPE]...

  • Page 793

    MARO2HT4405801E10–11710. ADVANCED FUNCTIONSSelect the action you want to take:D To use the new, optimized rotation speed, press F1. The labelabove F1 indicates that angle that corresponds to the optimizedrotation.D To use the original rotation speed, press F2. The label above F2indicates the...

  • Page 794

    MARO2HT4405801E10–11810. ADVANCED FUNCTIONSProcedure 10–16 Executing a User Coordinate Change or ShiftH When a program is to be shiftedH The new UFRAME you want to use has been defined.TEST1 JOINT 30% POINT SINGLE DUAL BACKUP TOUCHUP> ...

  • Page 795

    MARO2HT4405801E10–11910. ADVANCED FUNCTIONS7Hold down the SHIFT key and press the down arrow key to displaythe coordinate system number setting screen. To return to the programname setting screen, hold down the SHIFT key and press the up arrowkey. See the following screen for an example of t...

  • Page 796

    MARO2HT4405801E10–12010. ADVANCED FUNCTIONS13If the rotation speed has changed (been optimized) as a result ofconversion, you are prompted whether to use the new rotation speed.See the following screen for an example.Select P[3]:J5 angle.(deg183) 183_ -177_ *uninit* QUIT>Sele...

  • Page 797

    MARO2HT4405801E10–12110. ADVANCED FUNCTIONSNormally, when a teach pendant program is executed, the instruction thatfollows a motion instruction is not executed until the motion has beencompleted. The TIME BEFORE/AFTER motion option instruction allowsyou to specify a teach pendant program that...

  • Page 798

    MARO2HT4405801E10–12210. ADVANCED FUNCTIONSIf hot start is enabled and the controller is turned off while the sub programis executing, the sub program will resume execution from the same line thenext time the controller is turned on. Because of this, the execution timingof the sub program is ...

  • Page 799

    MARO2HT4405801E10–12310. ADVANCED FUNCTIONSUse Procedure 10–17 to record a TIME BEFORE or TIME AFTERInstruction.Procedure 10–17 Recording a TIME BEFORE or TIME AFTER Instruction1Move the cursor to the position where you want to add the motionoption instruction.PNS0001 J...

  • Page 800

    MARO2HT4405801E10–12410. ADVANCED FUNCTIONS4Enter the execution time and press ENTER. For example, enter 2.0sec.TIME statement JOINT 10 % 1 CALL program 5 2 6 3 7 4 8PNS0001 1/2 1: J P[1] 1...

  • Page 801

    MARO2HT4405801E10–12510. ADVANCED FUNCTIONSFigure 10–65 shows an example main and sub program which illustrate theuse of the TIME BEFORE Instruction.Figure 10–65. Main and Sub Program ExamplesMAIN PROGRAM : PNS0001 1: J P[1] 100% FINE 2: J P[1] 100% CNT 100 : TIME BEFORE 1.0...

  • Page 802

    MARO2HT4405801E10–12610. ADVANCED FUNCTIONSThe following programming hints apply to the TIME BEFORE or TIMEAFTER instruction.D The sub program called from the TIME BEFORE or TIME AFTERinstruction cannot be taught motion instructions. The motion group ofthe program must be [*,*,*,*,*].D Until ...

  • Page 803

    MARO2HT4405801E10–12710. ADVANCED FUNCTIONSThe Condition Monitor Function monitors the condition of an I/O signal,register value, or alarm status, during teach pendant program execution.As soon as the condition is triggered, the specified teach pendant programis executed and interrupts the cur...

  • Page 804

    MARO2HT4405801E10–12810. ADVANCED FUNCTIONSThere are two kinds of monitors:D The Program monitor is started by a program monitor instruction andstops monitoring when the program executes a MONITOR ENDinstruction or is aborted.D The System monitor is started and ended using the STATUS SystemMon...

  • Page 805

    MARO2HT4405801E10–12910. ADVANCED FUNCTIONSYou can change the type of monitor as follows:$TPP_MON.$local_mt = 1 – Program monitor TYPE1 (default)$TPP_MON.$local_mt = 2 – Program monitor TYPE2$TPP_MON.$global_mt = 0 – No use system monitor(default)$TPP_MON.$global_mt = 1 – System monito...

  • Page 806

    MARO2HT4405801E10–13010. ADVANCED FUNCTIONSA program monitor is executed using the following two instructions:D MONITOR <ch program>Start monitoring the conditions taught in the <ch program>.D MONITOR END <ch program>Stop monitoring the conditions taught in the <ch progra...

  • Page 807

    MARO2HT4405801E10–13110. ADVANCED FUNCTIONSFigure 10–69 through Figure 10–71 show the conditions that can bemonitored.Figure 10–69. Condition for Register, System Variable, and I/O ParametersWHEN [item] [operator] [value] [action]R[x]Constant valueCALL program= (equal)<> (not equa...

  • Page 808

    MARO2HT4405801E10–13210. ADVANCED FUNCTIONSThis menu has the following functions:D Program monitor– Displays the status of program monitor– Restarts the program monitor– Pauses the program monitor– Ends the program monitorD System monitor– Displays the status of system monitor– Sta...

  • Page 809

    MARO2HT4405801E10–13310. ADVANCED FUNCTIONSTable 10–19. (Cont’d) Program Monitor Menu ItemsITEMDESCRIPTIONSYSTEMThis displays the System Monitor screen.NOTE If $TPP_MON.$global_mt equal to 0, then this function key does not work anddisplay the message “System monitor is not available...

  • Page 810

    MARO2HT4405801E10–13410. ADVANCED FUNCTIONSYou can change the type of system monitors by changing the systemvariable $TPP_MON.$GLOBAL_MT as follows. You can only changethis system variable in system variable menu at CTRL START.D $TPP_MON.$GLOBAL_MT = 0 – No use system monitor(default)D $TPP...

  • Page 811

    MARO2HT4405801E10–13510. ADVANCED FUNCTIONSThe maximum number of conditions connected with AND/OR operatoris 5. The total number of monitors is limited to 50. Max 5 conditions +––––––––––––––––––––––––––––+ | ...

  • Page 812

    MARO2HT4405801E10–13610. ADVANCED FUNCTIONSProcedure 10–18 Creating a Condition Handler Program1Press SELECT.2Press F2, CREATE.3Enter the program name (CH program name).4To display program header information,aPress F2, DETAIL.bMove the cursor to the sub type and press F4, [CHOICE]. Youwill ...

  • Page 813

    MARO2HT4405801E10–13710. ADVANCED FUNCTIONSProcedure 10–19 Creating an ACTION Program1Press SELECT.2Press F2,CREATE.3Enter the program name (ex. ACT)4Display program header information to change the group mask.aPress F2, DETAIL.bChange the group mask to [*,*,*,*,*]5Teach the following instru...

  • Page 814

    MARO2HT4405801E10–13810. ADVANCED FUNCTIONS6Press F1, [ INST ].WHEN statement JOINT 10 % 1 WHEN ...=... 5 WHEN ...>... 2 WHEN ...<>... 6 WHEN ...>=... 3 WHEN ...<... 7 4 WHEN ...<=... 8COND1 1/1[End]Select item ...

  • Page 815

    MARO2HT4405801E10–13910. ADVANCED FUNCTIONSProcedure 10–21 Starting a Condition Handler Program from a Teach PendantProgram1Press SELECT.2Press F2,CREATE.3Enter the program name (ex. MAIN.TP)4Teach the instruction.MAIN.TP1: MONITOR COND12: WAIT 10.00(sec)3: MONITOR END COND1MAIN ...

  • Page 816

    MARO2HT4405801E10–14010. ADVANCED FUNCTIONS6Select MONITOR/MON. END. You will see a screen similar to thefollowing.MONITOR statement JOINT 10 % 1 MONITOR 5 2 MONITOR END 6 3 7 4 8MAIN 1/1[End]Select ...

  • Page 817

    MARO2HT4405801E10–14110. ADVANCED FUNCTIONSThe Collision Guard option provides a highly sensitive method to detectthat the robot has collided with an object and stop the robot immediately.This helps to minimize the potential for damage to the end-of-arm toolingand robot.Collision Guard can be ...

  • Page 818

    MARO2HT4405801E10–14210. ADVANCED FUNCTIONSCollision Guard might detect a false collision when a collision has notoccurred in the following cases:D Payload information has not been set correctly.D The ACC motion option has been used, causing jerky robot motion.D Not enough voltage has been sup...

  • Page 819

    MARO2HT4405801E10–14310. ADVANCED FUNCTIONSWARNINGWhen the CG_ADJST program is executed, if the robot is inmotion, it will come to a stop momentarily while it executesCG_ADJST. If the CNT termination type is being used forthe motion, the robot will stop at the destination positionbefore proce...

  • Page 820

    MARO2HT4405801E10–14410. ADVANCED FUNCTIONSProcedure 10–22 Setting Up Collision Guard1Press MENUS.2Select SETUP.3Press F1, [TYPE].4Select COL GUARD. You will see a screen similar to the following.1Collision Guard status: ENABLED2Sensitivity: 100%3Sensitivity Macro Reg.: R[ 7][ TYPE ] H...

  • Page 821

    MARO2HT4405801E10–14510. ADVANCED FUNCTIONSYou can use the following teach pendant instructions to control CollisionGuard during programmed motion:D COL DETECT ON, COL DETECT OFFD PAYLOAD [GPx:y]By default, Collision Guard is enabled.D To disable Collision Guard, include the COL DETECT OFFinst...

  • Page 822

    MARO2HT4405801E10–14610. ADVANCED FUNCTIONSA robot program can stop executing during production as a result ofvarious alarms. For example, a welding robot stops moving and weldingif a HOLD or EMERGENCY STOP input is detected. Another alarmexample is the “ARC-013 Arc Start failed” alarm. ...

  • Page 823

    MARO2HT4405801E10–14710. ADVANCED FUNCTIONSSee Figure 10–76 for an example of a Resume Program:1.JOB.TP defines REPAIR1.TP as a resume program.2.An error occurs between positions P3 and P4.3.REPAIR1.TP is executed from the point of the error.4.When the REPAIR1.TP completes, JOB.TP is resumed...

  • Page 824

    MARO2HT4405801E10–14810. ADVANCED FUNCTIONSSee Figure 10–77 for an example of a Maintenance Program:1.JOB.TP defines REPAIR2.TP as a maintenance program.2.An error occurs between positions P3 and P4.3.The paused program is “exited” along the original programmed pathwith the application p...

  • Page 825

    MARO2HT4405801E10–14910. ADVANCED FUNCTIONSTable 10–22 summarizes the features available in the Error Recoveryoption.Table 10–22. Error Recovery FeaturesFEATUREDESCRIPTIONAlarm Code MonitoringError Recovery can execute for all alarms or for only a set of specific alarms. Refer toProc...

  • Page 826

    MARO2HT4405801E10–15010. ADVANCED FUNCTIONSError Recovery is DISABLED when the following functions are installed:D Line trackingD Soft floatD Continuous turnD Coordinated motionIn addition, Error Recovery has the following limitations:D Single step execution is disabled during Resume Program e...

  • Page 827

    MARO2HT4405801E10–15110. ADVANCED FUNCTIONSWhen an Error Recovery program is aborted before its normal completion,the Incomplete End DO is turned ON. This DO is turned OFF at the nextprogram execution. The Incomplete End DO is not set if the originalprogram is aborted.Check the status of thi...

  • Page 828

    MARO2HT4405801E10–15210. ADVANCED FUNCTIONSYou set up Error Recovery for either Resume Program or MaintenanceProgram execution using the Error Recovery Setup screen shown inFigure 10–78. The items on this screen are listed and described inTable 10–23.Figure 10–78. Error Recovery Setup...

  • Page 829

    MARO2HT4405801E10–15310. ADVANCED FUNCTIONSUse Procedure 10–23 to set up Error Recovery items.Procedure 10–23 Setting Up Error Recovery Items1Press MENUS.2Select SETUP.3Press F1, [TYPE].4Select Err recovery. You will see a screen similar to the following.NOTE Items 9–12 are displayed ...

  • Page 830

    MARO2HT4405801E10–15410. ADVANCED FUNCTIONSYou can set up Error Recovery to execute after either all errors or after aspecific set of user-specified errors. Use the ALARM function key(Procedure 10–24 ) to define a list of specific errors. If you do not defineany specific errors, then all P...

  • Page 831

    MARO2HT4405801E10–15510. ADVANCED FUNCTIONS5Press F2, ALARM. Define the alarm code to be monitored. See thefollowing screen for an example.Error Recovery Setup JOINT 100%[TYPE] 1/10 1Monitored alarm code:530132Monitored alarm code:530183Moni...

  • Page 832

    MARO2HT4405801E10–15610. ADVANCED FUNCTIONSThe Error Recovery option allows you to define digital input signals thatwill generate user alarms. These user alarms can be monitored as errorcode 12278, as illustrated in Procedure 10–24 . Use Procedure 10–25 toset up digital input alarms.You...

  • Page 833

    MARO2HT4405801E10–15710. ADVANCED FUNCTIONSProcedure 10–25 Setting Up Digital Input Alarms1Press MENUS.2Select SETUP.3Press F1, [TYPE].4Select Err recovery. You will see a screen similar to the following.Error Recovery Set JOINT 100%[TYPE]ALARM ...

  • Page 834

    MARO2HT4405801E10–15810. ADVANCED FUNCTIONSYou use the following teach pendant instructions to specify appropriaterecovery program names when you use Error Recovery:D Resume Program instructionsD Maintenance Program instructionsThe auto error recovery function executes the resume program defi...

  • Page 835

    MARO2HT4405801E10–15910. ADVANCED FUNCTIONSWhen the automatic start feature is enabled and WELD.TP is paused by amonitored alarm and resumed on lines 3, 4, or 5, the WIRE_CUT programis executed as the resume program and the wire is automatically cut usingthe WIRE_CUT program. In the program W...

  • Page 836

    MARO2HT4405801E10–16010. ADVANCED FUNCTIONSUse Procedure 10–26 to add Error Recovery instructions to a program.Procedure 10–26 Adding Error Recovery Instructions to a ProgramH You are editing a teach pendant program.1Press F1, [INST], to display the list of instructions.2Select 8 –– ...

  • Page 837

    MARO2HT4405801E10–16110. ADVANCED FUNCTIONSNormally you use Error Recovery when the teach pendant is disabledduring production operation. However, when you define a recoveryprogram or test a production program, you might want to execute therecovery program even though all conditions for execu...

  • Page 838

    MARO2HT4405801E10–16210. ADVANCED FUNCTIONSIn the Manual Function DETAIL screen you can monitor recovery DOstatus, recovery program name, and operation mode related to the status ofthe error recovery status DO.When F2, DETAIL, is pressed on the Auto Error Recovery ManualFunction screen, the co...

  • Page 839

    MARO2HT4405801E10–16310. ADVANCED FUNCTIONSProcedure 10–27 Manual Operation of Error Recovery1Press MENUS.2Select MANUAL FCTNS.3Press F1, [TYPE].4Select Err recovery. You will see a screen similar to the following.Error Recovery MNFC JOINT 100%[TYPE]DETAIL ...

  • Page 840

    MARO2HT4405801E10–16410. ADVANCED FUNCTIONSSee Figure 10–87 through Figure 10–91 for timing diagrams.Figure 10–87. Normal Operation Auto Start ModePROG RUNBUSYPAUSESTATUSDOINCOMPLETEEND DOFAULTSTARTRESET DIFAULTRESETExecute original programExecute resume programEnd originalprogramExecut...

  • Page 841

    MARO2HT4405801E10–16510. ADVANCED FUNCTIONSFigure 10–88. Normal Operation without Execution of Resume ProgramPROG RUNBUSYPAUSESTATUSDOINCOMPLETEEND DOFAULTSTARTRESET DIFAULTRESETExecute original programExecute original programEnd originalprogramNOTE: APPROVAL DI can be used to prevent resum...

  • Page 842

    MARO2HT4405801E10–16610. ADVANCED FUNCTIONSFigure 10–89. Resume Program AbortedPROG RUNBUSYPAUSESTATUSDOINCOMPLETEEND DOFAULTSTARTRESET DIFAULTRESETOriginal programexecutesResume programexecutesOriginalprogram executesNo programexecutesMin. 300 msDefinedfaultoccursResume programis aborted b...

  • Page 843

    MARO2HT4405801E10–16710. ADVANCED FUNCTIONSFigure 10–90. Normal Operation (Automatic Start DISABLED)PROG RUNBUSYPAUSESTATUSDOINCOMPLETEEND DOFAULTSTARTRESET DIFAULTRESETOriginal programexecutesResumeprogramexecutionOriginalprogramendMonitoredfaultoccursOriginal programexecutesAPPROVALDINopr...

  • Page 844

    MARO2HT4405801E10–16810. ADVANCED FUNCTIONSFigure 10–91. Auto Mode When an Undefined Alarm OccursPROG RUNBUSYPAUSEFAULTINCOMPLETEEND DOSTARTRESET DIFAULTRESETOriginal programexecutesUndefinedfault occursOriginal programexecutesSTATUSDOAPPROVALDINoprogramexecutionMin 300msSetup shown in timi...

  • Page 845

    MARO2HT4405801E10–16910. ADVANCED FUNCTIONSThe Auto Normal utility is a software option that is used to align theend-of-arm tooling of the robot perpendicular, or normal, to a surface, suchas a workpiece. This option assumes that a height or range sensor isavailable on the end of the robot ar...

  • Page 846

    MARO2HT4405801E10–17010. ADVANCED FUNCTIONSThis section contains information on the following topics, which you mustknow in order to use the Auto Normal utility effectively. The descriptionsin this section use a laser height sensor as an example. You can use yourown height sensor in a simila...

  • Page 847

    MARO2HT4405801E10–17110. ADVANCED FUNCTIONSThe Auto Normal utility moves the robot, in a specified manner, from arough position toward an object in the TOOL Z direction. The robot stopssearching and moving when the sensor detects an object. A three-pointsearch algorithm is used to locate the...

  • Page 848

    MARO2HT4405801E10–17210. ADVANCED FUNCTIONSA jog frame is now set, where the X-Y plane is parallel to the surface ofthe shape frame. This reduces the amount of teaching time by allowingyou to jog the robot parallel to the surface and record additional positionslocated along the same surface. ...

  • Page 849

    MARO2HT4405801E10–17310. ADVANCED FUNCTIONSYou set up the Auto Normal utility by setting items on the SETUP AutoNormal screen. Table 10–26 lists and describes the items you must set.Use Procedure 10–28 to set up Auto Normal.Table 10–26. Auto Normal Setup ItemsITEMDESCRIPTIONSensor...

  • Page 850

    MARO2HT4405801E10–17410. ADVANCED FUNCTIONSProcedure 10–28 Setting Up Auto Normal1Press MENUS.2Select SETUP.3Press F1, [TYPE].4Select Auto Normal. You will see a screen similar to the following. SETUP Shapes JOINT 10 % 1/91Sensor input: ...

  • Page 851

    MARO2HT4405801E10–17510. ADVANCED FUNCTIONSThe Auto Normal utility uses a teach pendant macro to call a KARELroutine to execute the search. Use Procedure 10–29 to execute the AutoNormal utility.The teach pendant macro is named AUTO NORMAL. the AUTONORMAL macro executes the teach pendant p...

  • Page 852

    MARO2HT4405801E10–17610. ADVANCED FUNCTIONSThe TCP Speed Prediction option provides the predicted value of the TCPspeed continuously as the robot is moving. Some robot applicationsrequire knowing the Tool Center Point (TCP) speed of the robot ahead oftime. This is especially useful for appli...

  • Page 853

    MARO2HT4405801E10–17710. ADVANCED FUNCTIONSThis section contains an overview of the TCP Speed Prediction option inthe following areas:D Software setupD ExecutionD LimitationsYou must set several TCP Speed Prediction system variables properly inorder to use TCP Speed Prediction. In particular,...

  • Page 854

    MARO2HT4405801E10–17810. ADVANCED FUNCTIONSD TCP Speed Prediction has no knowledge of WAIT or other systemdelay instructions that might interrupt robot motion. Therefore, TCPSpeed Prediction will continue to predict the speed based uponsubsequent motion commands in these cases. However, TCP ...

  • Page 855

    MARO2HT4405801E10–17910. ADVANCED FUNCTIONSThree system variable structures are generated when loading the TCPSpeed Prediction option. These structures control the state andconfiguration of this option, and provide the speed and other output valuesfor user program access. These variables are...

  • Page 856

    MARO2HT4405801E10–18010. ADVANCED FUNCTIONS$TCPPSPEED STRUCTUREName:TCP Speed Prediction Speed Output System Variable StructureDescription: These are the output system variables that involve the predicted =speed of the robot Tool Center Point(TCP). These variables are updated by the TCPP tas...

  • Page 857

    MARO2HT4405801E10–18110. ADVANCED FUNCTIONS$TCPPSPEED.$speedMinimum:.0.0Default:0.0Maximum:2000.0KCL/Data:RO Program: RO GET/SET_VAR: RO Data Type:REALName:TCP Speed Prediction Speed (Absolute Velocity Magnitude) (millimeters / second)Description: This is the predicted speed of the robot TCP c...

  • Page 858

    MARO2HT4405801E10–18210. ADVANCED FUNCTIONS$TCPPSPEED.$vspeedMinimum:-2000.0Default:0.0Maximum:2000.0KCL/Data:RO Program: RO GET/SET_VAR: RO Data Type:VECTOR of REALName:TCP Speed Prediction Velocity Vector (millimeters / second)Description: This system variable is the predicted speed of the T...

  • Page 859

    MARO2HT4405801E10–18310. ADVANCED FUNCTIONS$TCPP_CFG STRUCTUREName:TCP Speed Prediction Configuration System Variable StructureDescription: This set of variables controls the mode of operation of TCP Speed Prediction. The individual fields withinthis structure are defined below.User Interface...

  • Page 860

    MARO2HT4405801E10–18410. ADVANCED FUNCTIONSThe Program ToolBox option consists of the following features. If youhave installed the Program ToolBox option software, you can enable anduse any of the following Program ToolBox options:D Cross car mirrorD UTOOL adjustD Flip knuckleD Limit setThis ...

  • Page 861

    MARO2HT4405801E10–18510. ADVANCED FUNCTIONSThe cross car mirror function allows you to mirror a taught path across acar body, without having to choose a mirror plane or define referencepoints. Use the cross car mirror function to create a duplicate program forrobots that perform the same func...

  • Page 862

    MARO2HT4405801E10–18610. ADVANCED FUNCTIONSFigure 10–97. New UTOOL and UFRAME Values Displayed in MirroredDestination Program1.!********************************2.!MIRRORED UTOOL [1]3.!X =4.!Y =5.!Z =6.!W =7.!P =8.!R =9.!********************************10. !********************************11...

  • Page 863

    MARO2HT4405801E10–18710. ADVANCED FUNCTIONSProcedure 10–30 Performing the Cross Car Mirror Function1Press MENUS.2Select UTILITIES.3Press F1, [TYPE].4Select Prog ToolBox. You will see a screen similar to the following.1Cross Car Mirror2Utool Adjust3Flip Knuckle4Limit Set[ TYPE ] ...

  • Page 864

    MARO2HT4405801E10–18810. ADVANCED FUNCTIONS9If an error occurs during the mirroring process, display the fileFR:MIRROR.DT for detailed error information:aPress MENUS.bSelect FILE.cPress F1, [TYPE].dSelect File.ePress F5, [UTIL].fSelect Set Device.gMove the cursor to FROM Disk (FR:) and press E...

  • Page 865

    MARO2HT4405801E10–18910. ADVANCED FUNCTIONSThe UTOOL adjust function allows you to correct for an invalid ormissing UTOOL definition, without changing the physical positions towhich the robot moves in existing programs and position registers. TheUTOOL adjust function is most frequently used t...

  • Page 866

    MARO2HT4405801E10–19010. ADVANCED FUNCTIONSTable 10–28. (Cont’d) UTOOL Adjust Setup ItemsITEMDESCRIPTIONAdjustment TypeAdjustment Type allows you to specify whether to adjust all programs on the controller, oronly one.DALL – Adjust all programs on the controllerDONE – Adjust only one...

  • Page 867

    MARO2HT4405801E10–19110. ADVANCED FUNCTIONS5Move the cursor to Utool Adjust and press ENTER. You will see ascreen similar to the following.1Source Utool:12Pos Reg Adjustment:HOME3Adjustment type:ALL4Program to Adjust:********[ TYPE ] METHOD HELPProg ToolBox ...

  • Page 868

    MARO2HT4405801E10–19210. ADVANCED FUNCTIONSD For Direct Entry, see the following screen for an example. Utool Adjust Correct Utool 1X:0.000 2Y:0.000 3Z:0.000 4W:0.000 5P:0.000 6R:0.000 0% of programs done[ TYPE ] EXECUTE HELPProg ToolBox JOINT 50 % 1/6...

  • Page 869

    MARO2HT4405801E10–19310. ADVANCED FUNCTIONS(4)Select File.(5)Press F5, [UTIL].(6)Select Set Device.(7)Move the cursor to FROM Disk (FR:) and press ENTER.(8)Press F2, [DIR].(9)Select *.* and press ENTER.(10)Move your cursor to UTADJUST.DT.(11)Press NEXT, >, and press F3, DISPLAY. The file w...

  • Page 870

    MARO2HT4405801E10–19410. ADVANCED FUNCTIONSThe flip knuckle function allows you to rotate the knuckle configuration(wrist) in a teach pendant program. You can use the flip knuckle functionto rotate the wider side of the robot’s wrist 180 degrees, in order to preventthe hoses and cables from...

  • Page 871

    MARO2HT4405801E10–19510. ADVANCED FUNCTIONSTable 10–29. Flip Knuckle Setup ItemsITEMDESCRIPTIONSource ProgramSource program is the name of the program on which you want to perform the flip knucklefunction.Destination ProgramDestination program is the name of the program that will contain...

  • Page 872

    MARO2HT4405801E10–19610. ADVANCED FUNCTIONS7Move the cursor to Destination Program and press ENTER. Type thename of the program you want the resulting flipped program to haveand press ENTER.8Move the cursor to Flip Type, press F4, [CHOICE], and select the fliptype you want to use. Refer to T...

  • Page 873

    MARO2HT4405801E10–19710. ADVANCED FUNCTIONSThe limit set function allows you to determine the software limits for arobot automatically, and to determine the axis 1 hard stop locations. If youwant to set the axis limits without the limit set function, you must run allprograms step-by-step, rec...

  • Page 874

    MARO2HT4405801E10–19810. ADVANCED FUNCTIONSProcedure 10–33 Using the Limit Set Function to Set Software Axis Limits1Press MENUS.2Select UTILITIES.3Press F1, [TYPE].4Select Prog ToolBox. You will see a screen similar to the following.1Cross Car Mirror2Utool Adjust3Flip Knuckle4Limit Set[ TYP...

  • Page 875

    MARO2HT4405801E10–19910. ADVANCED FUNCTIONS8To set the axis limits, press F3, EXECUTE.When the limits have been set, you will see a screen similar to thefollowing.New LimitsAxis LOWER UPPERJ1-5678dgJ2-2330dgJ3-2225dgJ4-190200dgJ5-1090dgJ6-100280dgMin Hole # for Axis 1 Hardstop:...

  • Page 876

    MARO2HT4405801E10–20010. ADVANCED FUNCTIONSFigure 10–99. Top view of Robot Base for Locating Axis 1 Hard Stop Location0–1–2–3–4–5–6–7–8–9–10–11±121234567810911Note: Hole numbers are in bold face type.NOTE The reported hole number refers to the location for the cente...

  • Page 877

    MARO2HT4405801E10–20110. ADVANCED FUNCTIONSNOTE The following operation is not supported on some robot models.9To reset the axis limits to their factory settings, press F2,DEFAULT.NOTE You must always cold start the controller in order for software axislimit changes to take effect.10When you...

  • Page 878

  • Page 879

    Page 10-211 FANUC SENSORINTERFACE

  • Page 880

    11 FANUC SENSOR INTERFACEMARO2HT4405801E11–1Topics In This ChapterPageCommunication ProtocolThe FANUC Sensor Interface has a proprietary software flow control mechanism and uses its own data format. 11–2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . DFlow Control Mechanism11–...

  • Page 881

    MARO2HT4405801E11–211. FANUC SENSOR INTERFACEThe FANUC Sensor Interface has a proprietary software flow controlmechanism and uses its own data format. This communication protocol issimilar to Xmodem protocol, but uses a very simple control sequence. Ithas a fixed data format and is equipped ...

  • Page 882

    MARO2HT4405801E11–311. FANUC SENSOR INTERFACEThe receiving end uses the TCC to interpret the corresponding data in thepacket.The Count is the number of bytes that follows in the Data section. (BCCis not included.)The Data section represents the data to be exchanged. The Data sectionallows mu...

  • Page 883

    MARO2HT4405801E11–411. FANUC SENSOR INTERFACEThere are five handshaking sequences for each packet:D Send the contents of a register to the sensor.D Receive a register number and its data.D Receive data for a position register.D Receive three point data.D Receive the transformation matrix.Figur...

  • Page 884

    MARO2HT4405801E11–511. FANUC SENSOR INTERFACEFigure 11–4. Handshaking When Position Register Data is ReceivedENQSEND POS REGEOTACKACKROBOTSENSOR0x050x060x36 0x0C DATA BCC0x060x84Figure 11–5. Handshaking When Three Point Data is ReceivedENQSEND 3 POINTSEOTACKACKROBOTSENSOR0x050x060x3A 0XC...

  • Page 885

    MARO2HT4405801E11–611. FANUC SENSOR INTERFACEThere are four program instructions associated with the FANUC sensorinterface:D SEND R[*]D RCV R[*], LBL[*]D RCV R[*] LBL[x] TIMEOUT, LBL[y]D CALMATRIXSEND R[*] sends out a packet with TCC = 0X5A. RCV R[*], LBL[*]waits for input until the register ...

  • Page 886

    MARO2HT4405801E11–711. FANUC SENSOR INTERFACETo use an external sensor device with the R-J2 controller, you must:D Set up the RS-232 port.D Connect the RS-232 port to an external sensor.You set up the port using the Port Init screen in the SETUP menu. SeeSection 9.1.1. The external sensor de...

  • Page 887

  • Page 888

    Page 11-212 AUTOMATIC TOOLCENTER POINT

  • Page 889

    12 AUTOMATIC TOOL CENTER POINTMARO2HT4405801E12–1Topics In This ChapterPageOverviewAuto TCP allows you to re-teach the the Tool Center Point quickly and consistently after a tool has been replaced.12–2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Hardware Requirementsand Install...

  • Page 890

    MARO2HT4405801E12–212. AUTOMATIC TOOL CENTER POINTThe Automatic Tool Center Point (Auto TCP) feature allows you to definea Tool Center Point (TCP) quickly and accurately. Because two differentoperators might use different methods to define a TCP, final TCP valuesmight differ by as much as 20 ...

  • Page 891

    MARO2HT4405801E12–312. AUTOMATIC TOOL CENTER POINTAuto TCP requires a string sensor that must be mounted in the workcell,and a TCP attachment device. See Figure 12–1. The string sensor, whichconsists of a thin metal cable that is connected to a spool inside a case, hastwo I/O signal cables...

  • Page 892

    MARO2HT4405801E12–412. AUTOMATIC TOOL CENTER POINTProcedure 12–2 Replacing the Auto TCP String Sensor StringFigure 12–2. Auto TCP String SensorStringString OrificeThreaded AdapterReelWind reel in this directionClampingScrew1Remove the screws that secure the lid to the Auto TCP sensor.2Rem...

  • Page 893

    MARO2HT4405801E12–512. AUTOMATIC TOOL CENTER POINTYou must connect the two I/O signal cables to either DIN ports or RDIports on the controller, and configure the selected ports to recognize thisconnection. Figure 12–3 shows the I/O cables and connectors. UseProcedure 12–3 to install the ...

  • Page 894

    MARO2HT4405801E12–612. AUTOMATIC TOOL CENTER POINTProcedure 12–4 Configuring the I/O PortsH You have installed the String Sensor and TCP Attachment Device.Refer to Procedure 12–1 .H You have installed the String Sensor I/O cables. Refer toProcedure 12–3 .NOTE The following steps descri...

  • Page 895

    MARO2HT4405801E12–712. AUTOMATIC TOOL CENTER POINTTable 12–1 lists and describes the items you must set in sensor setup. UseProcedure 12–5 to set up the sensor.Table 12–1. Sensor Setup ScreenITEMDESCRIPTIONData Port 1Default: 1Min: 1Max: 999Units: IntegerThis item specifies the num...

  • Page 896

    MARO2HT4405801E12–812. AUTOMATIC TOOL CENTER POINTTable 12–1. (Cont’d) Sensor Setup ScreenITEMDESCRIPTIONTCP Error ThresholdDefault: 10 mmMin: 0 mmMax: 10 mmUnits: MillimetersThis item allows you to specify a value that will be used to compare the old TCP to the newTCP. If the differen...

  • Page 897

    MARO2HT4405801E12–912. AUTOMATIC TOOL CENTER POINT5Move the cursor to Sensor Setup and press F4, [DETAIL] or ENTER.You will see a screen similar to the following. Data Port 1: RDI[ 1] Data Port 2: RDI[ 2] Motion Setup COMPLETE Auto Radius: 200.000 TCP...

  • Page 898

    MARO2HT4405801E12–1012. AUTOMATIC TOOL CENTER POINTAfter you have connected and configured the I/O signal cables, you shouldtest the data ports to ensure they are functioning properly. UseProcedure 12–6 to test the Data Ports.Procedure 12–6 Testing Data PortsH The String Sensor is connect...

  • Page 899

    MARO2HT4405801E12–1112. AUTOMATIC TOOL CENTER POINTYou should perform TCP Orientation setup before Auto Setup. Theorientation setup computes the TCP’s orientation, or W, P, and R values.If the TCP orientation is not a critical factor in the work being performedby the robot, you do not have ...

  • Page 900

    MARO2HT4405801E12–1212. AUTOMATIC TOOL CENTER POINT5Move the cursor to Orientation Setup and press F4, DETAIL, orENTER. You will see a screen similar to the following.Auto TCP Orientation Menu JOINT 10% UPDATE [CHOICE] HELP 4/5 Current ...

  • Page 901

    MARO2HT4405801E12–1312. AUTOMATIC TOOL CENTER POINTThe Auto Setup menu allows you to specify up to 24 points for Auto TCPto use in calculating the TCP. A point set is a set of four positions, wherethe second, third, and fourth positions are derived from the first positionby their orientation a...

  • Page 902

    MARO2HT4405801E12–1412. AUTOMATIC TOOL CENTER POINTYou must define the start and pull positions for Auto TCP to use in thecalculation of a TCP. The start position is the point from which you wantthe robot to start pulling the string. The pull position is the point whereyou want the robot to ...

  • Page 903

    MARO2HT4405801E12–1512. AUTOMATIC TOOL CENTER POINTTable 12–3. Auto Setup and Record Data Menu Items.ITEMDESCRIPTIONAuto Setup MenuTotal Point Sets (3–6)Default: 6Min: 3Max: 6Units: IntegerThis item allows you to specify how many point sets Auto TCP will use to calculate the TCP.More p...

  • Page 904

    MARO2HT4405801E12–1612. AUTOMATIC TOOL CENTER POINTTable 12–3. (Cont’d) Auto Setup and Record Data Menu Items.ITEMDESCRIPTIONStart PositionDefault: UninitializedMin: N/AMax: N/AUnits: N/AThis item specifies the location where the robot begins pulling the Sensor string from during thecal...

  • Page 905

    MARO2HT4405801E12–1712. AUTOMATIC TOOL CENTER POINT5Move the cursor to Auto Setup and press ENTER. You will see ascreen similar to the following.Auto SETUP MENU JOINT 10% 1/7 Total Point Sets (3–6): 4 Tool Clearance: NORMAL ...

  • Page 906

    MARO2HT4405801E12–1812. AUTOMATIC TOOL CENTER POINT10Press F2, [UPDATE], to generate all the positions automatically. Ifthis step is not done before running Auto TCP, execution of the AutoTCP program will fail.11Define the Teach Pendant Program names:aMove the cursor to Pre-AutoTCP.bPress F4,...

  • Page 907

    MARO2HT4405801E12–1912. AUTOMATIC TOOL CENTER POINTNOTE You can also automatically generate positions if the Tool Rotation,Number of Positions, Start Position, and Position 1 have all been set inPosition set 1.15Move the cursor to Position Set and press ENTER, or F4, DETAIL toset Position Set...

  • Page 908

    MARO2HT4405801E12–2012. AUTOMATIC TOOL CENTER POINTAfter you have installed Auto TCP hardware and sensors, and performedall necessary configuration and setup procedures, you can use Auto TCP tocalculate a new UTOOL TCP automatically.There are two ways to run Auto TCP programs:D AUTO key execut...

  • Page 909

    MARO2HT4405801E12–2112. AUTOMATIC TOOL CENTER POINTProcedure 12–9 Automatically Calculating a New UTOOL TCP1Press MENUS.2Select UTILITIES.3Press F1, [TYPE].4Select Auto TCP. You will see a screen similar to the following.Auto TCP Main Menu JOINT 10%[TYPE] AUTO EXEC UPDATE ...

  • Page 910

    MARO2HT4405801E12–2212. AUTOMATIC TOOL CENTER POINT6To calculate a TCP using the AUTO function key,aPress F2, AUTO.The UTOOL will be calculated. When the UTOOL has beensuccessfully computed, the message “Utool successfullycomputed” will be displayed, along with any errors that mighthave o...

  • Page 911

    IndexA ERROR CODESAND RECOVERY

  • Page 912

    A ERROR CODES AND RECOVERYA–1MARO2HT4405801ETopics In This AppendixPageOverviewThis section contains information on the ALARMS screen and the items thatmake up an error codeA–3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . DFacility Name and Co...

  • Page 913

    A–2A. ERROR CODES AND RECOVERY MARO2HT4405801ETable A–1. Start MethodsStartMethodDescriptionProcedureCold start(STARTCOLD)Initializes changes to system variablesInitializes changes to I/O setupDisplays the UTILITIES Hints screenRecovers the C-WORK temporary memory areaOn the teach pendan...

  • Page 914

    MARO2HT4405801EA–3A. ERROR CODES AND RECOVERY An error message consists of:D The facility name and error code numberD The severity of the errorD The message text of the errorThe error message will be displayed as follows:FACILITY_NAME – ERROR_CODE_NUMBER Error message textThe Alarm Log scree...

  • Page 915

    A–4A. ERROR CODES AND RECOVERY MARO2HT4405801E3To disable the automatic display of a specific error code, modify the$ER_NOAUTO.$noalm_num and $ER_NOAUTO.$er_code systemvariables. These errors will still be logged in the Active Alarm screen,but they will no longer force the screen to immediate...

  • Page 916

    MARO2HT4405801EA–5A. ERROR CODES AND RECOVERY 8To display the motion log, which lists only motion-related errors,press F1, [TYPE], and select Motion Log.9To display the system log, which displays only system errors, pressF1, [TYPE], and select System Log.10 To display the application log, whic...

  • Page 917

    A–6A. ERROR CODES AND RECOVERY MARO2HT4405801EThe facility name and code identify the type of error that occurred.Facility information is displayed at the beginning of the error code. Forexample:PROG–048 Shift released while runningIn the above example, the facility name PROG corresponds to...

  • Page 918

    MARO2HT4405801EA–7A. ERROR CODES AND RECOVERY The severity of the error indicates how serious the error is.NOTE You can displayed the severity of the error code on the ALARMscreen. Refer to Procedure A–2 .The $ER_SEV_NOAUTO[1–5] system variable enables or disables theautomatic display of...

  • Page 919

    A–8A. ERROR CODES AND RECOVERY MARO2HT4405801ESERVO errors shut off the drive power to the servo system and pauseprogram execution. SERVO errors cause the operator panel FAULT lightto go on and the teach pendant FAULT LED to go on.SERVO errors are usually caused by hardware problems and could...

  • Page 920

    MARO2HT4405801EA–9A. ERROR CODES AND RECOVERY The message text describes the error that has occurred. Message text isdisplayed at the end of the error code. For example:PROG–048 Shift released while runningSome error messages might contain cause codes, percent (%) notation, orhexadecimal n...

  • Page 921

    A–10A. ERROR CODES AND RECOVERY MARO2HT4405801ETo determine which axes are in error, you must evaluate each digit in theerror message separately. Refer to Figure A–1.NOTE If only one number appears in the error message after the “A:”,you must read it as the first digit.Figure A–1. H...

  • Page 922

    MARO2HT4405801EA–11A. ERROR CODES AND RECOVERY This section contains procedures for recovery from certain errors. Theseerrors are:D Overtravel releaseD Hand breakage recoveryD Pulse coder alarmAn overtravel error occurs when one or more of the robot axes movesbeyond the software motion limits...

  • Page 923

    MARO2HT4405801EA–12A. ERROR CODES AND RECOVERY5Move the cursor to the OT PLUS or OT MINUS value of the axis inovertravel.6Press F2, RELEASE. The value of the overtraveled axis shouldchange back to FALSE.7If the robot is calibrated, you will see the message “Can’t ReleaseOT. Press HELP fo...

  • Page 924

    MARO2HT4405801EA–13A. ERROR CODES AND RECOVERY A hand breakage error occurs when the hand breakage detection switch istripped on robots equipped with hand breakage hardware. The switch istripped when the robot tool strikes an obstacle, which could possible causethe tool to break. The systemD...

  • Page 925

    MARO2HT4405801EA–14A. ERROR CODES AND RECOVERYIf the pulse counts at power up do not match the pulse counts at powerdown, a pulse mismatch error occurs for each motion group and each axis.Use Procedure A–5 to reset a pulse coder alarm.Procedure A–5 Using the Mastering Routine1Press SYSTEM...

  • Page 926

    MARO2HT4405801EA–15A. ERROR CODES AND RECOVERY 4Press F3, RES_PCA. You will see a screen similar to the following.SYSTEM Master/Cal JOINT 10%[ TYPE ]YESNO1 FIXTURE POSITION MASTER2 ZERO POSITION MASTER3 QUICK MASTER4 SINGLE AXIS MASTER5 SET QUICK MASTER REF6 CALIBRATE Press ...

  • Page 927

    MARO2HT4405801EA–16A. ERROR CODES AND RECOVERYError codes in this section are listed alphabetically. Percent signs (%)followed by a letter or letters indicate that a program name, file name, orvariable name actually appears in the error message when the error occurs.For example, the error mes...

  • Page 928

    MARO2HT4405801EA–17A. ERROR CODES AND RECOVERY(ID = 38)APSH–000 WARN Unknown error (APSH0)Cause:An internal error has occurred.Remedy:Cold start the controllerAPSH–001 PAUSE %sAPSH–002 WARN REMOTE switch must be on LOCALCause:The REMOTE keyswitch is incorrectly set for the the source of ...

  • Page 929

    MARO2HT4405801EA–18A. ERROR CODES AND RECOVERYAPSH–018 WARN Must complete fault recoveryCause:The shell detected a run request but there is still fault recovery which has not been completed.Remedy:Complete the fault recovery as directed under the Recovery menu (under ALARMS).APSH–019 WAR...

  • Page 930

    MARO2HT4405801EA–19A. ERROR CODES AND RECOVERYCD Error Codes (ID = 82)CD–001 WARN No global variablesCause:Coordinated Motion global variables are not loaded.Remedy:Perform a controlled start and initialize motion softparts.CD–002 WARN Unable to allocate memoryCause:A failure occurred w...

  • Page 931

    MARO2HT4405801EA–20A. ERROR CODES AND RECOVERYCD–012 STOP Illegal leader motionCause:Leader single group motion after coordinated motion not allowed.Remedy:Issue non-coordinated motion involving the follower group.CD–013 WARN Jog group is not a leaderCause:Attempt to perform coordinated jo...

  • Page 932

    MARO2HT4405801EA–21A. ERROR CODES AND RECOVERY(ID = 55)CMCC–000 WARN unknown error (CM00)Cause:This is an internal system error.Remedy:Perform a cold start on the controller.CMCC–001 WARN CMC global variable failureCause:IntelliTrak system variables are not loaded.Remedy:Perform a controll...

  • Page 933

    MARO2HT4405801EA–22A. ERROR CODES AND RECOVERY(ID = 42)CMND–001 WARN Directory not foundCause:The specified directory can not be found.Remedy:Check the device and path that you entered. If none entered, check the system default device from theFILE Menu or from the KCL command, CHDIR.CMND...

  • Page 934

    MARO2HT4405801EA–23A. ERROR CODES AND RECOVERYCMND–021 WARN Cannot rename fileCause:The destination file name contained both alphanumeric characters and the global character ’*’.Remedy:Use only alphanumeric characters or a single global character when renaming a file.

  • Page 935

    MARO2HT4405801EA–24A. ERROR CODES AND RECOVERYCNTR Error CodesCNTR–001 WARN No global variablesCause:Continuous Turn global variables are not loaded.Remedy:Perform a controlled start and initialize motion softparts.CNTR–002 WARN No MIR pointerCause:This is an internal system error.Remedy...

  • Page 936

    MARO2HT4405801EA–25A. ERROR CODES AND RECOVERY(ID = 4)COND–001 WARN Condition does not existCause:Specified condition does not existRemedy:Check for condition statements to verify if the specified condition has really been created or not.COND–002 WARN Condition handler supersededCause:The ...

  • Page 937

    MARO2HT4405801EA–26A. ERROR CODES AND RECOVERY(ID = 33)DICT–001 WARN Dictionary already loadedCause:A dictionary cannot be reloaded if it was loaded into FROM.Remedy:Load into a different language and use KCL SET LANG to set the language.DICT–002 WARN Not enough memory to load dictCause:Th...

  • Page 938

    MARO2HT4405801EA–27A. ERROR CODES AND RECOVERYDICT–017 WARN Expecting element name or numCause:A reference to another element is expected.Remedy:Use the element number to reference the element.DICT–018 WARN Invalid cursor positionCause:The cursor position is specified incorrectly or the va...

  • Page 939

    MARO2HT4405801EA–28A. ERROR CODES AND RECOVERYDICT–045 WARN .LIT or .END mismatchCause:The dictionary text was specified incorrectly.Remedy:Verify that each .LIT is matched with a .END.DICT–046 WARN Command already encounteredCause:The dictionary text was specified incorrectly.Remedy:Remov...

  • Page 940

    MARO2HT4405801EA–29A. ERROR CODES AND RECOVERYDNET (DeviceNet) Error CodesDNET–001 STOP No system device fileCause:The system device definition file is missing from the system.Remedy:INIT start and reload the DeviceNet Interface option. If the error still exists, document the events that led...

  • Page 941

    MARO2HT4405801EA–30A. ERROR CODES AND RECOVERYDNET–020 STOP Code file read failedCause:The code file required to initialize the board cannot be read.Remedy:Cold start the system. If the problem persists, INIT start and reload the DeviceNet Interface option.DNET–021 STOP Code file checksum...

  • Page 942

    MARO2HT4405801EA–31A. ERROR CODES AND RECOVERYDNET–035 STOP Bad format or out of rangeCause:An integer value in the device definition files is incorrect.Remedy:The DeviceNet option software is corrupted. Re-install the DeviceNet Interface option. If the problempersists, contact FANUC Robot...

  • Page 943

    MARO2HT4405801EA–32A. ERROR CODES AND RECOVERYDNET–053 STOP Line above DEVICE line ignoredCause:An extraneous line was found in a device definition file.Remedy:Check the Standard Device Definition List to see if device types have been properly loaded. If not, contactFANUC Robotics to obtain...

  • Page 944

    MARO2HT4405801EA–33A. ERROR CODES AND RECOVERYDNET–065 STOP Incorrect vendor IdCause:The vendor Id for the device, as specified in the device definition, is incorrect.Remedy:Delete the device from the Device List. Check the device documentation for the correct vendor Id. Makecorrections in t...

  • Page 945

    MARO2HT4405801EA–34A. ERROR CODES AND RECOVERYDNET–087 STOP Bd offline cmd failed: Bd %dCause:The board is not acknowledging the command to take it off–line.Remedy:Check DeviceNet connection to the board, as well as DeviceNet power to the network. If the board isalready in the ERROR state...

  • Page 946

    MARO2HT4405801EA–35A. ERROR CODES AND RECOVERYDNET–104 STOP Duplicate MAC Id errorCause:The specified device has the same MAC Id as another device on the network.Remedy:Check that no other devices have the same MAC Id, particularly those connected to a different master on thesame network. Ch...

  • Page 947

    MARO2HT4405801EA–36A. ERROR CODES AND RECOVERYELOG Error Codes (ID = 5)ELOG–009 WARN call a service manCause:A system error has occurred.Remedy:Perform a cold start: 1.Turn off the robot. 2.On the teach pendant, press and hold the SHIFT and RESET keys. 3. While still pressing the SH...

  • Page 948

    MARO2HT4405801EA–37A. ERROR CODES AND RECOVERYFILE Error Codes (ID = 2)FILE–001 WARN Device not readyCause:Specified file device is not ready.Remedy:Check if the device is mounted and ready to use. Check if the device name is correct.FILE–002 WARN Device is FullCause:Device is full. Th...

  • Page 949

    MARO2HT4405801EA–38A. ERROR CODES AND RECOVERYFILE–020 WARN Illegal file sizeCause:File size is invalid.Remedy:Change file size to be correct.FILE–021 WARN End of fileCause:End of file was detected.Remedy:This is a notification. You do not have to do anything for this warning message.FILE...

  • Page 950

    MARO2HT4405801EA–39A. ERROR CODES AND RECOVERYFILE–037 WARN Directory not emptyCause:You tried to remove a subdirectory which contains some files or directories.Remedy:Remove all files and directories in the subdirectory before removing subdirectory.FILE–038 WARN File locked by too many t...

  • Page 951

    MARO2HT4405801EA–40A. ERROR CODES AND RECOVERYFLPY Error Codes (ID = 10)FLPY–001 WARN End of directory reachedCause:Your listing has reached the end of the directory. You do not have to do anything for this warning message.Remedy:This is a notification. You do not have to do anything fo...

  • Page 952

    MARO2HT4405801EA–41A. ERROR CODES AND RECOVERYFRSY Error Codes (ID = 85)FRSY–001 WARN FROM disk is fullCause:The FROM disk does not have enough available memory to perform the specified command.Remedy:Delete all unnecessary files and then purge the device. If the device is still full, th...

  • Page 953

    MARO2HT4405801EA–42A. ERROR CODES AND RECOVERYFRSY–016 WARN Invalid file typeCause:The file type contains an invalid character.Remedy:Verify the file type is correct.FRSY–017 WARN File not open File not openCause:The file is not open.Remedy:Open the file before accessing.FRSY–018 WARN Fi...

  • Page 954

    MARO2HT4405801EA–43A. ERROR CODES AND RECOVERYHOST Error Codes (ID = 67)HOST–001 WARN End of directory reachedCause:Your listing has reached the end of the directory. You do not have to do anything for this warning message.Remedy:This is a notification.HOST–002 WARN File already exists...

  • Page 955

    MARO2HT4405801EA–44A. ERROR CODES AND RECOVERYHOST–110 WARN Node not foundCause:The Remote Node Name needs to be set.Remedy:Set Remote Node Name in the Host Comm TCP/IP Protocol Setup Menu.HOST–111 WARN Cycle power to use EthernetCause:ER–1 or ER–2 hardware is already running and can ...

  • Page 956

    MARO2HT4405801EA–45A. ERROR CODES AND RECOVERYHOST–141 WARN Mount/Dismount errorCause:The Host Comm Protocol could not be started on the selected Comm Tag.Remedy:Either use another Comm Tag or Stop and Undefine the selected Comm Tag.HOST–142 WARN Connection errorCause:The Host Comm Protoco...

  • Page 957

    MARO2HT4405801EA–46A. ERROR CODES AND RECOVERYHOST–156 WARN MAP: invalid Local Appl. NameCause:Local Name is name of robot node. Host Name ($HOST_NAME) must match the local Directory entry. It ismissing in Directory File (umap_2_d.tx).Remedy:Add Host Name as Local Name to Directory File or a...

  • Page 958

    MARO2HT4405801EA–47A. ERROR CODES AND RECOVERYHRTL Error Codes (ID = 66)HRTL–002 WARN File/Comm Tag does not existCause:Either the file or the Comm Tag could not be found.Remedy:Either retype the file name or DEFINE the Comm Tag.HRTL–003 WARN No such processCause:An error occurred in th...

  • Page 959

    MARO2HT4405801EA–48A. ERROR CODES AND RECOVERYHRTL–037 WARN Operation already in progressCause:An error occurred in the Ethernet networking software (TCP/IP).Remedy:Consult your network administrator. If the error is not cleared, document the events that led to the error andcall your FANUC ...

  • Page 960

    MARO2HT4405801EA–49A. ERROR CODES AND RECOVERYHRTL–054 WARN Connection reset by peerCause:An error occurred in the Ethernet networking software (TCP/IP).Remedy:Consult your network administrator. If the error is not cleared, document the events that led to the error andcall your FANUC Robot...

  • Page 961

    MARO2HT4405801EA–50A. ERROR CODES AND RECOVERY(ID = 12)INTP–001 PAUSE.G Cannot lock the motion grpCause:Motion control for the specified group cannot be locked.Remedy:Check the teach pendant enable switch and other running programs to determine who has motion control.INTP–002 ABORT.G Progr...

  • Page 962

    MARO2HT4405801EA–51A. ERROR CODES AND RECOVERYINTP–112 PAUSE.L Cannot call interrupt routineCause:When this error code is issued with ”MEMO–004 Specified program is in use”, the action program is editing,pausing or executing.Remedy:Please select the another program by select menu.Caus...

  • Page 963

    MARO2HT4405801EA–52A. ERROR CODES AND RECOVERYINTP–128 PAUSE.L Pos reg is lockedCause:Position register is locked.Remedy:Wait a moment and try accessing the position register again.INTP–129 ABORT.L Cannot use motion groupCause:Try to lock motion group even though this program cannot use mo...

  • Page 964

    MARO2HT4405801EA–53A. ERROR CODES AND RECOVERYINTP–213 PAUSE.L %s^7 (%s^4, %d^5) UALM[%d^9]Cause:A user alarm occurred.Remedy:Refer to the user alarm code.INTP–214 PAUSE.L (%s^4, %d^5) Specified group not lockedCause:The position register or frame setup instructions were executed in a prog...

  • Page 965

    MARO2HT4405801EA–54A. ERROR CODES AND RECOVERYINTP–230 PAUSE.L (%s^4, %d^5) Wait condition failedCause:A condition WAIT instruction cannot be executed.Remedy:Refer to the error cause code.INTP–231 PAUSE.L (%s^4, %d^5) Read next line failedCause:The next line cannot be read.Remedy:Refer to ...

  • Page 966

    MARO2HT4405801EA–55A. ERROR CODES AND RECOVERYINTP–247 PAUSE.L (%s^4, %d^5) Pre exec failedCause:Pre–planned execution of the program failed.INTP–248 PAUSE.L (%s^4, %d^5) MACRO failedCause:The MACRO instruction cannot be executed.Remedy:Refer to the error cause code.INTP–249 PAUSE.L Ma...

  • Page 967

    MARO2HT4405801EA–56A. ERROR CODES AND RECOVERYINTP–264 AGSVOF (%s^4, %d^5) Soft float time outINTP–265 PAUSE.L (%s^4, %d^5) Invalid value for speed valueCause:The indicated value cannot be used for the AF instruction.Remedy:Check the value.INTP–266 ABORT.L (%s^4, %d^5) Mnemonic in interr...

  • Page 968

    MARO2HT4405801EA–57A. ERROR CODES AND RECOVERYINTP–281 PAUSE (%s^4, %d^5) No application dataCause:This program doesn’t have the application data.Remedy:Please define the application data in the program detail screen.INTP–283 PAUSE (%s^4, %d^5) Stack over flow for fast fault recoveryCaus...

  • Page 969

    MARO2HT4405801EA–58A. ERROR CODES AND RECOVERYINTP–309 ABORT.L (%s^4, %d^5) Undefined WITHCH parameterCause:KAREL program error. The specified parameter cannot be used in the with clause of the condition handler.Remedy:Check the parameter.INTP–310 ABORT.L (%s^4, %d^5) Invalid subscript for...

  • Page 970

    MARO2HT4405801EA–59A. ERROR CODES AND RECOVERYINTP–326 ABORT.L (%s^4, %d^5) File var is already usedCause:KAREL program error. The FILE variable is already being used.Remedy:Close the file before reusing the FILE variable or add a new FILE variable.INTP–327 ABORT.L (%s^4, %d^5) Open file f...

  • Page 971

    MARO2HT4405801EA–60A. ERROR CODES AND RECOVERYINTP–343 ABORT.L (%s^4, %d^5) Reference stack overflowCause:KAREL program error. Too many variables are passed using the BYNAME function.Remedy:Decrease the number of BYNAME functions.INTP–344 ABORT.L (%s^4, %d^5) Readahead buffer overflowCause...

  • Page 972

    MARO2HT4405801EA–61A. ERROR CODES AND RECOVERYINTP–360 ABORT.L (%s^4, %d^5) Vector is 0Cause:KAREL program error. The vector value was invalid.Remedy:Check the vector value.INTP–361 PAUSE.L (%s^4, %d^5) FRAME:P2 is same as P1Cause:KAREL program error. The X–axis direction cannot be calcu...

  • Page 973

    MARO2HT4405801EA–62A. ERROR CODES AND RECOVERYINTP–376 ABORT.L (%s^4, %d^5) Motion in interrupt is failedCause:There isn’t CANCEL or STOP instruction.Remedy:insert CANCEL or STOP before call interrupt routine.INTP–377 WARN (%s^4, %d^5) Local COND recovery failedCause:This local condition...

  • Page 974

    MARO2HT4405801EA–63A. ERROR CODES AND RECOVERY(ID = 19)JOG–000 WARN Unknown error (MJ00)Cause:System internal errorRemedy:Notify FANUC Robotics.JOG–001 WARN Overtravel ViolationCause:A robot overtravel has occurredRemedy:Use the MANUAL FCTNS OT release menu in to find out which axis is in ...

  • Page 975

    MARO2HT4405801EA–64A. ERROR CODES AND RECOVERYJOG–013 WARN Stroke limit (G:%d A:%x Hex)Cause:Robot axis reaches its specified stroke limitJOG–014 WARN Vertical fixture positionCause:Robot reaches its vertical fixture positionJOG–015 WARN Horizontal fixture positionCause:Robot reaches its...

  • Page 976

    MARO2HT4405801EA–65A. ERROR CODES AND RECOVERY(ID = 21)LANG–004 WARN File is not openCause:(1) The wrong port is set to the port you want to use.(2) The device might be out of order.Remedy:(1) Set the correct port.(2) Check the device if it works fine.LANG–005 WARN Program type is differ...

  • Page 977

    MARO2HT4405801EA–66A. ERROR CODES AND RECOVERYLNTK Error Codes (ID = 44)LNTK–000 STOP Unknown error (LN00)Cause:System internal error.Remedy:Press RESET to clear the error and continue the program. If this error continues to occur, perform a coldstart by turning off the robot, then while...

  • Page 978

    MARO2HT4405801EA–67A. ERROR CODES AND RECOVERYLNTK–011 STOP Illegal boundary set numberCause:An illegal value was used within the specified tracking program instruction or within the program’s associatedschedule $LNSCH[i].$SEL_BOUND value (where ‘i’ is the FRAME number used within the ...

  • Page 979

    MARO2HT4405801EA–68A. ERROR CODES AND RECOVERYLNTK–023 STOP Bad tracking hardwareCause:Bad tracking sensor hardware interface.Remedy:Check all sensor hardware, cables, and connections.LNTK–024 STOP Illegal encoder averageCause:Illegal encoder average number.Remedy:Use a valid encoder avera...

  • Page 980

    MARO2HT4405801EA–69A. ERROR CODES AND RECOVERY(ID = 57)MACR–001 WARN Can’t assign to MACRO commandCause:There are bad conditions to assign the macro.Remedy:Is it Double definitions? Is the index over the range?MACR–003 WARN Can’t assign motn_prog to UKCause:It is impossible to assign t...

  • Page 981

    MARO2HT4405801EA–70A. ERROR CODES AND RECOVERY(ID = 6)MCTL–001 NONE TP is enabledCause:Teach pendant is enabled, and the motion control was not granted.Remedy:Disable the teach pendant, and try the operation again.MCTL–002 NONE TP is disabledCause:The teach pendant is disabled, and the...

  • Page 982

    MARO2HT4405801EA–71A. ERROR CODES AND RECOVERY(ID = 7)MEMO–002 WARN Specified program is in useCause:The specified program is editing or executing.Remedy:Abort the specified program. Or select it once more after select another program.MEMO–003 WARN Specified program is in useCause:The sp...

  • Page 983

    MARO2HT4405801EA–72A. ERROR CODES AND RECOVERYMEMO–038 WARN Too many programsCause:The number of the programs exceeded the maximum possible number.Remedy:Delete unnecessary program.MEMO–048 WARN Break point data doesn’t existCause:The specified break point data does not exist.Remedy:Spec...

  • Page 984

    MARO2HT4405801EA–73A. ERROR CODES AND RECOVERYMEMO–103 WARN Check sum error occurredCause:The specified data was broken. This is the internal error.Remedy:Please call FANUC service center.MEMO–104 WARN Program already existsCause:The specified program already exists in the system.Remedy:Sp...

  • Page 985

    MARO2HT4405801EA–74A. ERROR CODES AND RECOVERYMEMO–132 WARN %s has been brokenCause:The data of the program has been broken at the power fail recover.Remedy:Delete the program and create it again. Please call FANUC service center.MEMO–133 SYSTEM Please power up againCause:The data of the s...

  • Page 986

    MARO2HT4405801EA–75A. ERROR CODES AND RECOVERY(ID = 15)MOTN–000 WARN Unknown error (MO00)Cause:Internal system error.Remedy:Perform a cold start: 1.Turn off the robot. 2.On the teach pendant, press and hold the SHIFT and RESET keys. 3.While still pressing the SHIFT and RESET keys, turn...

  • Page 987

    MARO2HT4405801EA–76A. ERROR CODES AND RECOVERYMOTN–006 STOP Internal error in osrcvpktCause:Internal system error.Remedy:Perform a cold start: 1.Turn off the robot. 2.On the teach pendant, press and hold the SHIFT and RESET keys. 3.While still pressing the SHIFT and RESET keys, turn on...

  • Page 988

    MARO2HT4405801EA–77A. ERROR CODES AND RECOVERYMOTN–014 WARN unknown error (MO14)Cause:Internal system error.Remedy:Perform a cold start: 1.Turn off the robot. 2.On the teach pendant, press and hold the SHIFT and RESET keys. 3.While still pressing the SHIFT and RESET keys, turn on the r...

  • Page 989

    MARO2HT4405801EA–78A. ERROR CODES AND RECOVERYMOTN–025 WARN unknown error (MO25)Cause:Internal system error.Remedy:Perform a cold start: 1.Turn off the robot. 2.On the teach pendant, press and hold the SHIFT and RESET keys. 3.While still pressing the SHIFT and RESET keys, turn on the r...

  • Page 990

    MARO2HT4405801EA–79A. ERROR CODES AND RECOVERYMOTN–032 STOP Internal error in MMGR:PRSDCause:Internal system error.Remedy:Perform a cold start: 1.Turn off the robot. 2.On the teach pendant, press and hold the SHIFT and RESET keys. 3.While still pressing the SHIFT and RESET keys, turn o...

  • Page 991

    MARO2HT4405801EA–80A. ERROR CODES AND RECOVERYMOTN–039 STOP Internal error in MMGR:FCANCause:Internal system error.Remedy:Perform a cold start: 1.Turn off the robot. 2.On the teach pendant, press and hold the SHIFT and RESET keys. 3.While still pressing the SHIFT and RESET keys, turn o...

  • Page 992

    MARO2HT4405801EA–81A. ERROR CODES AND RECOVERYMOTN–046 STOP Internal error in MMGR:LSTPCause:Internal system error.Remedy:Perform a cold start: 1.Turn off the robot. 2.On the teach pendant, press and hold the SHIFT and RESET keys. 3.While still pressing the SHIFT and RESET keys, turn o...

  • Page 993

    MARO2HT4405801EA–82A. ERROR CODES AND RECOVERYMOTN–056 WARN Speed limits used (G:%d^2)Cause:Speed limits used.Remedy:This is just a notification that the command translational speed is not attained (before acceleration) due torotational speed limits being applied. This message is also displ...

  • Page 994

    MARO2HT4405801EA–83A. ERROR CODES AND RECOVERYMOTN–064 STOP Rs orientation error (G:%d^2)Cause:RS orientation planning error.Remedy:Perform a cold start: 1.Turn off the robot. 2.On the teach pendant, press and hold the SHIFT and RESET keys. 3.While still pressing the SHIFT and RESET ke...

  • Page 995

    MARO2HT4405801EA–84A. ERROR CODES AND RECOVERYMOTN–072 STOP Error in segtermtype (G:%d^2)Cause:Internal error: planner received invalid segtermtype.Remedy:Perform a cold start: 1.Turn off the robot. 2.On the teach pendant, press and hold the SHIFT and RESET keys. 3.While still pressing...

  • Page 996

    MARO2HT4405801EA–85A. ERROR CODES AND RECOVERYMOTN–082 STOP Null mir pointer (G:%d^2)Cause:NULL MIR pointer.Remedy:Perform a cold start: 1.Turn off the robot. 2.On the teach pendant, press and hold the SHIFT and RESET keys. 3.While still pressing the SHIFT and RESET keys, turn on the r...

  • Page 997

    MARO2HT4405801EA–86A. ERROR CODES AND RECOVERYMOTN–090 STOP MIR mismatch (G:%d^2)Cause:Internal plan error:mir mismatch.Remedy:Perform a cold start: 1.Turn off the robot. 2.On the teach pendant, press and hold the SHIFT and RESET keys. 3.While still pressing the SHIFT and RESET keys, t...

  • Page 998

    MARO2HT4405801EA–87A. ERROR CODES AND RECOVERYMOTN–098 STOP Wrist singularity (G:%d^2)Cause:Not used.Remedy:Perform a cold start: 1.Turn off the robot. 2.On the teach pendant, press and hold the SHIFT and RESET keys. 3.While still pressing the SHIFT and RESET keys, turn on the robot. ...

  • Page 999

    MARO2HT4405801EA–88A. ERROR CODES AND RECOVERYMOTN–105 STOP Send TRG pkt fail (G:%d^2)Cause:Internal interpolator error: error in sending TRG packet.Remedy:Perform a cold start: 1.Turn off the robot. 2.On the teach pendant, press and hold the SHIFT and RESET keys. 3.While still pressin...

  • Page 1000

    MARO2HT4405801EA–89A. ERROR CODES AND RECOVERYMOTN–115 WARN Invalid brake mask (G:%d^2)Cause:Invalid brake mask.Remedy:Check brake mask.MOTN–116 WARN Invalid solution (G:%d^2)Cause:Invalid kinematics solution.Remedy:Reteach position.MOTN–117 WARN Robot not mastered (G:%d^2)Cause:Robot no...

  • Page 1001

    MARO2HT4405801EA–90A. ERROR CODES AND RECOVERYMOTN–126 STOP Can’t init CH KPT (G:%d^2)Cause:Internal system error.Remedy:Perform a cold start: 1.Turn off the robot. 2.On the teach pendant, press and hold the SHIFT and RESET keys. 3.While still pressing the SHIFT and RESET keys, turn ...

  • Page 1002

    MARO2HT4405801EA–91A. ERROR CODES AND RECOVERYMOTN–136 STOP Illegal filter switch line:%d^5Cause:Cartesian filter to Joint filter transition supports only JOINT motype.Remedy:Change motype to JOINT.MOTN–137 STOP No circular softpart (G:%d^2)Cause:The circular motion softpart is not loaded ...

  • Page 1003

    MARO2HT4405801EA–92A. ERROR CODES AND RECOVERYMOTN–302 WARN Corner speed slowdown L:%d^5Cause:Corner speed slows down automatically because of robot constraint.Remedy:If slow down is not acceptable, re-teach the path to provide a larger corner radius or increase the cornerdistance in the CD ...

  • Page 1004

    MARO2HT4405801EA–93A. ERROR CODES AND RECOVERYMOTN–316 STOP unknown error (MO316)Cause:Internal system error.Remedy:Perform a cold start: 1.Turn off the robot. 2.On the teach pendant, press and hold the SHIFT and RESET keys. 3.While still pressing the SHIFT and RESET keys, turn on the ...

  • Page 1005

    MARO2HT4405801EA–94A. ERROR CODES AND RECOVERY(ID = 26)PALT–000 NONE UNUSED ERROR CODE(PLER00)PALT–001 ABORT Inadequate register valueCause:Column/row/layer number is illegal.Remedy:Please confirm palletizing register.PALT–004 ABORT Increment value is illCause:Increment value of pa...

  • Page 1006

    MARO2HT4405801EA–95A. ERROR CODES AND RECOVERY(ID = 13)PRIO–001 WARN Illegal iotypeCause:Port type specified is invalidRemedy:Use one the port types defined in IOSETUP.KLPRIO–002 WARN Illegal indexCause:Port number is invalid or not presently assignedRemedy:Correct the port numberPRIO–00...

  • Page 1007

    MARO2HT4405801EA–96A. ERROR CODES AND RECOVERYPRIO–023 WARN no ports of this typeCause:There are no ports of the specified type.Remedy:Change the port type, mount process I/O hardware with the required type of ports, or define ports (e.g., GINor GOUT) ports of the specified typePRIO–033 WA...

  • Page 1008

    MARO2HT4405801EA–97A. ERROR CODES AND RECOVERY(ID = 3)PROG–000 WARN Unknown error (PG0)PROG–001 ABORT.L Invalid pointer is specifiedCause:This indicates an internal system error.Remedy:Contact the FANUC Robotics Hot LinePROG–002 ABORT.L Invalid task name is specifiedCause:The task name s...

  • Page 1009

    MARO2HT4405801EA–98A. ERROR CODES AND RECOVERYPROG–017 WARN Task is not runningCause:The specified task is not running.Remedy:Check the task name.PROG–018 ABORT.G Motion stack overflowedCause:Too many programs are paused.Remedy:Resume or abort some programs.PROG–019 WARN Ignore pause req...

  • Page 1010

    MARO2HT4405801EA–99A. ERROR CODES AND RECOVERYPROG–037 WARN No data in the trace arrayCause:There is no execution record in memory.Remedy:Turn on tracing using the KCL SET TRACE ON command.PROG–039 WARN locked, but not get mctlCause:Motion control for the specified group was reserved, but ...

  • Page 1011

    MARO2HT4405801EA–100A. ERROR CODES AND RECOVERYPWD Error Codes (ID = 31)PWD–001 NONE Login (%s) InstallCause:A user with Install level access logged in.Remedy:Status message only.PWD–002 NONE Logout (%s) InstallCause:A user with Install level access logged out.Remedy:Status message onl...

  • Page 1012

    MARO2HT4405801EA–101A. ERROR CODES AND RECOVERYPWD–017 NONE Set %s.TP ignore pause offCause:The ignore pause feature was disabled for the program.Remedy:Status message only.PWD–018 NONE Write line %d, %s.TPCause:A teach pendant program line was edited.Remedy:Status message only.PWD–019 N...

  • Page 1013

    MARO2HT4405801EA–102A. ERROR CODES AND RECOVERYQMGR Error Codes (ID = 61)QMGR–001 WARN Queue is fullCause:An attempt was made to add entry to a queue when the queue was full.Remedy:Use GET_QUEUE to remove entries or use a larger value for queue size in the INIT_QUEUE call.QMGR–002 WARN ...

  • Page 1014

    MARO2HT4405801EA–103A. ERROR CODES AND RECOVERY(ID = 17)ROUT–022 PAUSE.G Bad index in ORDCause:Incorrect number is specified for ORD builtin routine.Remedy:Specify a number less than the string lengthROUT–023 PAUSE.G Bad index in SUBSTRCause:Incorrect number is specified for SUBSTR builtin...

  • Page 1015

    MARO2HT4405801EA–104A. ERROR CODES AND RECOVERY(ID = 25)SCIO–016 WARN This option does not existSCIO–020 WARN LBL[%d] exists in line %d:Cause:This label number exists in another line.Remedy:Please select another label number.SCIO Error Codes

  • Page 1016

    MARO2HT4405801EA–105A. ERROR CODES AND RECOVERY(ID = 58)SENS–000 SYSTEM Unknown errorCause:System internal errorRemedy:Notify FANUC Robotics.SENS–001 STOP.G Hardware error occurredCause:During data reception, parity, overrun and framing errors occurred.Remedy:Check that the communication...

  • Page 1017

    MARO2HT4405801EA–106A. ERROR CODES AND RECOVERYSRVO Error Codes (ID = 11)SRVO–001 SERVO Operator panel E–stopCause:The operator panel emergency stop push button is pressed.Remedy:Twist the operator panel emergency stop push button clockwise to release. Press reset.SRVO–002 SERVO Teach...

  • Page 1018

    MARO2HT4405801EA–107A. ERROR CODES AND RECOVERYSRVO–010 SERVO Belt brokenCause:The belt broken robot digital input (RDI7) is asserted.Remedy:If using belt broken detection, clear source of fault, press reset. Robot inputs/outputs originate on the AxisControl PCB. Check system variable $PARAM...

  • Page 1019

    MARO2HT4405801EA–108A. ERROR CODES AND RECOVERYSRVO–023 SERVO Stop error excess(G:%d A:%d)Cause:When the robot is at rest servo error is too big, greater than acceptable stop error tolerance.Remedy:If the robot is loaded beyond specification, the torque necessary to decelerate a overloaded m...

  • Page 1020

    MARO2HT4405801EA–109A. ERROR CODES AND RECOVERYSRVO–036 SERVO Inpos time over (G:%d A:%d)Cause:Robot is not in position for the specified period of time.Remedy:Check if the robot is loaded beyond specification. The torque necessary to decelerate a overloaded motormay cause this alarm to occ...

  • Page 1021

    MARO2HT4405801EA–110A. ERROR CODES AND RECOVERYSRVO–045 SERVO HCAL alarm(Group:%d Axis:%d)Cause:The current in the main power circuit of the servo amplifier exceeded specification.Remedy:Disconnect the motor power wires from the servo amplifier and turn on power. If an HCAL occurs, replacet...

  • Page 1022

    MARO2HT4405801EA–111A. ERROR CODES AND RECOVERYSRVO–062 SERVO BZAL alarm(Group:%d Axis:%d)Cause:The battery voltage for the pulse coder is zero volts.Remedy:If this alarm occurs along with a SRVO–068 DTERR, SRVO–069 CRCERR, or SRVO–070 STBERR,disregard this alarm and refer to the other...

  • Page 1023

    MARO2HT4405801EA–112A. ERROR CODES AND RECOVERYSRVO–071 SERVO SPHAL alarm (Grp:%d Ax:%d)Cause:The feedback velocity exceeds specification.Remedy:If this alarm occurs with another pulse coder alarm, refer to the remedy of the other alarm first. If no otheralarms, the robot load may exceed th...

  • Page 1024

    MARO2HT4405801EA–113A. ERROR CODES AND RECOVERYSRVO–090 WARN DTERR alarm (Track enc:%d)Cause:The axis control PCB sent the request signal, but did not receive serial data from the line tracking pulsecoder.Remedy:Refer to SRVO–068 remedy.SRVO–091 WARN CRCERR alarm (Track enc:%d)Cause:The ...

  • Page 1025

    MARO2HT4405801EA–114A. ERROR CODES AND RECOVERYSRVO–122 SERVO Bad last ang(internal)(G:%d)Cause:Last angle update request does not match current angle.Remedy:Contact the FANUC Robotics hotline.SRVO–125 WARN Quick stop speed over (G:%d)Cause:Motion speed is too high to perform quick stop.Re...

  • Page 1026

    MARO2HT4405801EA–115A. ERROR CODES AND RECOVERYSRVO–152 SERVO IPMAL(INV) alarm (G:%d A:%d)Cause:IPM module has trouble.Remedy:IPM might be overheated. Reset the emergency stop after approximately ten minutes. Disconnect the powerlines from the terminals on the amplifier, and check the insul...

  • Page 1027

    MARO2HT4405801EA–116A. ERROR CODES AND RECOVERYSRVO–168 SYSTEM External/SVON (SVON abnormal) E–stopCause:Refer SRVO–007 or SRVO–019. Also miswiring on SVON2 or EMG2 is detected.Remedy:Power off. Correct the wiring on SVON2 or EMG2. Power on. Refer SRVO–007 or SRVO–019.SRVO–17...

  • Page 1028

    MARO2HT4405801EA–117A. ERROR CODES AND RECOVERY(ID = 69)SSPC–002 STOP.G Occur dead lock conditionCause:The priority of space is invalid.Remedy:Set the priority valid.SSPC–004 STOP.G CTV option not allowedCause:Space Check function is not compatible with Continuous Turn CTV option. The...

  • Page 1029

    MARO2HT4405801EA–118A. ERROR CODES AND RECOVERY(ID = 24)SYST–001 PAUSE HOLD button is being pressedCause:You attempted an operation while the hold button (input) is pressed.Remedy:Clear the hold button (input), and try the same operation.SYST–002 PAUSE HOLD is locked by programCause:The c...

  • Page 1030

    MARO2HT4405801EA–119A. ERROR CODES AND RECOVERYSYST–014 WARN Program select failedCause:PNS operation has failed by some reason.Remedy:Refer to the error cause code. Use MENU to display the Alarm Log screen.SYST–015 WARN Robot Service Request failedCause:RSR operation has failed by some r...

  • Page 1031

    MARO2HT4405801EA–120A. ERROR CODES AND RECOVERYSYST–030 PAUSE Robot was isolated (Group:%d)Cause:The connect/isolate key was turn to the isolate side.Remedy:This is just a notification. You do not have to do anything for this warning message.SYST–031 SYSTEM F–ROM parityCause:An error ha...

  • Page 1032

    MARO2HT4405801EA–121A. ERROR CODES AND RECOVERYSYST–046 SYSTEM Control Reliable config mismatchCause:Either 1. Control Reliable hardware exists but the option has not been loaded, or 2. The Control Reliableoption has been loaded but hardware is not available.Remedy:If the option has not bee...

  • Page 1033

    MARO2HT4405801EA–122A. ERROR CODES AND RECOVERYTCPP Error CodesTCPP–000 SWARN Unknown (TC00)Cause:A system error has occurred.Remedy:Perform a cold start:1.Turn off the robot.2.On the teach pendant, press and hold the SHIFT and RESET keys.3.While still pressing the SHIFT and RESET keys, turn...

  • Page 1034

    MARO2HT4405801EA–123A. ERROR CODES AND RECOVERYTCPP–015 SWARN Invalid time into segmentCause:The time computed for the current segment exceeds the segment length.Remedy:Check the value for the current position data.TCPP–016 SWARN No cfseg dataCause:The Cartesian Filter data is not valid.Re...

  • Page 1035

    MARO2HT4405801EA–124A. ERROR CODES AND RECOVERY(ID = 9)TPIF–001 WARN Mnemonic editor error (%s^1)Cause:Illegal case occurred on software.Remedy:Perform a cold start: 1.Turn off the robot. 2.On the teach pendant, press and hold the SHIFT and RESET keys. 3.While still pressing the SHIFT ...

  • Page 1036

    MARO2HT4405801EA–125A. ERROR CODES AND RECOVERYTPIF–012 WARN Kinematics solution is invalidCause:Cannot translate position data.Remedy:Check the configuration of robot and $MNUTOOL/$MNUFRAM system variables.TPIF–013 WARN Other program is runningCause:You cannot select a program when anothe...

  • Page 1037

    MARO2HT4405801EA–126A. ERROR CODES AND RECOVERYTPIF–030 WARN Program name is NULLCause:Program name is not set properly.Remedy:Set a proper program name.TPIF–031 WARN Remove num from start of Program nameCause:Start of program name is numeric.Remedy:Remove numeric value from beginning of...

  • Page 1038

    MARO2HT4405801EA–127A. ERROR CODES AND RECOVERYTPIF–048 WARN Running program is not foundCause:There is currently no program running that can be monitored.Remedy:Run program before attempting to monitor.TPIF–049 WARN Port number is invalidCause:Port is not set for outside device.Remedy:Set...

  • Page 1039

    MARO2HT4405801EA–128A. ERROR CODES AND RECOVERYTPIF–065 WARN Arithmetic operator was unified to +– or */Cause:Arithmetic operator on this line was changed to + – or * /. Cannot mix arithmetic + and – operators with * and/ operators on the same line.Remedy:Verify all arithmetic operator...

  • Page 1040

    MARO2HT4405801EA–129A. ERROR CODES AND RECOVERYTPIF–100 WARN No vacant table spaceCause:Illegal case occurred on software.Remedy:Perform a cold start: 1.Turn off the robot. 2.On the teach pendant, press and hold the SHIFT and RESET keys. 3.While still pressing the SHIFT and RESET keys...

  • Page 1041

    MARO2HT4405801EA–130A. ERROR CODES AND RECOVERYTPIF–118 WARN File error for %sCause:File error.Remedy:Perform a cold start: 1.Turn off the robot. 2.On the teach pendant, press and hold the SHIFT and RESET keys. 3.While still pressing the SHIFT and RESET keys, turn on the robot. If the...

  • Page 1042

    MARO2HT4405801EA–131A. ERROR CODES AND RECOVERYVARS Error Codes (ID = 16)VARS–001 WARN Corrupt variable fileCause:An error has occurred trying to read specified file. This file is corrupt or the media is bad.Remedy:Try a different file.VARS–002 WARN Open Error on FileCause:The variable...

  • Page 1043

    MARO2HT4405801EA–132A. ERROR CODES AND RECOVERYVARS–017 WARN Sysvar version mismatchCause:The system variable file you are attempting to load is not compatible with the loaded software version.Remedy:You must use the default system variable file supplied with your version of software.VARS–...

  • Page 1044

    MARO2HT4405801EA–133A. ERROR CODES AND RECOVERYVARS–032 WARN Variable size too bigCause:The variable you are loading is larger than 65,535 bytes or has an array element larger than 32,767 bytes.Remedy:Make the array size smaller or use a path data type for large arrayed variables Maximum pat...

  • Page 1045

    MARO2HT4405801EA–134A. ERROR CODES AND RECOVERYWNDW Error Codes (ID = 18)WNDW–001 WARN Invalid screen name formatCause:Format of screen name in DEF_SCREEN, ACT_SCREEN, or ATT_WINDOW_S call is invalid.Remedy:Screen names must be 1–4 alpha characters Supply a valid screen name.WNDW–002 ...

  • Page 1046

    MARO2HT4405801EA–135A. ERROR CODES AND RECOVERYWNDW–015 WARN Unknown screen nameCause:The screen name specified in a ATT_WINDOW_S, DET_WINDOW, or ACT_WINDOW call is not defined.Remedy:Use the name of a defined screen.WNDW–016 WARN Unknown window nameCause:The window name specified in a ATT...

  • Page 1047

    MARO2HT4405801EA–136A. ERROR CODES AND RECOVERYWNDW–027 WARN Too many pushes activeCause:The maximum depth of key read PUSH operations has been exceeded.Remedy:Check for situations in which a PUSH_KEY may be executed and no POP_KEY is executed.WNDW–028 WARN Mis–match on push/pop seqCause...

  • Page 1048

    Page 137B CRT/KB SETUPAND OPERATION

  • Page 1049

    B CRT/KB SETUP AND OPERATIONMARO2HT4405801EB–1Topics In This AppendixPageCRT/KB SetupYou connect a remote CRT/KB to any RS-232-C port on the controller.You set up this port according to the requirements of your CRT/KB.B–2. . . . . . . . . . CRT/KB MenusThe contents of the menus on the CRT/KB ...

  • Page 1050

    MARO2HT4405801EB–2B. CRT/KB SETUP AND OPERATIONYou connect a remote CRT/KB to any RS-232-C port on the controller.You set up this port according to the requirements of your CRT/KB. Thefactory terminal is listed in Table B–1. Refer to the manufacturingspecifications of any other type of re...

  • Page 1051

    Page 3C BOOTROM OPERATIONS

  • Page 1052

    BOOTROM OPERATIONSCC–1MARO2HT4405801ETopics In This AppendixPageStartup MethodsYou can start up the robot and controller using one of the following start methods:C–2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . DINIT StartC–2...

  • Page 1053

    MARO2HT4405801EC–2C. BOOTROM OPERATIONSBootROM provides the following startup methods:D INIT startD Controlled start/Controlled 2 startD Cold start - standard start method (approximately 30 seconds)D Semi Hot start - standard start method (approximately 15 seconds)D Re-Init startWARNINGDO NOT ...

  • Page 1054

    MARO2HT4405801EC–3C. BOOTROM OPERATIONSA controlled start (START CTRL) turns on power to the robot andcontroller and allows you to do the following:D Set robot motion parametersD Install options and updatesD Load or set system variablesCAUTIONThe items that appear on the controlled start scree...

  • Page 1055

    MARO2HT4405801EC–4C. BOOTROM OPERATIONSTable C–1. (Cont’d) Controlled Start OptionsITEMDESCRIPTIONExitDisplays the Configuration screen. Refer to the FANUC Robotics SYSTEM R-J2 ControllerApplication-Specific Software Installation Manual for more information on setting theseitems. Press...

  • Page 1056

    MARO2HT4405801EC–5C. BOOTROM OPERATIONS4After the BMON> prompt appears on the teach pendant screen, releasethe PREV and NEXT keys.5Press F2, CTRL, and press ENTER.6Press F5, START, and press ENTER. This begins the controlled start.You will see a screen similar to the following.Controlled S...

  • Page 1057

    MARO2HT4405801EC–6C. BOOTROM OPERATIONSA controlled 2 start (START CTRL2) updates memory and enables you toload teach pendant programs. It is also the mode the controller must be into perform a full controller backup. Refer to Section 9.4. Controlled 2start is the second phase of a controll...

  • Page 1058

    MARO2HT4405801EC–7C. BOOTROM OPERATIONSNOTE After a CTRL2 START is performed, item 2 on the FCTN menuwill be blank.8Load teach pendant programs if necessary. Press MENUS andselect FILE.9When you have finished, select START (COLD). A cold start will beperformed.10 To restore files, refer to ...

  • Page 1059

    MARO2HT4405801EC–8C. BOOTROM OPERATIONS4After the BMON> prompt appears on the teach pendant screen, releasethe PREV and NEXT keys.5Press F1, COLD, and press ENTER.6Press F5, START, and press ENTER.D On the operator panel or operator box, the ON button will beilluminated, indicating robot po...

  • Page 1060

    MARO2HT4405801EC–9C. BOOTROM OPERATIONSSemi hot start is one of the standard methods for turning on power to therobot and controller without using BootROM. Semi hot start is activewhen the system variable $SEMIPOWERFL is set to TRUE. By default,$SEMIPOWERFL is set to FALSE. You perform a se...

  • Page 1061

    MARO2HT4405801EC–10C. BOOTROM OPERATIONSA re-init start will cause all CMOS resident softparts to be reloaded. Thisis useful when some portion of CMOS memory has become fragmented,or accidentally overwritten.D Performing a re-init start – Use this when the TPP, PERM, orIMAGE memory pools ha...

  • Page 1062

    MARO2HT4405801EC–11C. BOOTROM OPERATIONS4Turn on the controller. You will see a screen similar to the following.COLDCTRLINITSTART >*** BOOT MONITOR for R-J2 CONTROLLER ***Version 4.2201-JAN-9xF-ROM/D-RAM/C-MOS :6.0/8.0/1.0 MBTP Version:ICurrent TIME:01-JAN-199x 22:52:53SlotIDFCOP09B00R-J2...

  • Page 1063

    MARO2HT4405801EC–12C. BOOTROM OPERATIONSYou can perform operations from the BootROM prompt, BMON>.Table C–2 lists and describes the utilities you can use from the BMON>prompt.D The EMON utility provides access to BootROM extended monitorutilities. Refer to Section C.2.1.D The DIAG ut...

  • Page 1064

    MARO2HT4405801EC–13C. BOOTROM OPERATIONSTable C–2. (Cont’d) BootROM UtilitiesUTILITYDESCRIPTIONCLEARClear CMOSClears the entire CMOS memory with zeros. You are prompted to confirm the execution of the file; answer YES to confirm, NO to cancel.Clear DRAMClears the entire DRAM system cod...

  • Page 1065

    MARO2HT4405801EC–14C. BOOTROM OPERATIONSProcedure C–6 Using BootROM Utilities WARNINGDO NOT turn on the robot if you discover any problems orpotential hazards. Report them immediately. Turning on arobot that does not pass inspection could result in seriousinjury.H The controller is...

  • Page 1066

    MARO2HT4405801EC–15C. BOOTROM OPERATIONSThe extended boot monitor utility (EMON) is used to load and clear memory on sub CPUs such as Vision (VISN), or Ethernet/RIO (ENAB) CPU.You can access extended boot monitor utilities from BootROM.Table C–3 lists and describes the extended boot monitor...

  • Page 1067

    MARO2HT4405801EC–16C. BOOTROM OPERATIONSThe boot monitor diagnostic utilities are used to maintain and diagnosecontroller setup and hardware.You can access diagnostic utilities from BootROM. Table C–4 lists anddescribes the diagnostic utilities. Use Procedure C–8 to access diagnosticut...

  • Page 1068

    MARO2HT4405801EC–17C. BOOTROM OPERATIONSUTILITYDESCRIPTIONBALLOC name value*For FANUC Robotics internal use only.SYSNAME ‘char string’*For FANUC Robotics internal use only.CONFIG*For FANUC Robotics internal use only.TPESIZE value*For FANUC Robotics internal use only.CHGPATH ‘char string...

  • Page 1069

    MARO2HT4405801EC–18C. BOOTROM OPERATIONSYou can access the INSTALL utilities from BootROM to install software.Table C–5 lists the items you can install using the INSTALL utilities.Use Procedure C–9 to access INSTALL utilities. The BMON INSTALLutilities use three file devices at once. F...

  • Page 1070

    MARO2HT4405801EC–19C. BOOTROM OPERATIONSProcedure C–9 Using INSTALL UtilitiesH All personnel and unnecessary equipment are out of the workcell.WARNINGDO NOT turn on the robot if you discover any problems orpotential hazards. Report them immediately. Turning on arobot that does not pass ins...

  • Page 1071

    MARO2HT4405801EC–20C. BOOTROM OPERATIONSYou can access the Flash ROM (F-ROM or FROM disk) utilities fromBootROM. Table C–6 lists the FROM items you can use. UseProcedure C–10 to access the FROM utilities.Table C–6. Flash ROM ItemsITEMDESCRIPTIONEXITExits to BMON>.FRDB addr*FRD...

  • Page 1072

    MARO2HT4405801EC–21C. BOOTROM OPERATIONSYou can access the memory card (MCARD) utilities from BootROM touse a memory card. Table C–7 lists the memory card items you can use.Use Procedure C–11 to access the MCARD utilities.Table C–7. Memory Card ItemsITEMDESCRIPTIONEXITExits to BMO...

  • Page 1073

  • Page 1074

    Page 2D EXAMPLE PROGRAMS

  • Page 1075

    D PROGRAM EXAMPLESMARO2HT4405801ED–1Topics In This AppendixPagePosition Register ElementD–2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Position Register ValueD–2. . . . . . . . . . . . . . ...

  • Page 1076

    MARO2HT4405801ED–2D. PROGRAM EXAMPLES/PROG PREG_ELE instructions and program comments are shown inFigure D–1.Figure D–1. /PROG PREG_ELE INSTRUCTION DESCRIPTION––––––––––––––––––––...

  • Page 1077

    MARO2HT4405801ED–3D. PROGRAM EXAMPLES/PROG REG_AI instructions and program comments are shown inFigure D–3.Figure D–3. /PROG REG_AI INSTRUCTION DESCRIPTION–––––––––––––––––––––...

  • Page 1078

    MARO2HT4405801ED–4D. PROGRAM EXAMPLESThis program is an example of using the Register instructions tostore the number of cycles.R[11] is used to store the cycle count.DI[1] is the digital input that signals a completed cycle. Refer toFigure D–5 for instructions and program comments.Figure D...

  • Page 1079

    MARO2HT4405801ED–5D. PROGRAM EXAMPLESThis program is an example of using the register instruction topass values to a KAREL softpart. Refer to Figure D–7 for instructions andprogram comments.Figure D–7. /PROGRAM MAIN – LABELS INSTRUCTION DESC...

  • Page 1080

    MARO2HT4405801ED–6D. PROGRAM EXAMPLESThe following program is an example of using the interference zonemacros.ENTER ZONE 1EXIT ZONE 1 are macro instructions that signal the other that thisprogram is entering an interference zone. It will wait and post an error ifthe other machine is already ...

  • Page 1081

    Page 7E MASTERING

  • Page 1082

    E MASTERINGMARO2HT4405801EE–1When you master a robot you define the physical location of the robot bysynchronizing the mechanical information with the robot’s positionalinformation. A robot must be mastered to operate properly. Robots areusually mastered before they leave FANUC Robotics. H...

  • Page 1083

    MARO2HT4405801EE–2E. MASTERINGIf you are using a FANUC Robotics A-series or P-series robot youshould use a mastering fixture to master your robot. Refer to the FANUCRobotics SYSTEM R-J2 Controller Mechanical Connection andMaintenance Manual specific to your robot model for procedures on howto...

  • Page 1084

    MARO2HT4405801EE–3E. MASTERINGWhen you power up the robot after disconnecting the pulsecoder backupbatteries you might see a SRVO–062 BZAL or SRV0–038 Pulse mismatchalarm. Before mastering the robot you must reset the alarm and rotate themotor of each axis that lost battery power to prepa...

  • Page 1085

    MARO2HT4405801EE–4E. MASTERINGWARNINGFor M-6i (ARC Mate 100i), M-16i (ARC Mate 120i), M-16iL(ARC Mate 120iL), S-6 (ARC Mate 100), and S-12 (ARC Mate120) robots, setting TORQUE to OFF using the TORQUEfunction key on the SYSTEM Master/Cal screen releasesthe robot brakes. When the brakes are rel...

  • Page 1086

    MARO2HT4405801EE–5E. MASTERINGWARNINGFor M-6i (ARC Mate 100i), M-16i (ARC Mate 120i), M-16iL(ARC Mate 120iL), S-6 (ARC Mate 100), and S-12 (ARC Mate120) robots, setting TORQUE to OFF using the TORQUEfunction key on the SYSTEM Master/Cal screen releasesthe robot brakes. When the brakes are rel...

  • Page 1087

    MARO2HT4405801EE–6E. MASTERINGWhen you master to a fixture, you use a mastering fixture to align therobot axes and then record the position. You can master any robot to afixture. If you have a P-series or A-series robot, you must master it to afixture.NOTE If you have an M-6i (ARC Mate 100i...

  • Page 1088

    MARO2HT4405801EE–7E. MASTERINGeSelect Master/Cal. You will see a screen similar to the following.SYSTEM Master/Cal JOINT 10%[ TYPE ]LOADRES_PCA1 FIXTURE POSITION MASTER2 ZERO POSITION MASTER3 QUICK MASTER4 SINGLE AXIS MASTER5 SET QUICK MASTER REF6 CALIBRATE Press ’ENTER’ o...

  • Page 1089

    MARO2HT4405801EE–8E. MASTERINGWhen you master to zero degrees, you position all axes at their zero degreewitness marks and record the zero degree position. You can master anyM-series or S-series robot to zero degrees.NOTE If you are mastering an S-420iR robot, you cannot use thismastering me...

  • Page 1090

    MARO2HT4405801EE–9E. MASTERINGeSelect Master/Cal. You will see a screen similar to the following.SYSTEM Master/Cal JOINT 10%[ TYPE ]LOADRES_PCA1 FIXTURE POSITION MASTER2 ZERO POSITION MASTER3 QUICK MASTER4 SINGLE AXIS MASTER5 SET QUICK MASTER REF6 CALIBRATE Press ’ENTER’ o...

  • Page 1091

    MARO2HT4405801EE–10E. MASTERINGYou can master a single axis of an M-series or S-series robot when masterywas lost due to mechanical disassembly or repair of a single axis, usuallydue to motor replacement.Use Procedure E–4 to master a single axis.Procedure E–4 Mastering a Single AxisNOTE ...

  • Page 1092

    MARO2HT4405801EE–11E. MASTERINGeSelect Master/Cal. You will see a screen similar to the following.SYSTEM Master/Cal JOINT 10%[ TYPE ]LOADRES_PCA1 FIXTURE POSITION MASTER2 ZERO POSITION MASTER3 QUICK MASTER4 SINGLE AXIS MASTER5 SET QUICK MASTER REF6 CALIBRATE Press ’ENTER’ ...

  • Page 1093

    MARO2HT4405801EE–12E. MASTERING9Move the cursor to the SEL column for the unmastered axis and pressthe numeric key “1.”10 Press ENTER.11 Press F5, EXEC. Mastering will be performed automatically.12 Press PREV.13 Select Calibrate.14 Press F4, YES.15 Perform a cold start.aTurn off the robot...

  • Page 1094

    MARO2HT4405801EE–13E. MASTERINGQuick mastering allows you to minimize the time required to remaster therobot using a reference position you established when the robot wasproperly mastered. You cannot quick master the robot unless you havepreviously recorded this quick master reference positio...

  • Page 1095

    MARO2HT4405801EE–14E. MASTERING5Select Master/Cal.If Master/Cal is not listed on the [TYPE] menu, do the following;otherwise, continue to Step 6.aSelect VARIABLE from the [TYPE] menu.bMove the cursor to $MASTER_ENB.cPress the numeric key “1” and then press ENTER on the teachpendant.dPress ...

  • Page 1096

    MARO2HT4405801EE–15E. MASTERINGProcedure E–6 Quick Mastering the RobotH The robot has lost mastery due to an electrical or software problem.NOTE If the robot has lost mastery due to mechanical disassembly orrepair, you cannot perform this procedure. In this case, master to a fixtureor mast...

  • Page 1097

    MARO2HT4405801EE–16E. MASTERINGeSelect Master/Cal. You will see a screen similar to the following.WARNINGFor M-6i (ARC Mate 100i), M-16i (ARC Mate 120i), M-16iL(ARC Mate 120iL), S-6 (ARC Mate 100), and S-12 (ARC Mate120) robots, setting TORQUE to OFF using the TORQUEfunction key on the SYSTEM...

  • Page 1098

    IndexF TRANSPORTATIONAND INSTALLATION

  • Page 1099

    F TRANSPORTATION AND INSTALLATIONMARO2HT4405801EF–1Topics In This AppendixPageTransportationThis section includes information on transporting and installing an R-J2 controller.F–1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . The ...

  • Page 1100

    MARO2HT4405801EF–2F. TRANSPORTATION AND INSTALLATIONProcedure F–1 Eliminating a UOP ConfigurationTo move the robot without hooking up the UOP Interface cable or toeliminate UOP configuration complete the following1Press MENUS.2Select I/O.3Press F1, [TYPE].4Select UOP.5Press F2, Config.6Set a...

  • Page 1101

    Page 3GLOSSARY

  • Page 1102

    GlossaryMARO2HT4405801EGlossary–1Aabort. Abnormal termination of a computer programcaused by hardware or software malfunction or operatorcancellation.absolute pulse code system. A positional informationsystem for servomotors that relies on battery-backedRAM to store encoder pulse counts wh...

  • Page 1103

    GLOSSARYMARO2HT4405801EGlossary–2Bus Switching Module. A device that switches a blockcluster to one bus or the other of a dual bus.byte. A sequence of binary digits that can be used to storea value from 0 to 255 and usually operated upon as a unit.Consists of eight bits used to store two n...

  • Page 1104

    GLOSSARYMARO2HT4405801EGlossary–3control unit. The portion of a computer that directs theautomatic operation of the computer, interprets computerinstructions, and initiates the proper signals to the othercomputer circuits to execute instructions.coordinate system. See Cartesian coordinate ...

  • Page 1105

    GLOSSARYMARO2HT4405801EGlossary–4digital control. The use of a digital computer to performprocessing and control tasks in a manner that is moreaccurate and less expensive than an analog controlsystem.digital signal. A single point control signal sent to orfrom the controller. The signal re...

  • Page 1106

    GLOSSARYMARO2HT4405801EGlossary–5Ffaceplate. The tool mounting plate of the robot.feedback. 1. The signal or data fed back to acommanding unit from a controlled machine or process todenote its response to the command signal. The signalrepresenting the difference between actual response a...

  • Page 1107

    GLOSSARYMARO2HT4405801EGlossary–6industrial robot. A reprogrammable multifunctionalmanipulator designed to move material, parts, tools, orspecialized devices through variable programmedmotions in order to perform a variety of tasks.industrial robot system. A system that includesindustrial ...

  • Page 1108

    GLOSSARYMARO2HT4405801EGlossary–7Jjog coordinate systems. Coordinate systems that help theuser to move the robot more effectively for a specificapplication. These systems include JOINT, WORLD,TOOL, and USER.JOGFRAME. A jog coordinate system the user definesto make the robot jog the best w...

  • Page 1109

    GLOSSARYMARO2HT4405801EGlossary–8MmA. See milliampere.machine language. A language written in a series of bitsthat are understandable by, and therefore instruct, acomputer. This is a “first level“ computer language, ascompared to a “second level“ assembly language, or a“third le...

  • Page 1110

    GLOSSARYMARO2HT4405801EGlossary–9operating work envelope. The portion of the restrictedwork envelope that is actually used by the robot while it isperforming its programmed motion. This includes themaximum the end-effector, the workpiece, and the robotitself.operator. A person designated to ...

  • Page 1111

    GLOSSARYMARO2HT4405801EGlossary–10Qqueue. 1. Waiting lines resulting from temporary delaysin providing service. 2. The amount of time a job waits ata work center before set-up or work is performed on thejob. See also job queue.RRAM. See Random Access Memory.random access. A term that des...

  • Page 1112

    GLOSSARYMARO2HT4405801EGlossary–11serial interface. A method of data transmission thatpermits transmitting a single bit at a time through a singleline. Used where high speed input is not necessary.servomotor. An electric motor that is controlled toproduce precision motion. Also called a ...

  • Page 1113

    GLOSSARYMARO2HT4405801EGlossary–12Wwarning device. An audible or visible device used toalert personnel to potential safety hazards.work envelope. The volume of space that encloses themaximum designed reach of the robot manipulatorincluding the end effector, the workpiece, and the robotitse...

  • Page 1114

    Page 16INDEX

  • Page 1115

    IndexMARO2HT4405801EIndex–1AA-520i, 1-4abort, instructions, 6-127$accel, $TCPPSPEED structure, 10-180$accel, $TCPPSPEED, 10-180acceleration override, motion option, 6-35accessing BootROM, C-14adding, instructions in a program, 5-11adjust utility, in shape generation, 10-71advanced functionsColl...

  • Page 1116

    INDEXMARO2HT4405801EIndex–2automatic start, error recovery feature, 10-149automatic start feature, setup item, error recovery,10-152Automatic Tool Center Point. See Auto TCPaxesextended, 1-31number of, 1-31robot, 1-31AxisDefinition of, 1-3Major Axes, 1-3axis control board, RI/RO signals, 3-49ax...

  • Page 1117

    INDEXMARO2HT4405801EIndex–3blend-in distance setup, 10-56circle type setup, 10-55comment, 10-55diameter setup, 10-55overlap angle setup, 10-56schedule number setup, 10-55speed setup, 10-55start axis setup, 10-56x-work angle setup, 10-56y-work angle setup, 10-56circle type setup, shape generatio...

  • Page 1118

    INDEXMARO2HT4405801EIndex–4configuringI/O, 3-5, 3-10, 3-19, 3-33, 3-50, 3-63group, 3-58UOP, I/O, 3-33UOP I/O, 3-58configuring digital I/O, 3-52polarity and complementary pairs, 3-55configuring group I/O, rack, slot, and start point, 3-60Configuring I/O, Rack, Slot, Start Point, 3-40connecting, ...

  • Page 1119

    INDEXMARO2HT4405801EIndex–5range, 10-117start line, 10-117copy source, 6-5copyingfiles to disk, 9-59program files, 9-33program instructions, 5-18corner radii setup, shape generation, hexagon scheduledata, 10-58creation date, 6-5cross car mirror, Program ToolBox, 10-184, 10-185,10-187crt, screen...

  • Page 1120

    INDEXMARO2HT4405801EIndex–6distributed I/O, 3-46interface unit, distributed I/O, 3-46Model B modular I/Obasic digital I/O unit, 3-47interface unit, 3-46direct, register addressing, 6-93direct entry methodjog frame, 3-120, 3-125RTCP frame, 3-110tool frame, 3-81, 3-90user frame, 3-95, 3-105direct...

  • Page 1121

    INDEXMARO2HT4405801EIndex–7COND, A-25DICT, A-26DNET, A-29ELOG, A-36FILE, A-37FLPY, A-40FRSY, A-41HOST, A-43HRTL, A-47INTP, A-50JOG, A-63LANG, A-65listing of, A-16LNTK, A-66MACR, A-69MCTL, A-70MEMO, A-71MOTN, A-75PALT, A-94PRIO, A-95PROG, A-97PWD, A-100QMGR, A-102ROUT, A-103SCIO, A-104SENS, A-10...

  • Page 1122

    INDEXMARO2HT4405801EIndex–8reset DI index number item, 10-152resume program recovery, 10-152screen, 10-152testing, 10-161user alarms, 10-156error recovery approval DI, error recovery feature,10-149error recovery DI index number, setup item, errorrecovery, 10-152error recovery DO status, manual ...

  • Page 1123

    INDEXMARO2HT4405801EIndex–9finding, program instructions, 5-20, 5-27fine, termination type, 6-32Flash ROM. See FROMflip knuckle, Program ToolBox, 10-184, 10-194FLOPPY CASSETTE ADAPTER, 9-2Floppy Cassette adapter, 9-21floppy disk, 9-17formatting a, 9-19FLPY Error Codes, A-40forcing, I/O, 8-37for...

  • Page 1124

    INDEXMARO2HT4405801EIndex–10speed setup, 10-58start axis setup, 10-58x-work angle setup, 10-58y-work angle setup, 10-58hexagon schedules, 10-57hexagons, shape generation, 10-50, 10-53hints, mirror image, 10-11HOLD, UOP input signals, 3-35HOLD button, using the, 7-3HOME, UOP input signals, 3-35h...

  • Page 1125

    INDEXMARO2HT4405801EIndex–11I/O configuration, 9-63I/O inteconnect, SI to DO, 3-28, 3-31I/O interconnectES to DO, 3-28, 3-32MODE SELECT switch, 3-31I/O Link screen, 3-1Model B I/O, 3-1I/O setup, interconnect, 3-29I/O timing sequnce, error recovery, 10-164IBMPC compatible, B-1IFconditional branc...

  • Page 1126

    INDEXMARO2HT4405801EIndex–12create and write a new program, 5-12deleting programs from the SELECT Menu, 9-34digital I/O, 6-100displaying and setting position registers, 8-8displaying and setting registers, 8-6displaying and setting system variables, 8-13displaying memory status, 8-26displaying ...

  • Page 1127

    INDEXMARO2HT4405801EIndex–13interconnect I/Omenu, 3-3, 3-29setup, 3-29interfaceformatting a, memory card, 9-11memory card, 9-11using a memory card, 9-11interface unitDIP switches, distributed I/O, 3-46Model B modular I/O, configuring DIP switches,3-46INTP Error Codes, A-50inverse polarity, 3-50...

  • Page 1128

    INDEXMARO2HT4405801EIndex–14load files from disk to controller, 9-44loadable files, 9-44loadingfiles from FILE menu, 9-45programs, 9-31location, 3-78moving a frame's, 3-79of a position, 6-20LOCK PREG, position register look-ahead functioninstruction, 6-134lockingAUTO mode, 1-25T1 mode, 1-23T2 m...

  • Page 1129

    INDEXMARO2HT4405801EIndex–15maximum speed, instruction, 6-118mcard, screen item, C-13MEMO Error Codes, A-71memorychecking and purging file, 9-65CMOS RAM, 1-32controller, 1-32D-RAM, 1-32DRAM, 1-32Flash ROM, 1-32status, 8-26hardware, 8-26system, 8-26user, 8-26Memory card, 9-17memory card, interfa...

  • Page 1130

    INDEXMARO2HT4405801EIndex–16minimizing changes in wrist orientation, 5-3robot, 1-14types of, 1-31motion development, screen item, C-3motion group, instruction, 6-131motion groups, 1-31, 2-10, 6-8motion instruction, example, 6-11motion instructions, 6-3motion optionEV, 6-41Simultaneous EV, 6-41m...

  • Page 1131

    INDEXMARO2HT4405801EIndex–17FAULT, 8-3REMOTE, 8-3TEACH PENDNAT ENABLED, 8-3USER LED #1, 8-3USER LED #2, 8-3signal setupaxis limits, 3-2brake on hold, 3-2brake timers, 3-2UOP, 3-1standard, 1-20user, 1-26option package, PLC I/O, 3-63orient origin point, 3-87orientation, 3-78moving a frame's, 3-79...

  • Page 1132

    INDEXMARO2HT4405801EIndex–18point sets, Auto TCP, 12-13manually defining, 12-14polarity, 3-10, 3-23, 3-50configuring digital I/O, 3-55PLC I/O setup, 3-63portdefault device, 9-5initializing, 9-3setting up a, 9-7ports, 9-5position, 3-78destination, 6-14positional data conversion, coordinates offs...

  • Page 1133

    INDEXMARO2HT4405801EIndex–19printing a, 9-35protection, 6-8resume, error recovery, 10-146, 10-147, 10-149selecting a, 5-17shift utility, 10-16speed, 6-23sub type, 6-7ch, 6-7testing, 7-1, 7-9testing a, 1-35touching up a, 5-17, 5-22writing a, 5-1, 5-9, 5-10program activationAUTO mode, 1-24T1 mode...

  • Page 1134

    INDEXMARO2HT4405801EIndex–20PROGRUN, UOP output signals, 3-39PS-100 disk drive, 9-2PS-200 disk drive, 9-2PTH, motion option, 6-44purging, file memory, 9-65PWD Error Codes, A-100$PWF_IO, 4-2$PWR_NORMAL, 4-2QQMGR Error Codes, A-102quick menus, 1-19RR-J2 controller. See controllerrack, I/Oanalog, ...

  • Page 1135

    INDEXMARO2HT4405801EIndex–21restoringa controller, 9-66files from FILE menu, 9-47restoring a, controller, 9-72resume, tolerance, 7-4resume programdefined, on manual function screen for errorrecovery, 10-161error recovery, 10-146, 10-147, 10-149, 10-158instructions, 6-128adding, 10-160setup, 10-...

  • Page 1136

    INDEXMARO2HT4405801EIndex–22SS-12, 1-8S-420iW, 1-9S-450, 1-10S-500, 1-10S-6, 1-8S-700, 1-11S-800, 1-11S-900W, 1-12safe position, pounce, 5-8safety equipmentAUTO mode, 1-24T1 mode, 1-23T2 mode, 1-24safety fence, 1-30safety signal, status, 8-15safety signals, 8-15Belt Broken, 8-15Control Reliable...

  • Page 1137

    INDEXMARO2HT4405801EIndex–23SERVO parameters, 9-63setting, system variables, 8-13setting up, shape generation, 10-51setting up a port, 9-7setting up interconnect I/O, 3-29setting user alarm screen, 3-155, 3-156setupalarm code monitoring, 10-154application, C-4axis limits, 3-145brake on hold, 3-...

  • Page 1138

    INDEXMARO2HT4405801EIndex–24shape schedule register, shape generation setup, 10-51shape setup, items, 10-51shift, 10-16ext axes only, 10-20extended axes, 10-19mirror image, 10-1parallel, 10-16, 10-17, 10-18program base, 10-1replace ext axes, 10-21rotational, 10-16, 10-18using the, 10-21with ext...

  • Page 1139

    INDEXMARO2HT4405801EIndex–25START CTRL, C-3START CTRL2, C-6start methodscontrolled start, C-3init start, C-2reinit start, C-10semi hot start, C-9START CTRL2, C-6starting pointconfiguring I/O, 3-50I/Odigital, 3-10, 3-51, 3-59, 3-63group, 3-19UOP, 3-33statusdisplay overview, 8-1duty diagnosis, 8-...

  • Page 1140

    INDEXMARO2HT4405801EIndex–26MODE SELECT switch, 1-24, 7-12, 7-14, 7-16European controllers, 1-22program activation, 1-24robot speed, 1-24safety equipment, 1-24$tcdelay, $TCPPIR structure, 10-179$tcdelay, $TCPPIR, 10-179$tcdelay_mon, $TCPPSPEED structure, 10-181$tcdelay_mon, $TCPPSPEED, 10-181TC...

  • Page 1141

    INDEXMARO2HT4405801EIndex–27timerinstruction, 6-113program, status, 8-18$timestamp, $TCPPSPEED structure, 10-181$timestamp, $TCPPSPEED, 10-181timing diagramnormal operation, error recovery, 10-167normal operation auto start mode, error recovery,10-164normal operation when alarm occurs, error re...

  • Page 1142

    INDEXMARO2HT4405801EIndex–28setup, 3-155, 3-156, 3-157severity, 3-155, 3-157user alarms, error recovery, 10-156user condition param enabled, manual function detailscreen, error recovery, 10-162User Display, displaying user screen, 8-5user display, status, 8-5user frame, 3-78clearing the current...

  • Page 1143

    INDEXMARO2HT4405801EIndex–29world frame, 3-78wrist jog, 2-9wrist jogging, display, 2-9wrist joint, motion option, 6-34wrist orientation, minimizing changes in, 5-3write protection, 6-8writing, a program, 5-1writing a program, 5-10Xx-work angle setup, shape generationcircle schedule data, 10-56h...

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