AMrsuBtsHl

INDUSTRIAL
MICROROBOTSYSTEM
Model

RV-M1
a

MOVEMASTERtrX

THIS MANUAL IS DIVIDEDUP AS FOLLOWS

f sercrrrcnrrorus
main specifications,
Givesoverallof construction,
using instructions. etc. Pleaseread this oart first.

p oernarroru
basicfunctionsof
Givesinstallation
and connectionprocedures,
powering-up
to positionsettingprocedures,
systemcomponents,
and programgenerationand executionprocedures.
13I DESCRIPTIO
ONF T H E C O M M A N D S
Givesformatsand usagesof intelligentcommandswhich have
been classifiedin accordancewith functions.The commands
appearin alphabetical
order.
I 4 M A I N T E N A N CAEN D I N S P E C T I O N
partsreplacement
procedures
and
Givesmaintenance,
inspection,
servrcepans.

@ neeeNorcrs
Gives interfacingwith a personalcomputer and external l/O
equipment,cartesiancoordinatesystem referencepositionsetting, command list, applicationprograms,etc.

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

Un p a c ikn g I n s t r u c t i o n s

1.2

Acceptancelnspection

2. SYSTEMOFCONSTRUCTTON
2.1
2.2

Overallof Construction
Standardand Optional

'' t-5

1-3

1-5
J.

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

3.3

3.4

DriveU nit
3.2.1 Nomenclature.
3.2.3 ExternaI dimensions
TeachingBox (Option)
3.3.1 Nomenclature..
3.3.2 Externaldimensions
Motor-operatH
e da n d( O p t i o n ) . .

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

' " ' . ' .. . . .... . . . . .. .. . . .1. - 9

. . . . . . . -1. _ ' t ' l
. . . . . .. . . . .. . . . . .1 - 11
t-tJ

1-14
1-'t4

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

4. USINGINSTRUCTIONS
4.1
A '

4.3
4.4
A F

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

4.6
4.7
5. WARRANTYPERIOD
AND PAINTCOLORS

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

iz ] onennrom
1.
1.'l
1.2
'l.3

T r a n s p o r t a t i o no f t h e R o b o t
l n s t a l l a t i o on f t h e R o b o t
T r a n s p o r t a t i oann d I n s t a l l a t i oonf t h e D r i v eU n i t . . . . . . . . . .. . . .
l n s t a l l a t i o nt h
oe
f l / OC a r d . . . . . . . .

1.4
1.5 Grounding
1 . 6 C a b l eC o n n e c t i o n s
1 . 7 l n s t a l l a t i oonf t h e H a n d( O p t i o n ).. . . . .
'1.8
I n s t a l l a t i oonf t h e T e a c h i n g8 o x ( O p t i o n )
1 . 9 l n s t a l l a t i o on f t h e B a c k u pB a t t e r y{ O p t i o n )
1 . 1 0 i n s t a i l a t r oonf t h e E m e r g e n c yS t o p S w i t c h

2.2

J. l

3.2

3.3

" "

2-1
2-3
. . . . 2-5
. . . . . . . . . . .. .' . . . . 2 - 5
2-6
2-7
.. .. . .. .. ....2-8
" " " '2-10
.. .. .. . . 2-10
"
'2-11

. . . . . . . . ' . 2' .- 1 2
D r i v eU n i t
'
"
" "'2-12
2 . 1 . 1 F u n c t i o n s o f f r o n t c o n t r os lw i t c h e sa n d L E D s"
"
"
" ' 2-13
2 . 1 . 2 F u n c t i o n so f s i d e s e t t i n gs w i t c h e sa n d L E D s
2 . 1 . 3 F u n c t i o n so f c o n n e c t o r s s, w i t c h e s ,a n d t e r m i n a l b l o c k o n r e a r p a n e l " " " " " 2 - 1 6
.
" """
2-18
Teaching
Box "
"
"
"
"
"
"
"
"
2
1
8
2 . 2 . 1 F u n c t i o n s tohf es w i t c h e s
"
"
"
"
"
"
"
"
2
18
2,2.2 Functionsofeachkey
"
"" " " "" " "" '2-21
r ED
2 . 2 . 3 F u n c t i o n s o f t h ei n d i c a t o L
' ' '' '' '' '' ''''''2-22
2 . 2 . 4 E e l e a s i n tgh e b r a k e s
""""" 2-22
2 . 2 . 5 l r r r e l i i g e nc to m m a n d sc o r r e s p o n d i ntgo e a c hk e y " " "

"" 2-23
S y s t e mC o n t i g ur a t i o n
"
"
"
"
"
"
"
'
2-23
3 . 1 . 1 S y s t e mc o n f i g u r a t i o cn e n t e r i n ga r o u n da p e r s o n acl o m p u t e r "
3 . 1 . 2 S y s t e mc o n f i g u r a t i o cn e n t e r i n ga r o u n dt h e d r i v eu n i t " " " " " " " " " " " " ' 2 - 2 4
Robot-ComputeL
r i nk
3 . 2 . 1 C e r rrto ni c s i n t e r f a c e
3 . 2 . 2 R S 2 3 2 Ci n t e r f a c e
C o n t r o lM o d e s
3 . 3 . 1 P e r s o n a l c o m p u trehro d e"
3 . 3 . 2 D r i v eu n i t m o d e

4 . 1 S e t t i ntgh eS i d eS e t t i n S
gwitches
4 . 2 T u r n i n gP o w e O
r N
4 . 3 O r i g i nS e t t i n g

" """

"

2-25
2-25
" "'2-25
"" " " "" 2-26
'''
2-26
' ' '2-24

''

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

5. POSITION
SETTINGPROCEDURE
' . . . . . . . . . . . . . . . . . . . . . . . . . .2. .- .3 0
5 . 1 S e t t i n gt h eC a r t e s i aCno o r d i n a tSey s t e mR e f e r e n cPeo s i t i o n
. .. ..... ... 2-30
5.2 SettingtheTo
Lo
e ln g t h .
"
'
...'..2-31
5.3 Defining,Verifying,Changing,andDeletingthePositions"
6.
o. l

6 . 2 Executing
the Program
'
6.2.1 Stepexecution
6.2.2 Startingthe program
6 . 2 . 3 S t o p p i n g / r e sr t ian gt h e p r o g r a m
6.2.4 Stopping/resetting
the program
7. WRITINGTHE PROGRAM/POSITION
DATA IN EPROM
. D. .E ). . . . . .
(PERSONALCOMPUTERMO
7.1
7.2
7.3

I n s e r t i nEg r a s e d
EPROM
W r i t i n gD a t ai n t oE P R O M
Preca
utionsfor Storage of EPROM

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

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

8.
8.1
8.2
8.3
8.4

lnsertingthe EPROM
Settingthe SideSettingSwitches..........
TurningPowerON
Executing
the Program
8.4.1 Stepexecution
8.4.2 Startingthe program
8.4.3 Stopping/resta
rtingthe program
8.4.4 Stopping/resetting
the program

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

2-37
2-37
2-37
2-37
2-37
2-38
2-38

9. OPERATION
USINGTHEEXTERNAL
SIGNALS

10.
1 0 . 1 E r r o r M o dIe "
10.2 ErrorMode II

"

""""""

2-4O
" 2-41

OF THE COMMANDS
El DESCBTPTTON
1.

2.1

z.z

. . . . . . . ' . '.. . . . . . . . . . . .3. -. 3

P o s i t i o n / M o tC
i oonn t r oI ln s t r u c t i o n s . . .... . . . . .
D P{ D e c r e m e P
r n es m a 1 | e r . . . . . . . . . . ......... 3. - 3
n to s i t i o n ) " M o v i n gt o a p o s i t i o n u m b e o
'Moving
(Draw)
DW
a distancespecifiedin the cartesiancoordinate
...........3-4
system
.
.
.
.
. . . . . . . . .3 - 5
(
H
e
r
e
)
HE
T e a c h i ntgh ec u r r e npt o s i t i o n
"
HO {Home)
Settingthe cartesiancoordinatesystemreferenceposi.........3-6
tion....'.....
no
t s i t i o n.). . . M o v i n g t o a p o s i t i o n n u m b e r o n e g r e a t e r . . . . . . . . . . . . . . . . . . . 3 - 7
l P( l n c r e m e P
(
M
o
v
e
MA
Approach)
M o v i n gt o a s p e c i f i eidn c r e m e n tdailm e n s i o n. . . . . . . . . . . . .3. -. 8
"
"
M C { M o v eC o n t i n u o u s ) M o v i n gt h r o u g hi n t e r m e d i a pt eo i n t sc o n t i n u o u s l y ........ .3 - 9
" . ' . . T u r n i nega c hj o i n t a s p e c i f i e d a n g l e . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 - 1 1
MJ(MoveJoint) "
MO (Move)
Movingto a specifiedpositionby articulated
interpola"
.......3-12
tion
MP (MovePosition)
Movingto a positionwhosecoordinates
arespecified...3-13
(
M
o
v
e
MS
Straight)
M o v i n g t oa s p e c i f i epdo s i t i o n
b y l i n e a irn t e r p o l a t i o n .3. .-.' 1 4
MT (MoveTool)
Moving an incrementaldistancespecifiedin the tool
""""
""'3-16
direction
.
R
e
t
u
r
n
i
n
g
t
h
e
r
o
b
o
t
t
o
o
r
i
g
i
n
.
.
.
.
.
.
.
.
'
.
.
'
.
.
.....'...'.'...'...3-17
N T( N e s t )
OG (Origin)
Moving to the cartesiancoordinatesystem reference
" " ""
positlon
3-18
'
..
(Pallet
grid
points
PA
Assign)
Definingthe numberof columnand row
for a
'
. . . . . . . . . . . . . . .3' -. .1 9
s p e c i f i eoda l l e t
" "' 3-20
position
PC(Position
Clear) " "
Clearinga specified
"
P D( P o s i t i oDn e f i n e )
D e f i n i ntgh ec o o r d i n a t eosf a s p e c i f i e d p o s i t i o n . . . . . . . . . . 3 - 2 1
" Asslgningthe positiondata of a specifiedpositionto
PL(Position
Load)
""" " " "' 3-22
position
anotherspecified
PT(Pallet)
Calculating
the coordinates
of a grid pointon a specified
.
.
.
.
.
.
.
.
.........3-23
na||et.
PX (Position
Exchange)" Exchanging
the coordinatesof a positionfor those of
""
"
" "" 3-2'l
another"
position" " "
SF(Shift) "
Shiftingthe coordinates
3-28
of a specified
SP{Speed)
Settingthe operatingvelocityand acceleration/decel" "" 3-29
erationtime"
" Haltingthe motionfor a specified
periodof time "
Tl {Timer)
3-30
"
....'...."" "'3-31
TL(Tool)
S e t t i ntgh e t o o ll e n g t h
" '
"""""'3-32
Program
C o n t r olln s t r u c t i o n "s
""
CP(CompareCounter)
Loadingcounterdataintothe comparison
register"" " 3-32
DA (Disable
Act)
Disabling
the interruptby an externalsignal"" "" " " 3-33
"
DC(Decrement
Counter) Subtracting
1 from a valuein a specified
counter"" "
3-34
"
'
3
-35
"
"
"
"
"
"
"
"
p
a
r
t
p
r
o
g
r
a
m
"
DL(DeleteLine)
D e l e t i nags p e c i f i e d o f a

" "' 3-36

Enablingthe interruptby an externalsignal ""
" E n d i n gt h e p r o g r a m
3-38
Causinga jump to occurif the contentsof the compari"" " "" ' 3-39
son registerequala specified
value " "
GS(GoSub)
Executing
a specified
subroutine '
3-40
"
'
GT(GoTo)
C a u s i n ag l u m p t oo c c u r t oa s p e c i f i eldi n en u m b e r "
3-41
"" " ' 3-42
lC (lncrement
Counter) " 'Adding 1 to the valuein a specified
counter""
L G( l fL a r g e r.)" . . . . . . . . . . . . . . .C. .a u s i n g
a j u m pt o o c c u ri f t h e c o n t e n t os f t h e c o m p a r i value"" " " " 3-43
son registeraregreaterthana specified
" Causinga jump to occurif the contentsof the compariNEllf Not Equal) " "
value " "" " " 3-44
son registerdo not equalaspecified
"
' 3-45
. . D e l e t i nagl l p r o g r a m as n dp o s i t i o d
n a t a" " "
N W( N e w )
"
"
"
"
"
"
'
3
-46
"
"
"
"
"
"
'
S
p
e
c
i
f
y
i
n
g
NX(Next)"
t h er a n g e o a
f l o o pi n a p r o g r a m
R C( R e p e aCt y c l e ) ' ' ' ' S p e c i f y i n g t h e n u m b e rroefp e a t ecdy c l e so f a l o o p " " ' 3 - 4 7
""""""
3-48
R N{ R u n ) " " '
E x e c u t i nags p e c i f i epdar t o f p r o gr a m " "
(Return)"
program
RT
after completinga
Returningto the main
""
"""3-49
subroutine
S C ( S e t C o u n t e "r )" ' ' '
L o a d i n g a v a l u e i n a s p e c i f i e d c o u n t"e" r "" " " " " ' 3 - 5 0
SM (lf Smaller)"
Causinga jump to occurif the contentsof the comparivalue " " " " ' 3-5i
son registeraresmallerthana specified
" "'3-52
'
.
2 . 3 H a n dC o n t r oIln s t r u c t i o n s "
" "" 3-52
" )" " " " ' C l o s i n g t h eh a n dg r i p " " " " " "
G C( G r i p C l o s e
"
"
"
" " 3-53
'
.
'
.
.
.
.
.
.
.
.
.
.
.
.
D e f i n i ntgh eo p e n / c l o sset a t eo f t h eh a n d
G F( G r i pF l a g )
""""
" 3-54
"
" " " O p e n i n g t hhea n dg r i p
G O( G r i pO p e n )" "
"
""
"
Definingthe gripping force/timewhen the hand is
GP(GripPressure)"
3-55
3-56
2.4
" l" " '
" " " F e t c h i nagn e x t e r n a l s i g n a
t irect)"
3-56
l D( l n p u D
"
"
'
"
"
"
"
3-57
lN(lnput)
F e t c h i nagn e x t e r n a l s i g nsayl n c h r o n o u s l y
O B ( O u t p u t B i "t )" " " " " " S e t t i n g
t h eo u t p u st t a t eo f a s p e c i fe db i t " " " " " " ' 3-58
3-59
data " "" " "
OD (OutputDirect)..""" " 'Outputtingspecified
" " " ' 3-60
" ' O u t p u t t i nsgp e c i f i edda t as y n c h r o n o u s l y" "
O T ( O u t p u t" ) " " " "
" " " " "'Causinga jump to occurdependingon the conditionof
TB (TestBit) "
"" " " "" "" " " 3-6'
externalsignalbit" "
a specified
"
3-62
2.5
RS232C
Readlnstructions
"
"
"
""
'
"
3-62
Reading
the datain a specified
counter
CR(CounterRead)"
"
""
'
"
"
""
"
(Data
port
3-63
Reading
the datain the externalinput
DR
Read)
" "'3-64
" "
E R ( E r r o r R e a. d ") " " "
Readingthestatusoe
f trhr eo r" "
LR(LineRead)
Reading
the programon a specifiedlinenumber" " " 3-65
"
"
position " "'3-67
PR(PositionRead)"Reading
the coordinatesof a specified
the coordinates
of the currentposition " ' 3-68
WH (Where)
Reading
" "'3-69
2.6 Miscellaneous
RS(Reset)
""
""'3-70
" " T r a n s f e r r i nEgP R O M
d a t at o R A M
T R ( T r a n s f e r )"
"""""" 3-7
writing RAMdataintoEPROM
wR (write)
' ( C o m m e n t")" "
""'3-72
"
' W r i t i n ga c o m m e n t"
EA {Enable
Act)
(
E
n
d
)
ED
EO(lf Equal)

AND TNSPECTTON
l!l MATNTENANCE

2.1
2.2
2.3
3.
J.

3.2

3.4

3.5
J.O

4.
A 1

4.2
4.3

..........4-g
C o n s t r u c t i oonf t h e R o b o t . . . .
...........4
. .-.1 0
R e m o v aol f t h e C o v e r s . . . .
.......-..-..4-j2
R e p l a c e m eo
n ft t h e M o t o rB r u s n . . . . . . . . . . . .
..........4-12
3 . 3 . 1 C h e c k i n ga n d r e p l a c i n gt h e w a i s td r i v em o t o r b r u s h e s . .
.
.
.
.
.
.
.
.
.
. . . . . . . .4. .-.1 5
3 . 3 . 2 C h e c k i n ga n d r e p l a c i n gt h e s h o u l d e r / e l b o d
wr i v em o t o r b r u s h e s
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
. . . . . . . .4. .-.1 6
3 . 3 . 3 R e p l a c i n tgh e w r i s t p i t c hd r i v em o t o r . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . 4 -1g
3 . 3 . 4R e p l a c i n g t h e w r i s t r o l l d r i v e m o t o r . . . . . . . . . . . . .
.
.
.
.
.
.
'
.
.
.
.
.
.
.
.
. . . . . . . . . .4. - 2 0
A d j u s t m e na
t n d R e p l a c e m e notf t h e T i m i n gB e l t
. . . . .4 - 2 0
3 . 4 . 1 R e p l a c e m e nf rt e q u e n c y . . .
3 . 4 . 2C h e c k i n g , a d j u s t i n g , a n d r e p l a c i n g t h e s h o u l d e r d r i v e t i m i n g b e l t . . . . . . . . . . . . . . . . . . 4 - 2 1
3 . 4 . 3 C h e c k i n ga, d j u s t i n ga, n d r e p l a c i n gt h e e l b o wd r i v et i m i n g b e 1 t . . . . . . .. .. . . . . . . . . .4 - 2 4
3 . 4 . 4 C h e c k i n ga, d j u s t i n ga, n d r e p l a c i n gt h e w r i s t p i t c hd r i v et i m i n g b e l t . . . . . . . . . . . . . . .4. .- .2 7
. . . . . . . . . . .4. - 3 0
R e p l a c e m e notf t h e C u r l e dC a o r e s. . . . . . . . . . . .
. . . . . . . . 4. - 3 2
l n s p e c t i o nA, d j u s t m e n ta, n d R e p l a c e m e notf t h e B r a k e s . . . . . . . . .
3 . 6 . 1 C h e c k i n ga, d . j u s t i n ga ,n d r e p l a c i n gt h e s h o u l d e rb r a k e. . . . . . . . . . . . ...... . . .. . . . . . . . . . . .4. - 3 2
... ....4-34
3 . 6 . 2C h e c k i n g , a d j u s t i n g , a n d r e p l a c i n g t h e e l b o w b r a k e . . .
.. 4-36

@ neeeruorces
APP-1
1.1
1.2
1.4
1.5

2.

APP.5

1 1

2 . 2 F u n c t i oonf E a c hS i g n aLl i n e . . .. . . . . . . . . . . . .
2.5

RS232C
Settings

2.5
2.6

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

3 . 1 . AE x t e r n al /l OC o n n e c t oPri nA s s l g n m e n ltTs y p eA l / OC a r d ) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A p p - 1 5
3 . 1. 8 E x t e r n al /l OC o n n e c t oPri nA s s i g n m e n (t T
s y p eB l / OC a r d .) . . ' . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A p p - 1 6
l/OCircuitSpecifications(TypeAl/OCard).............. ..........'.....App-l7
..................App-18
3 . 2 . 8l / OC i r c u iSt p e c i f i c a t i o(nTsy p eB l / OC a r d ) .. . . . . . . . . . .
. ...........App-19
5.5.4 F u n c t i o n s o
l /fO S i g n aLl i n e s( T y p eA l / OC a r d .) . . . .. . . . . . .
.
.
.
.
.
.
.
.
.
.
.............App-20
3 . 3 . 8F u n c t i o nosf l / OS i g n aLl i n e s( T y p eB l / OC a r d )
3.4.AE x a m p l e oCf o n n e c t i o n t o l / O C i r c u i t s ( T y p e A l / O C a r d. .) .. .. .. .. .. .. .. '.. . . . . . . . . . . . . . . . A p p - 2 1
3 . 4 . 8E x a m p loef C o n n e c t i o n t o l / O C i r c u i t s ( T y p e B l / O C a r d ) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A p p - 2
. ............App-23
3 . 5 l / OS i g n aLl i n eT i m i n gC h a r (t S y n c h r o n o u
l / sO ) . . . . . . . . .
3.5.1.ASynchronousinputtiming(TypeAl/Ocard)............... ...App-23
.........App-23
( T y p eB l / Oc a r d ) . . . . . . ... .
3 . 5 . ' l . BS y n c h r o n o ui ns p u t t i m i n g
..App-24
3 . 5 . 2 . AS y n c h r o n o u s o u t p u t t i m i n g ( T y p e A l / O c a r d ) . . . . . . . . . . . . . . . .
. .....App-24
3.5.2.8
Synchronousoutputtiming(TypeBl/Ocard)........
.
.
..........App-25
(
T
y
p
e
3 . 5 . 3 . AD e d i c a t el d
/ Ot i m i n g
A t / Oc a r d ) . . . . . . . . . . . . . . . .
.....App-26
3.5.3.8Dedicated
l/OtiminglTypeB l/Ocard)
. . . . . ' . . . .A P P - 2 7
J.O
E x t e r n al /l O C a b 1 e . . ......
a'7
.
.
.
.
.
.
.
.
............APP-28
P r e c a u tni osf o r C o nn e c t i o tno E x t e r n aEIq u i p m e n t
4. CARTESIAN
COORDINATE
SYSTEMREFERENCE
4.1
4.2
4.3
4.4

M o v i n g t h eR o b o t t oB e f e r e n cPeo s i t i o n . . .. .. . . .
Setting
t h e R e f e r e n cPeo s i t i o .n. . . . . . . .
StoringReference
PositionDatain EPROM
L o a d i n g t hR
e e f e r e n cPeo s i t i o D
n a t a . . . ' . . . ..... .

..App-29
. . . . . . . . . . . .A
. .p p - 2 9
.........App-30
..APp-31

5. PROGRAMMING
SYSTEMUSINGPERSONALCOMPUTER

..."".......APP-32

5. SAMPLE
PROGRAMS....

...............App-36

7 . C O M M A N D 1 | S T . . . .. ...... . .
8 . T I M | N GB E L T T E N S T O N
9. DEFINITIONOFWEIGHTCAPAC|TY.............

...........App-44
. . . . . . . . . . . ' . .A p p - 4 8
........App-49

. .N
. . .. .. .. . . . .
10.ROBOTARMSTORAGEPOS|T|O

.....App-50

. .A
. .M
. . .. . . . . . . .
11.OPERAT|ONALSPACED|AGR

. . . .. . . A p p - 5 1

1 2 .W | R | N G D I A G R A M
1 3 .D R | V E U N | T W t R t N G D | A G R A M . . . . . . .

. . . . . . . . . . . . . .....A. .p p - 5 2
............'......App-54

1.SPEC|F|CATI0N
2. OPERATIOl{

OTTIIICOt|MANDS
3. DESCRIPTION
4. MAIl{TEI{ANCT
A1{D
INSPECTION
5. APPENDICTS

CONTENTS(SPECIFICATIONS}

INSPECTION
AND ACCEPTANCE
1. UNPACKING
' ' '' 1-1
""" "'1-2

1 . 1 U n p a c k i nIgn s t r u c t i o n s
e s p e c t i o n"
1 . 2 A c c e p t a n cI n

t-J

2. SYSTEMOFCONSTRUCTION

2 . 1 OverallofConstruction" " ""'

S t a n d a r da n d O p t i o n a lE q u i p m e n t

"

"

"

. . . .' t- 4
1-5

"
R o b o "t " "
3 . 1 . 1 N o m e n c l a t u r' e
3 . 1 . 2 S t a n d a r sdp e c i f i c a t i o n' s
3.1.3 Externaldimensions
'
3 . 1 . 4 O p e r a t i o n s p a c "e"
3 . 1 . 5 B a s ioc p e r a t i o n "s "" " "
3 . 1 . 6 O r i g i ns e t( R e t u r tno o r i g i n ) " "
3 . 2 D r i v eU n i t
3.2.1 Nomenclature"
3 . 2 . 2 S t a n d a rsdp e c i f i c a t i o 'n s
3.2.3 Externaldimensions
TeachingBox(Option)
3.3.1 Nomenclature'
3.3.2 Externaldimensions
3.4

3.1

" " '

4.1
.+.J

Robot

""'

4.4
1+.3

4.6
4.7

N o i s e" '
Position

" """""'1-5
" "
"" 1-5
"" 1-7
"""
""
"""' " "1-7
" " "" ""'1-8
"" " """"1-9
" "" 1-10
"" "" " 1-11
"" "" " "' 1-11
''l-12
"
""""""
1-13
1-14
1-14
1 - 15
1 - 16

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

.....
5. WARRANTYPERIODAND PAINTCOLORS
3. 1

5.2

1-21
1-21

1. SPECIFICATIONS
1. UNPACKINGAND
ACCEPTANCE
INSPECTION
1.1 UnpackingInstructions11)Carefullyread "Section 1.1 Robot Transportation,
Vol. 2,,
beforeremovingthe robot from the package.
( 2 ) D o n o t h o l dt h ec o v e r( a r e aA i n F i g .1 . 1 . 1 w
. ) h e nr e m o v i n g
the
robot.
(3) The origin limit switchesand dogs (areasB, C) have been
factory-adjusted.
Do not touch them to ensurehigh repeatability.
(4) Brakeis being appliedto the arms (areasD. E) Do not force
these arms to extend.
(5) Do not removethe arrn fixing plate (areaF) until the robot
installationis complete,This plate protectsthe arm during
transportation.

Do nol force the arm.

Do not force the arm,

'Do not ho d tlie

cover,

Do
t h e I mil swltch.

Do not louch the imlt swilch.

Robot weight: approx. 1gkg

Fig. 1.1.1 Robot Attitude in the Package

The arm fixing platemust be reinstalled

beforetransporting
the robot.

1. SPECTF|CAT|ONS
order.
1.2 Acceptance
Inspection Checkthatthe receivedproductconformsto your purchase
purchased
follows:
whichvou have
are as
Ihe basiccomponents

No.

Tvpe

Description

Ouantity

Robot

RV,Ml

Dflve unit

D/U t\,'11

lMolorsignai cable {5m)

IVISM 1

Motor power cable {5m)

t\,1Pt\,11

,I

Power cord (2.5m)

POW-M1

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

I n s t r u c t r o nm a n u a

Warranty card

I n s t a l l a t i o nb o l t

10

Spring washer for installation

For Mg
bolt

11

F l a t w a s h e r { o r i n s t a l l a t i o nb o l t

ForM8

12

l/O card

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

M8x30

Table 1.1.1 Standard Components

The following options are available.

Description

No.

Type

T e a c h i n gb o x

T/8,M1

lMotor operated hand

Htvl-01

EP-ROI\,4

256K,ROM

External l/O cable

l/O-CBL {5m)

P e r s o n a lc o m p u t e r c a b l e

NilULTl16,PC9801 (Note)

Backupbattery

BAT-M1
Table 1.1.2 Options

1. SPECIFICATIONS
2. SYSTEMOF
CONSTRUCTION
2.1 Overallof Construction

Motor power cable

(MPM]) 5m

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

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

Robot
(RV,M1)
( P O WM 1

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

Fig. 1.2.1Ovelall of Construction

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

Division

e
;

Remarks

Type

Description
Robot

RV-t\,11

Vertical articulated robot with 5 degrees of

freedom.

Drive unit

D/U M1

Pobot controller.

Molor siEnalcable (5m)

MS.t\,4
1

G i v e sc o n t r o ls l g n a l sf r o m t h e d r i v e u n i t t o
the robot.

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

t\,1PM1

S u p p l i e sp o w e r f r o m t h e d r i v e , J n i tt o t h e
robot.

P o w e r c o r d ( 2 . 5 m)

P O WM 1

S u p p l i e sp o w e r t o t h e d r i v e u n i t .

l/O card A8 (or BB)

to-A8 (r/o-88)

8 i n p u t s / Bo u t p u t s .

l/O card416 (or B16i

v o - A 1 6( t / o8 1 6 )

1 6 l n p u t s / 1 6o u t p u r s .

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

T/B Ml

Handy cont.ol switch box with a cable for

t e a c hi n g , c h e c k i n g ,c o r r e c t i n gp o s i t r o n s -

Motor operatedhand

HM O1

Hand which is only used with the RV-M1

a n d a l l o w s 1 6 s t e p h o l d i n gp o w e r c o n t r o l .

EP,ROM

2 5 6 KR O M

Storeswrittenprogramsandset positions.

Backupbattery

BAT II1

B a c k su p l " e m e m o r y d u l n g p o w e r o f f .

External l/O cable

r/o-cBL

C o n n e c t sw i t h a n e x t e r n a lp e r i p h e r a l e, . g .
p r o g r a m m a b l ec o n t r o l l e r .

R S ' M U L T I - C B{ 3Lm )

RS 232C cable used to

MULTI'I6.

connect the

MULTIl6
Centronics
f

RS-232C

C - M UL T I - C B (L2 m )

Centronicscable used to connect the

R S ' P C - C B( L3 m )

RS 232C cable used to

PC9801.

MULr16.
connect the

PC9801
C e n t r o n i c s C - P C - C B L( 1 . 5 m )

Centronicscable used to connect the

PC9801.

RS-232C

R S F R E EC B L ( 3 m )

RS-232C cable wiih one free end.

Centronics

( 1L. 5 m )
C-FREE-CB

C e n t r o n i c sc a b l e w i t h o n e { . e e e n d .

Free cable

Table 1.2.1 Standard and Optional Equipment

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

B8 or 816 is for sourceload.

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

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

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

S ho u l d e r
(J2 axis)

\-t

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

Hand installation
surface

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

Shoulder cover
{lower)
Curl cable

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

--S=:?

Molor siqnal cable

(to the upper

conneclorl

Motor power cable

(to the lower
connector)

Base side cover (R)

* {L) Left side
Fig. 1.3.1 Nomenclature (External Viewl

1. SPECIFICATIONS

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

J2 axismotor

J4 axis limit switch

J5 axis limit switch

J2 axis brake

J2 axis limit switch

J3 axis brake

J'l axis limit switch

J1 axis motor

Relay card

Fig. 1.3.2Nomenclature(lnternalView)

1. SPECTFTCAT|ONS
3.1.2 Standard
specifications
Itern

Specifications

Mechanical Structure

Operation
range

Remarks

5 degrees of freedom, venical articulated

robot

Waist rotation

300' (max. 120"/sec)

J1 axis

Shoulder otation

J2 ax;s

Elbow rotation

130"lmax. 727sec)
1'10'(max. 109'/sec)

Wrist pitch

190" (max. 1001sec)

J4 axis

1 1 8 0 ' ( m a x .1 6 3 7 s e c )

J5 axis

ro tl

upper arm

250mm

F o r ea r m

160mm

J3 axis

Arm length

M a x . 1 . 2 k g f ( i n c l u d i n gt h e h a n d w e i g h t )

75mm from the mechanical

interface (center of gravity)

1000mm/sec (wrist tool surface)

Speedat point P in Fig. 1.3.4

Positionrepeatability

0.3mm (roll centerof the wrist tool surface)

Accuracy at point P in Fig.

1. 3 . 4

Drive system

Electricalservodrive usinqDC servomotors

Weight capacity
Maximum path velocity

Robot weight
Motor capacity

Approx. 1gkgf
J l t o J 3 a x e s :3 0 W ; J 4 , J 5 a x e s r1 l W
Table 3.1.1 Standard Soecifications

3.1.3 External
dimensions

-L
Mechanical
interface

I
I r+s

60

t68

a2

254

180"

Frange deraiLs

Fig. 1.3.3 Fxternal Dimensions

lP c

968)

1. SPECTFTCATIONS
3.1.4 Operationspace

Fig. 1.3.4OperationSpace

Note1: Theoperationspaceindicatedin Fig.1.3.4assumethatthe

hand is not installedto the robot. (Traceof point P)
in some area
Note2: The wrist pitchoperationmay be restricted
positions.
For
dependingthe upper arm and fore arm
d e t a i l ss, e e F i g . 5 . 1 1 . 1i n t h e a p p e n d i x .
Note3: Jog operationmustbe performedwith specialcareas the
wrist mav interferewith the robotbaseand floor surface.
REMARKS
Jog operation indicates a manual operation using the
teachingbox.

1. SPECIFICATIONS
3.1.5 Basicoperations

Fig. 1.3.5shows axis operationsin the articulatedsystem.

lJ:lr 'E

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

.rzr9

Fig. 1.3.5 Operations in Articulated System

Note I: The positivedirectionof the J1 and J5 axisoperationsis

clockwiseas viewedfrom arrowsA and B, respectively.
Note2: The positivedirectionof the J2, J3 and J4 axisoperations
is the uoward directionof the arm and wrist.

Fig. 1.3.6shows operationsin the cartesiancoordinatesystem.

_

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

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

//'

rength

t--

Fig. 1.3.6Operationsin Cartesian Coordinate System

Note3: The TCP moves straight in the Cartesiancoordinate

system.
Note4: The tool length is set by a parameter.(See the TL
command.)
Note5: f, indicates
the robotattitudechangingoperationwithout
moving the TCP.
REMARKS
Symbolsin "n" indicatethe control keys of the teaching
box.

1. SPECIFICATIONS
3.1.6 Originset
(Returnto origin)

- 10"

<

top vrew 2

Fig. 1.3.7Robot Zeroing Operation

( 1 ) The robot of the Movemaster

EX RV-M1must be returnedto

origin after power on. (For details,see Section4.3 Origin

Setting,Vol. 2.)

t2l The arm should be moved as appropriateby jog operation

beforereturnto origin so that the robot will not interferewith
any peripheralequipmentduring set origin.

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

Q.,

Note1: All axesin step1),step2) mustbe returnedto originat the

same me.
Note 2: The wrist roll (J5) angle is *179.9" after origin set.

1. SPECIFICATIONS
3.2 DriveUnit
3.2.1 Nomenclature
Externalvi

@;

o
0

Side door

now

Front control

Rearview (View A)
E x t e r n a ll / O e q u i p m e n t c o n n e c t o r

V e n t i l a t i o no p e n i n g

H e a ts i n k

Power switch

Centronics
connector
Rating plate

Fuse (10A)
Hand select
sw[cn

RS-232C
connector

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

Teaching box
connecror

AC inlet
Motor signal
cable connector

Motor power cable connector

Fig. 1.3.8 Nomenclature (Drive unit)

1. SPECIFICATIONS
3.2.2 Standard
specifications
Item

Specilications

Teachingmethod

Programminq language system 163 commands), MDI'1 (using a personal

compLlter)

Control method

PTP position control system usinq DC sei\/o motors

Number of ccntrol axes

5 a , ( e s { i l o L , !c n a a ^ 3 l

Position detection

Pulseencodei system

R e t u r nt o O r i g i n
O r i g i ns e t t i n g

L i m i t s w i t c h e ea n d p u l s e e n . c d e f s ( Z p h a s e d e t e c t i o n m e t h o d )

Interpolation functioo

A r t i c u l a t i c ni n t e r p o l a t i o n l, i n e a r i n t e r p o l a t i o n

Speed setting

'lC

steps lmax. 1000n-rmlsec)

Number of positions

629 (8KB)

Number of program sleps

2048 (16K8)

Data storage

Write to EP ROM iisrng the built-in EP-RO|\4writer or storage in the batterybacked static RAM lthe battery is optional and backs up the RAfvl for about 2
years).

P o s i t rno t e a c h i n g e q u i p m e n t

T e a c h i n g D o x { o p t i o n ) o r p e r s o n a lc o m p u t e r * 2

P r o g r a m mi n g e q ui p m e n t

P e r s o n a lc o m p ! t e r * ' z

Externall/O

General'purpose
I'O, 6 points each (16:plnt type algllab]gL
G e n e r a l - p u r p ossyen c h r o n o ussi g n a l sl S T B ,B U S Y ,A C K ,R D Y )
No dedicatedl/O (dedicatedl/O of 3 points each available)
Power for externall/O should be preparedby the user (12Vto 24V DC)

Interface

1 parallel interface (conforming to Centronics)

1 s e r i a l i n t e r f a c e( c o n f o r m r n gt o R S 2 3 2 C )

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

Using any of the front control switch, teaching box switch, and rear terminal
block (N/C contact terminali

Hand control

Motor-operated hand or pneum atically-operated irand (using AC solenoid)

Brakecontrol

J 2 a x i s ( s h o u l d e r J) ,3 a x i s ( e l b o w )

Power source

120Vt220V
t230Vt240V
AC, 0.5KVA.-

Ambient temperature

5"C to 40"C

Weight

Approx.23kgt

Size

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

Note 1: MDI standsfor ManualData Input

Note2: To be preparedby the user.
Note3: Dependingon the sourcepowervoltagein your country.

1. SPECIFICATIONS
3.2.3 Externaldimensions

o POWER

MOVEMASTER
EX

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

;0i!
3fl
i0il :l.U
it I

Fig. 1.3.9 External Dimensions (Drive unit)

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

Cable (3m)

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

Control key

Teaching box

Hand strap

Fig. 1.3.10 Nomenclature (Teaching box)

1. SPECIFICATIONS
3.3.2 Externaldimensions

L:3000mm

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

RV-M1

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

rruc
lloec

;;ll

P.C

NST O R G
T R N WRT

'-lt

STEP

ar
;;ll

xYz

T00t

Y-l[-;-

Atr
;ll
n1
4E+ll I EP_

."*ll

R_

Flt

0PTt0

< o>

>c<

MITSUBISHI

Fig. 1.3.11 External Dimensions (Teaching box,

1. SPECIFICATIONS
3.4 Motor-operatedHand
(Option)

The motor-operated
handfor the RV-M1can be easilyinstalledto
the robot and allows the holding power to be set by current
control.

Item

Specifications

Type

Remarks

HM-01

Drive system

DC servo motor drive

O p e n i n g / c l o s i ns g
troke

0 to 60mm

Grip power

Max.3.skgf

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

The holding power can be set

in 16 steps.

5 to 40"C

Service life

More than 300,000times

Weight

6009f
Table 1.3.3 Motor-Opeiated Hand Specifications

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

2-3.4mm dia. hole

{6.5 mm dia. x 3
spot facing in the
rear surface)

n
1'l

;r--,t

o l

mr-'.
-l
-

I
I

Stroke
0to60
(20 to 80)

2 x 4-M3

1 SPECTFTCATTONS
4. US|NGTNSTRUCTTONS
4.1 Safety

(1) Do not touch any moving part of the robot duringoperation.

Any work within the operationrangesmust be done after
switching off the power.
(2) Severalemergencystop switchesshould be installedas
required.
(3) Do not allowthe robotto makecontactwith any person(e.g.
set up a fence aroundthe robot).
to the robotoperatingstatesfrom the
{4) Signalscorresponding
driveunit l/Oconnectormay be usedas appropriate
to indicate
the operationstatusof a line, etc. (Dedicated
output signal
availablefor the option l/O-A16or B16)
{5) Groundthe Movemasterto preventnoiseand electricshock.

4.2 Operating
Environments

(1) Usethe robot and drive unit within the allowedtemperature

range (between5'C and 40'C).
(2) Installthe Movemaster
awayfrom the directsunlightand any
heat source.
(3) Do not allow water, liquid and metal shavingsto enter the
robot and drive u nit.
(4) Use the Movemasteranywherethat there are no explosive
gases,dust, dirt, oil mist, etc.
Do not use this robot in atmospheres
contsiningexplosive
gas, dust or mrst.
(5) Protectthe robot againstimpact and vibration.
(6) Keep the robot and drive unit connectorsclean.Wipe the
conductiveareaswith alcoholto protectfrom dirt, dust, etc.

4.3 Robot

(1) Protectthe plasticcoversfrom damage.

(2) Inspection
must be donedailyand periodically.
lf any noiseis
generated
or unusualoperationperformed,immediatelystop
the robot and make the required check and adjustment
according
to vol. 4 "IVIAINTENANCE
AND TNSPECTION
PROCEDURE."

1. SPECTF|CATIONS
(3) Thedrivemotormay be overloaded
and burneddependingon
the robot usingcondition.The robot must not be usedunder
t h e f o l l o w i n gc o n d i t i o n s .
(D The workpieceis extremelylarge.(Thecenterof gravityof
the workpieceis away from the hand mountingflange
surface.)
@ Load over the drive motor rating le.g. forcing,pressure
application
) is generatedcontinuously.
) The robot arm is extendedfor a long time.
f4l Acceleratio
n/deceleration
is repeatedwithoutstoppingthe
given axis.
@ The jog operationkey is kept pushed with the robot
pressedagainsta mechanicalstopper.
(4) Do not operatethe robot with the brakeapplied(shoulder,
elbow axes only). (Checkthat the brake "clicks" in the
shouldercover at power on.)
(5) Fix the robot to a surfaceplate, etc. using the accessory
installation
bolts.(Minimumsizeof the iron Dlate:270x 350x
12 mm)
(6) Beforetransportingthe robot,the suppliedarm fixing plate
must be installedin accordancewith "TRANSPORTATION.
I N S T A L L A T I OANN D S E T T I N G - U P
i n" V o l . 2 .
(7) Avoidanycollisionbetweenthe robotarm andworkpiece,
etc.
to protectthe mechanicalarea from damage.

4.4 Hand

('l) The motor-operated

hand losesthe grip powerduringpower
off.
(2) A lessholdingpower is providedby extremelylong fingers.

4.5 LineVoltage

(1) The line voltagemust be within +101o of the rating.

(2) The robot is reset or placed in an error state and is then
broughtto a stopwhen instantaneous
powerfailurecontinues
morethan 20ms.In this case.restartthe operationbeginning
with the steo after oower on.
(3) lt is recommended
to usethe memorybackupbattery(option)
to retaindata during any power failure.

1. SPECIFICATIONS
4.6 Noise

( 1 ) A robotfaultor dislocation
may occurif surgevoltageof more

than 1000V,1 us is appliedto the power line.

\21 Usethe Movemasterawayfrom anyequipmentthatgenerates

oscillator,
inverter,high-frequency
largenoise(e.9.large-sized
contactor).

(3) Use a radio or televisionaway from the Movemaster.(Coninterference,

the Movemasterconcerningelectromagnetic
in
FCC,
U.S.A.)
forms to classA
(4) In hostileenvironments,
disconnectthe teachingbox when
not in useso that externalnoisemav not causea robotfault.

4.7 Position
Repeatability

robotis basedon the

The Positionreoeatabilitv
of the Movemaster
following industrialrobot definitionin the JapaneseIndustrial
Standards.{JlS)
with whichthe
Positionrepeatability:
Themeasureof the accuracy
robot is positioneci
underthe same conditionsand by the same
method.
Thisdefinitiondoesnot applyto the positiondifference
when the
teachingspeedsare differentfrom executionspeeds,and to the
numerically
set coordinates
and to the positioningprecision,
etc.

1. SPECIFICATIONS

M o v e m a s t eIrn f o r m a t i o n
{1)
tilisjamesl

The robot articulation

namescorrespondto the humanbody as illustrated
Detow.

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

1. SPECIFICATIONS
5, WARRANTYPERIODAND
PAINTCOLORS

5.1 WarrantyPeriod

( 1 ) The robot indicatedin the warrantycard is repairedfree of

chargewithin one year (i.e.8 hours/dayx 250 days)afterthe

deliverydate if a fault has occurredunder the appropriate
operatingconditionsand the fault is attributableto the
process.(Thiswarrantydoesnot applyto any
manufacturing
parts
consumable
specifiedby Mitsubishi.)

\ 2 ) The robotwill be repairedon a commercialbasisevenduring

the warrantyperiodif the fault and/ordamageis attributable
IO:

1) Act of God (e.9. earthquake,damagesfrom wind and

water).fire.
2) Using mistake.
3) Movementor transportation
after installation.
4) Repairor modificationmade by other than Mitsubishi.
5) Equivalents
for the above
WARNING
Consumableparts (e.g. motor, brush, timing belt, curl
cable| are changedon a commercialbasis.(For consumable parts, see Section 4 MAINTENANCEPARTS,Vol. 4.)
(3) Any warranty card without the delivery data and sales
representative
name enteredis invalid.
(4) lmmediatelycontactthe salesrepresentative
if anv fault has
occurred.
{5) The warrantycard must be shownto the serviceengineer.lf
the warranty card is not shown, a servicingfee may be
chargedeven during the warrantyperiod.

5.2 PaintColors

. .u n s e l10Y8/1
l
70% gloss
O R o b o t a r m. . . . . . . . ...... . . . . . .M
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
M. .u n s e l l10Y3/170% gloss
) R o b obt a s e
. Munsell 10Y8/170% g loss
)Driveunit
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.M
. u n s e l5.2G2.510.2
l
@ T e a c h i nbgo x
.
.
.
.
.
.
.
. un s e l lN2.5 metallic70% gloss
hd
and
M
OMotor-operate
The standardpaintcolorsare subjectto changewithout notice.

l. sPrcrflcATr0r{s

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

CONTENTS(OPERATION}
,..........2-1

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

........2-1
T r a n s p o r t a t i o fnt h e R o b o t. . . .
.............2-3
I n s t a l l a t i oonf t h e R o b o t . . . . .
.
.
.. . .. . .. . .. . 2 - 5
Transportatia
o n dI n s t a l l a t i oonf t h eD r i v eU n i t . . . . . . . . . . . . . . . . .
...............2-s
l n s t a l l a t i oonf t h e l / OC a r d
.............2-6
Grounding
.
.
.
.
.
.
.
.
.
.
.
.
'
.
............-................2-7
Cable
Connections
...................2-8
(
O
p
t
i
o
n
)
.
.
.
.
.
.
.
.
.
.
'
I n s t a l l a t i oonf t h e H a n d
. . . . . . . . . . . . . 2. .-.1 0
I n s t a l l a t i oonf t h e T e a c h i nBgo x( O p t i o n )
..............2-10
f n s t a l l a t i oonf t h eB a c k u p
(
O
p
t
i
o
n
)
Battery
..............2-11
l n s t a l l a t i oonf t h eE m e r g e n cSyt o pS w i t c h

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

..............2_12

. . . . . . . . . . 2. .- 1 2
D r i v eU n i t
........2-12
2 . 1 . 1 F un c t i o n o
s f f r o n tc o n t r osl w i t c h easn dL E D s . . . . . . . . . . . . . . . .
..........2-13
2 . 1 . 2 F u n c t i o n s os fi d e s e t t i n g s w i t c h e s a n d L E D s . . . . . . . . . . . . . . .
2 . 1 . 3 F u n c t i o n s oc fo n n e c t o rssw
, i t c h e sa,n d t e r m i n abll o c k o n r e a r p a n e l . . . . . . . . . . . . . . . 2 - 1 6
..............2-18
2 . 2 T e a c h i nBgo x. . . . . . . . . . . . . . . '
. . . . . . . . . . . . . . . . . . . . . .2. -. .1. 9.
2 . 2 . 1 F u n c t i o nosf t h es w i t c h e s
. . . . . . . . . . . . . . . . . . . . .Z. .-.1. .9
2 . 2 . 2 F u n c t i o nosf e a c hk e y . . . . . . .
. .. . .. . .. .. .. . .. . .. . .. . .. . . 2 _ 2 1
2 . 2 . 3 F u n c t i o nosf t h e i n d i c a t oLrE D. . . . . . . . . . . . . . . . .
..........................2-22
2.2.4Releasingthebrakes........
2 . 2 . 5 l n t e l l i g e nc to m m a n dcso r r e s p o n d i n
t oge a c hk e y . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2 - 2 2
2.1

3. BEFORE
STARTfNG
THEOPERATION
3,1

3.2

3.3

.........................2-23

.....2-23
S y s t e mC o n f i g u r a t i o n . . . . . . . . . ' . . . .
.
.
.
.
.
.
.
.
.
.
......2-23
3 . 1. 1 S y s t e mc o n f i g u r a t i ocne n t e r i nagr o u n da p e r s o n a l c o m p u t e r ' .
3 . 1. 2 S y s t e mc o n f i g u r a t i ocne n t e r i nagr o u n dt h ed r i v eu n i t . . . . . . . . ' . . . . . . . . .. '....... . . . . . . 2 - 2 4
.....2-Zs
R o b o t - C o m p u tLei n
r k. . . . . . . . . . . . .
.
.
.
.
.
.
.
.
.
..................2-25
3.2.1 Centronicsinterface.....
......2-25
3.2.2 RS232C
interface....'..'..
...........................2-26
C o n t r oM
l odes..
. . . ' . . . . . .... . . . . . . . . . . 2 - 2 6
3 . 3 . 1 P e r s o n ac lo m p u t em
r ode
...'..'..'.......2-28
3 . 3 . 2 D r i v eu n i tm o d e

4. FROMPOWER-UPTOORtctNSETT|NG.
4.1 Setting
t h eS i d eS e t t i n gS w i t c h e s
4.2 TurninP
g o w eO
r N . . . . . . . . .. . . . . . . .
4.3 OriginSetting

.....................2_29
. . . . . . .. ' . . . . ' . . . . . . 2 - 2 9
. . . . . . . . . . ... . . . . . . .. 2 - 2 9
......2-29

s . P o s f T f o NS E T T | N G
P R o C E D U R. .E. . . . . . . . . . . . . . . .

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

5 . 1 S e t t i n gt h eC a r t e s i aCno o r d i n a tSey s t e mR e f e r e n cPeo s i t i o n . . . . . . . . . . .. .. .. .. .. . . . . . . . . . . .2.-. 3. 0

. . . . . . . . . ' . . . . . . . . . . 2. .-.3. .0. .
5 . 2 S e t t i n g t h e T oLoel n g t .h. . ' . . . . . . . . .
'
.
.
.
.
.
.
. .2-31
5 . 3 D e if ni n g ,V e r i f y i n gC, h a n g
i n g ,a n dD e l e t i ntgh e P o s i t i o n s
6. PROGRAM
GENERATION
AND EXECUTION..
6.1
6.2

G e n e r a t i nagn dT r a n s f e r r i nagP r o g r a m
E x e c u t i ntgh e P r o g r a m
6 . 2 . 1 S t e pe x e c u t i o n
6 . 2 . 2 S t a r t i n tgh e p r o g r a m
6 . 2 . 3 S t o p p i n g / r e sr t ian gt h e p r o g r a m
6 . 2 . 4 S t o p p i n g / r e s e t ttihnegp r o g r a m

7. WRITINGTHE PROGRAM/POSITION
DATA IN EPROM
( P E R S O N A L C O M P U T E R M O D E.).. . . . . . .
7.1
7.2
7.3

I n s e r t i nEg r a s e d
EPROM
W r i t i n gD a t ai n t oE P R O M
Precaution
f osr S t o r a g o
efEPROM

8 . O P E R A T f OUNS I N GT H EE P R O M
DATA
8 . 1 l n s e r t i ntgh e E P R O M. . . . . . . . . .
8 . 2 S e t t i n tgh e S i d eS e t t i n gS w i t c h e.s. . . . . . . . .
8 . 3 T u r n i n g P o w e r O"N' . . . ' . . . . . . . .
8 . 4 E x e c u t i nt gh e P r o g r a m
8 . 41
. S t e pe x e c u t i o n .
8 . 4 . 2 S t a r t i n tgh e p r o g r a m
8 . 4 . 3 S t o p p i n g / r e sr ttian gt h e p r o g r a m
8 . 4 . 4 S t o p p i n g / r e s e t ttihnegp r o g r a m
9. OPERATIONUSINGTHEEXTERNALSIGNALS
9.1
9.2

Setting
t h eS w i t c h e s . . . . . . . . . .
E x e c u t i ntgh e P r o g r a m
9 . 2 . 1 S t a r t i n tgh e p r o g r a m
9.2.2 Stopping/resta
rtingthe program
9 . 2 . 3 S t o p p i n g / r e s e t ttihnegp r o g r a m

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

,..,.,,..,..,,2-33
. . . . . . . . . . ' . . .2. .-.3 3
..'.'...........2-34
..-..-.......'..'..2-34
.... .2-34
. . . . . . . . . .. . . 2 - 3 5
. . . . . . ' . . . . . . . .2. .-.3 5

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

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

Fig. 2.1.1 Transportation of the Robot

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

12) Beforetransportingthe robot, releasethe brakesin accordancewith Section2.2.4,Vol.2, move the first arm (4) in the
positivedirectionand the secondarm (6) in the negative
directionuntilthey are pressedagainstthe stoppersas shown
i n F i g .2 . 1 . 1a, n d i n s t a ltlh e a r m f i x i n gp l a t e( 5 )t o t h ef i r s ta r m
( 4 ) a n d b o d y ( 1) .
(3) When raisingthe robot,takehold of the undersideof body 11)
or base {2) with your both hands.
(4) Never take hold the sides or back of shoulder cover (3), or
damage to the cover or personal accidentcould result.

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

2. OPERATION
1.2 Installationof the Robot

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

82
60

168
les

.---+i

Front ot rooot
Fig. 2.1.2 Installation

ot the Robot

Fig. 2.1.3 Robot lnsta ed Dimensions

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

(21The robot mountingsurfacehas been machinedfor accurate

installation.
Usingthe 0 9 mountingholes providedat four
cornersof the base and the installationbolts lMg X 30
hexagonsockethead bolts)furnished,securethe robot onto
the floor.
{3) It is recommended
that common surfaceplatesbe used ro
ensurethat the robot is properlyalignedwith the equipmenr,
jigs, and fixtureson which the robot works.
( 4 ) Surfaceroughness
of the surfaceplatesonto whichthe robot

is to be securedmust be Vv or more.A roughsurfaceis the

causeof poor contactbetweenthe robot and surfaceplate,
r e s u l t i n gi n m i s a l i g n m e n t .
( 5 ) The fixing plate(4) is installedbeforeshipmentas shown in

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

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

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

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

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

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

-'.

!== *nff

Itttttilililililtilliltl

Fig. 2.1.5 lnstallation ot the l/O Caro

2. OPERATION
1.5 Grounding

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

(21Use the Class3 grounding(groundresistance100 ohms or

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

D/U: Drive unit; P/C: Personalcomputer

FI

TT
-=-

a) DedicatedlBest)

b ) S h a r e d( c o o d )
Fig. 2.1.6GroundingMethods

c) Common (Fair)

2. OPERATION
1.6 CableConnections

Drve lnit

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

Motor power cab e

( T y p e : M P N ,I4j

Fig. 2.1.7

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

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

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

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

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

Spring latch

t
Raise

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

2, OPERATION
1.7 Installation
of the Hand
(Option)

Connector on fore arm

n ,t-\
lol

Curledcable (Hl\.4-CBL)

r
Position of the connecror

\JJJ

Ar
\\lr

J5 axis dog

/
Fit nylon clrp

Fig. 2.1.9 Installation of the Hand (Option)

Fig. 2.1.10 Hand position When Installed

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

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

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

t4l

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

( 5 ) T a b l e 2 . ' 1 . 'l1i s t st h e s p e c i f i c a t i o n so f t h e m o t o r , s o l e n o i dv a l v e ,
a n d c o n n e c t o r sf o r t h e c u s t o m - b u i l t h a n d .

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

2. OPERATION

Key
No.

Manufac{urer
Name

Connector on fore arm

ill

.r.,

C a b l ec o n n e c t o r( o n a r m s i d e )

a3-'

C a b l ec o n n e c t o r( o n h a n d s i d e )

i4l

Connectorpin

Connector

Description

Connector on hand

SM
connector

Tvpe

Type
SMP,O2V.BC

SHF,OOl
T O.8SS

SMR O2V-BC

sYM 001T,0.6

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

s B r 3r o P . 2(s0 1 )

Furnishedwith connector

SOLDERLESS
TERMINAL
MFG,CO,, LTD.

HI R O S E
ELECTRIC
CO.,LTD,

C!rled cable

(HM,CBL)

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

Pneumatically-operated hand

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

llotor operated hand

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

Drivesource:DCmotor
Powerrequirement
| 24VDC
Capacityr6.5W

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

NOTE:
. M o d e l 1 0 6 - 3 0 0 1( S M 2 6 )
m o t or m a n u f a c t ur e d b y
S a n y o El e c t r i c i s r e c o m
mended.

Motor-operated hand

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

2. OPERATION
1 . 8 l n s t a l l a t i o no f t h e
Teaching Box (Option)

W h e n u s i ng t h e t e a c h i n gb o x ( o p t i o n ) ,b e s u r e t o p l u g t h e t e a c h i n g
b o x c a b l ec o n n e c t o ri n t o t h e m a t i n g c o n n e c t o ro n t h e r e a r p a n e l o f
t h e d r i v e u n i t ( t h e l o w e r c o n n e c t o ro n t h e l / O c a r d ) b e f o r et u r n i n g
p o w e r O N . A t t h i s t i m e , d o n o t f o r g e t t o r a i s et h e s p r i n g l a t c h e st o
secure the connector rnto posrtron.
W h e n e v e rt h e c o n n e c t o ri s p l u g g e d a n d u n p l u g g e d ,m a k e s u r e
that the drive unit is OFF.
l/O card

or f,2C or #2Dl

.aa Q

&
tnt
ltil

IlJI

?to

Fig. 2.'1.11Connecting the Teaching Box

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

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

( 3 ) P i c ku p t h e b o t h e n d s o f t h e b a t t e r ys o c k e ta n d p l u g t h e s o c k e t
) n the card. At this time. make sure
i n t o t h e c o n n e c t o r( P S ' 1o

t hat $9SgegJ_tj,q,s_o_cJtelylgLg_t!9_gle,gg_oge_
j9,v_'jJ9!E
Je999.
po
to
en
su
re
co
rrect
Iarity.
9SWg^ltlg,gelg,SyIgggl
(4) Afterthe aboveprocedures
havebeencomplete,reinsertthe
cardintothe firstslotfrom the left and secureit by tightening
the upper and lower screws.

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

Fig. 2.'1.12.

1.10 Installation
of the
EmergencyStop
Switch

From a safetyviewpoint,be sure to installthe emergencystop

switch at a locationwhich is readilyaccessible.
(1) Usethe "EXT.EMG.STOP"terminalson the rearpanelof the
drive unit for connection
(2) Removethe strap furnishedand connectthe COM terminal
and NC terminal {normally-closed
) of the emergencystop
switch to the terminals.Use care not to lose the strap.
(3) Electrical
ratingsfor the emergencystop are 'l2V DC,25mA.
Selectwire that offerssufficientstrengthand good resistance
to environmentalchanges.

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

rrl
l2')
i3)
i.4)

POWER

t!1ovEt\,lASTEREX

E M G .S T O P
ERROR
EXECUTE
START

(61

STOP

!,1)

RESET
MITSUBISHI

Fig.2.2.1 Dtive Unit Front Panel

( 1 ) POWER(PowerindicatorLED,yellow)

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

t2) EMG. STOP(Emergencystop switch,red)

The emergencystop pushbuttonswitch.When this switch is
pressed,
the servosystemis cut off andthe brakesareapplied,
thus bringingthe robot to an immediatestop.At the same
time,the errorindicatorLED(3)flashesOFFand ON with LED3
l o c a t e di n s i d et h e d r i v eu n i t s i d e d o o r l i g h t i n gu p .
( 3 ) ERROR(ErrorindicatorLED, red)
B l i n k so r l i g h t su p t o w a r nt h a t a n e r r o rh a so c c u r r e di n t h e
system.In error mode I, it blinksat 0.s-secondintervals.
while in error mode II. it lightsup and stayslit. The buzzer
s o u n d si n p h a s ew i t h t h e O N t i m i n go f t h i s L E Di f i t h a sb e e n
set to ON {bit 8 of SWl insidethe side door in the upper
position).
( 4 ) EXECUTE
(CommaridexecutionindicatorLED,green)

Lightsup and stayslit while a commandis beingexecutedby

operaingthe driveunit or teachingbox. lt goesout when the
executionhas beencompleted.lt stay lit while a programrs
running.
( 5 ) START(Startswitch,green)
Startsthe programor restartsit from an suspendedstate.

2. OPERATION
(6) STOP (Stop switch, red)
Stopsthe program being executed.At this time, the robor
completesexecutingthe currentcommandbefore it stops.
This meansthat, if the robot is executinga move command
when the switch is pressed,it will completereachingthe
destinationpoint.

t 7 ) RESET(Resetswitch,white)
Resetsthe programsuspendedby the deperssion
of the stop
switch and error mode II. When the switch is pressed,the
programreturnsto its beginningand,if an errorhasoccurreo,
the error indicatorLED goes out. Note, however,that the
general-purpose
l/O outputsare not reset at this time.
2.1.2 Functionsof side
setting switchesand
LEDs

(1r)
l)?)

(el [o)

Fig.2,2.2 Dtive Unit Side Panel

( 8 ) SOC2(EPROMsocketfor program and positiondata)

A user socketfor installationof an EPROMinto which the

programand positiondatahavebeenwritten.The EPROMcan
be insertedinto,or removedfrom,the socketby just operating
the lever provided under the socket.When insertingthe
EPROM,makesure that the indentationis positionedon the
left.

(s)ST1 (Controlmode settingswitch)

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

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

from the
Bit 1: Selectsthe terminatorfor datatransmission
drive unit throughthe RS232Cinterface(upperposi: R ) .F l i pt h i s b i t d o w n
t i o n : C R* L F ;l o w e rp o s i t i o nC
you
use MULT|16.
to the lower positionunless
Bit 2: Selectswhetherto checkif the contentsof the RAM
data are retainedupon power-up{upper position:
Check is performed;lower position: Check is not
performed).Set this bit to the lower positionif the
battery(option)is not used.
lf the batteryis to be used,set the bit to the lower
positionwhen the systemis first turnedON afterthe
batteryhas been installed;thereafter,placethe bit in
the upper position.Then, error mode I is caused
when power is turnedON if the contentsof memory
are not properlyretainedduringpowerdowndue to a
batteryfailure or other cause.(At this time, LEDS
i n s i d et h e d r i v e u n i t s i d e d o o r l i g h t su p . )
Bit 3: Selectsthe type of l/O cardused{upperposition:type
A16 or 816; lower position:type A8 or B8).
Bit 4: Selectswhetheror not to set, change,or deletethe
referencepositiondata in the cartesiancoordinate
system (upper position: enabled; lower position:
disabled).Set this bit to the upper positionwhen
setting the cartesiancoordinatesystem reference
positionsand when loadingthe referenceposition
datawritten in the EPROMinto the RAM; otherwise,
set it to the lowerpositionto avoiderroneoussetting.

2. OPERATION
Bit 5: Selectsto enableeitherthe drive unit front control
switchesor externalsignalsfor runningthe program
while type A16 or 816 l/O card is being used (upper
position:externalsignals;lower position:front control switches).When this bit is set to the uDoer
position.operationbecomespossibleby meansof the
dedicatedsignallineson the externalliO equipment
connectoron the driveunit rearpanel,whilethe front
controlswitches(exceptthe emergencystop switch)
aredisabled.
Withthe bit setto the lowerposition,the
front controlswitchesare enabled,while the external
d e d i c a t esdi g n a l i n e i s d i s a b l e dP. l a c et h e b i t i n t h e
lower positionwhen tyfle A8 or 88 l/O card is to be
useo.
Bit 6: Selectswhether to enable tf'e Sl]
key on the
teachingbox to releaserobot brakes.Normally,set
this bit to the lower position.
lsee 2.2.4Releasingthe brakes.)
Bit 7: Not used.
Bit 8: Selectswhetherto turn ON or OFFthe buzzer(upper
position:buzzersoundswhen an error occurs;lower
position: buzzer does not sound when an error
occurs).
(12) SW2 (RS232Ccommunicationformat settingswitch)
S e eC H A P T E2RI N T E R F A CWEI T HT H EP E R S O N ACLO M P U TER (RS232C),
APPENDIX.
(13) SW3 (RS232Cbaud rate settingswitch)
SeeCHAPTER
2INTERFACE
WITHTHEPERSONAL
COMPU(RS232C),
TER
APPENDIX.
( 1 4 )L E D s1 - 5 ( H a r d w a r e r r o r d i s p l a y s )
Indicatethe
causeof the corresponding
hardwareerror(error
mode I ) when it occurs.
LEDl

Excessive
servosystemerrors(1st LEDfrom the
teft)

LED2

Open or disconnectedmotor signal cable (2nd

LEDfrom the left)
Driveunitemergency
stopinput (3rdLEDfrom the
left)
Teachingbox emergency
stopinput(4thLEDfrom
rhe left)
Backupbatteryfailure (sth LED from the left)

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

?41
i?3)
L2lr
i?7

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

(Centron
ics connector)
{15) CENTRONICS
Servesas the connectorfor the Centronicsinterfacethat
connectsa personalcomputerand drive unit.
(16) RS-232C{RS232Cconnector)
Serves as the connectorfor the RS232Cinterfacethat
connectsa personalcomputerand drive unit.
( 1 7 ) E X T E R N A Ll / O ( E x t e r n a l l / O e q u i p m e n t c o n n e c t o r )
S e r v e s a s t h e c o n n e c t o rf o r c o n n e c t i n g e x t e r n a l l / O e q u i p m e n t ( l i m i t s w i t c h e s ,L E D s ,p r o g r a m m a b l e c o n t r o l l e r s ,e t c . )
and drive unit.
{ 1 8 ) T E A C H I N GB O X ( T e a c h i n gb o x c o n n e c t o r )
Serves as the connector for connectingthe teaching box
{ o p t i o n )a n d d r i v e u n i t .

(19) MOTORPOWER(Motor power cable c o nn e c t o r )

Servesas the connectorfor the powerl i n e b e t w e e nt h e d r i v e
unit and robot.
( 2 0 ) M O T O RS I c N A L ( M o t o rs i g n a lc a b l eco n nector)
Servesas the connectorfor the signall i n e b e t w e e nt h e d r i v e
unit and robot.
(21) EXT ElvlG.STP (Emergencystop input terminal)
lnput terminalfor connectingan externalemergencystop
switch (12V DC, 25mA, N/C contactterminal).
( 2 2) G ( F r a m eg r o u n d )
G r o u n d i n gt e r m i n a lo f t h e d r i v e u n i t .

2, OPERATION
(23) HAND AC/DC(Handselectswitch)
SelectseitherDCor AC dependingon the type of driveof the
handattachedto the robot.SelectDCwhen a motor-operated
hand (option)is used;selectAC when using pneumaticallyoperatedhand employingAC solenoidvalves.Mgbg_gy}_ly_

s,yJ9-9J-t-te-c-g
Lr-e,*
-s,{!iJL%
99in:ruiL^9J$l^ittY,^

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

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

(3r
1141

301
,31
\32

r46l
i47l

L3l

ilEl
191

311

is0

361
37
L38l

\52i
i53
1541

L39r
40
:4Zl

L56l

41
Fig. 2.2.4 Teaching Box

2.2.1 Functions
of the
switches

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

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

2.2.2 Functions
ofeachkey (29) INC (+ IENT )
Moves the robot to a predefinedposition with a position
number greater than the current one. To move the robot
t h r o u g h a c e r t a i n s e q u e n c e ,r e p e a t t h e k e y i n g - i ns e q u e n c e .
(Seecommand "lP.")

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

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

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

132),

cl r+ tN,;crl + Egf)

D e l e t e st h e c o n t e n t so f a p o s i t i o nw i t h t h e n u m b e r s p e c i f i e d .
"PC.")
{Seecommand

(33)lNSil {+ [FNT]

Returnsthe robot to origin. (See command "NT.")

(34)l-bRq-(+ ENr--)
M o v e s t h e r o b o t t o t h e r e f e r e n c ep o s i t i o n i n t h e c a r t e s i a n
c o o r d i n a t es y s t e m . ( S e e c o m m a n d " O G . " )

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

Transfersthe contentsof the user EpROM(programano

positiondata)installedin SOC2of the driveunitsidepanelto
t h e d r i v eu n i t R A M .( S e ec o m m a n d" T R . " )

(36)@

(+ fENil)

Writesthe programand positiondatawrittenin the driveuntt

RAM intothe userEPRoMinstalledin soc2 0f the driveuntr
s i d e p a n e l .( S e ec o m m a n d" C R . " )

(37)lMotl (+ [Nfitt] + [ENi])

Moves the end of the hand to a specifiedposition.(See

command"MO.") The moving speedis equivalentto SP4.

(38)l-rEF (+:M;Grl + aENl

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

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

(40)
S e l e c t st h e c a r t e s i a nj o g o p e r a t i o n .W h e n t h i s k e y i s p r e s s e d ,
o p e r a t i o n o f a n y j o g k e y t h e r e a f t e re f f e c t sa n a x i s m o t i o n i n
t h e c a r t e s i a nc o o r d i n a t e s y s t e m .

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

(42)[ENil

Completeseach key entry from (29)through (38)to effect

corresponding
operation.

() [t+/Bfl
Moves the end of the hand in positive X-axis (to the left
looking toward the front of robot) in the cartesian jog
operation and sweeps the waist in the positive direction
( c l o c k w i s ea s v i e w e d f r o m t h e t o p o f r o b o t ) i n t h e a r t i c u l a t e d
.log operation.

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

(45)

wT/s+l

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

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

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

Moves the end of the hand in positive Z-axis {straight

u p w a r d ) i n t h e c a r t e s i a nj o g , t u r n s t h e e l b o w i n t h e p o s i t i v e
d i r e c t i o n { u p w a r d ) i n t h e a r t i c u l a t e dj o g , a n d a d v a n c e st h e
h a n d i n t h e t o o l j o g . l t s e r v e sa l s o a s t h e n u m e r i c k e y " 4 . "

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

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

2. OPERATION

[F--e

(50)

Turns the end of the hand, while maintainingits current

positiondeterminedby the "TL" command,in the negative
jog and bendsthe wrist
direction(downward)in the cartesian
(wrist pitch) in the negativedirectionldownward)in the
articulatedjog. lt also servesas the numerickey "8.".

( 5 1)

tR+2

Twiststhe wrist(wristroll)in the positivedirection{clockwise

lookingtowardthe hand mountingsurface).
lt alsoservesas
the numerickey "2."

,-^, t^
\czl lI

---=
t l

Twiststhe wrist (wrist roll) in the negativedirection(counterclockwise

lookingtowardthe hand moundingsurface).lt
also servesas the numerickey "7."

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

Moves the optionalaxis in the negativedirection.lt also

s e r v e sa s t h e n u m e r i ck e y " 6 . "
(55)

t<otal

Opensthe hand gripper.lt also servesas the numerickey

"0."

(s6)tlc<

5l

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

Functionsof the
indicatorLED

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

lP.='1,Eql, o' lrvtbvlkeyis beinsused.

[Ni], JoEfl

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

2, OPERATION
2.2.4 Releasing
the brakes when the systempower is oFF or when error mode I occurs,
brakesare appliedto J2 and J3 axesof the robot.Thismeansthat
theseaxesof motioncannotbe achievedexternally.
Thefollowing
stepsmay,however,be performedto release
the brakesand allow
for the axismotionexternally.
The procedures
can be useownen
servicingthe robotor positioningit for packing.(Remember,
you
must have the teachingbox to performthe procedure.)
(1) After power has beenturned ON, pressthe emergencystop
pushbuttonswitchon the front panelof the driveunitto cause
e r r o rm o d e I .
(2) Flip up {to ON position)bit 6 of SW'l locatedinsidethe side
door of the drive unit.
(3) Setthe teachingbox ON/OFF
switchto ON and pressthe ENTI
keyto releasebrakesin J2 and J3 axes.At thistime,be sureto
hold the robot arm with vour handsso that it will not droo
d o w n b v i t s o w n w e i q h t . N o t e t h a t t h e b r a k e sa r e r e l e a s e d

J2 and J3 axesat the sametime; brakesare reappliedas soon

as the fENil key is released.
(4) Afterthe requiredjob hasbeencompleted,
be sureto flip bit 6
of SW'l down (to OFF position).
2.2.5 IntelligentcommandsThe functionsof the keyson the teachingbox correspondto the
corresponding
to eachfunctionsinvokedby intelligent
commandssentfrom the personal
key
computeras follows.

tNc
P.S
t\J

TRN
MOV

<o>

" tP"
11E

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

p-a-

"DP"
"PC"

tbRGI *
twBil *

"oG"
,,WR,,

Dc{l*

"cc"

*
fFr. 1 *

2. OPERATION
This chapter gives the overview of the operation and program3. BEFORESTARTINGTHE
OPERATION
ming as initiationto the robotic system.

3.1 SystemConfiguration The Movemaster

systenrmay be configuredin two differentways.
describethe uniquefeaturesof, and the
Thefollowingparagraphs
idea
basic
behind,each systemconfiguration.
3.1.1 SystemconfigurationThis systemconfiguresthe Movemasterwith a personalcompucenteringarounda
ter. The personalcomputerinvokesthe robot'saxis motionsby
personalcomputer
t h e i n t e l l i g e ncto m m a n d sp r o v i d e di n t h e M o v e m a s t e rI n
. this
personal
configuration,
the
computeractsasthe brainthat causes
the robot to performa varietyof tasksincludingassemblyand
experimentation,
When configuredwith a whole rangeof peripheralequipment,
suchas the printer,X-Y plotter,externalstorage,and sensors,
the
systembecomesa highlyexpandable,
enhancedone.The system
w i l l a l s o b e c o m eh i g h l yf l e x i b l es, i n c ea l l r o b o t i cm o t i o n sa r e
effectedby the program written with the personalcomputer.
P o s s i b l ea p p l i c a t i o na r e a s i n c l u d et h e t r a i n i n ga n d r e s e a r c h
programs,preliminaryassessmentof a robotic system before
making a decisionto invest in it, and laboratoryautomation.
This configuration
corresponds
to the personalcomputercontrol
m o d e t o b e d e c r i b e dl a t e ri n t h i s m a n u a l .

P e r s o n acl o m p u t e r

Expansion
unit

tuB: Keyboard;
D/U: Drive u nit
------l

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

F i s .2.3.1 Typical

Printer

Sensor

lMovemaster

System Configuration Cenlering Around a Personal Computer

2. OPERATION
3.1.2 Systemconfiguration
and
usesthe driveunitto drivethe Movemaster
centeringaroundthe Thisconfiguration
the personalcomputeris used only for programmingpurposes.
driveunit
to
The programwrittenwith the personalcomputeris transferred
you
do
This
means
that
running
the
robot.
for
later
the driveunit
not needto installa personalcomputeron the actualproductaon
floor. Signalexchangebetweenthe robot and peripheralequipment such as limit switches,relays,LEDs,and programmable
throughthe externall/O port in the
controllersis accomplished
can
program,
whichis storedin the built-inEPROM,
driveunit.The
just
for
exchangingthe existingEPROM a
be easilychangedby
new one.
Applicationareas includethe productionlines and inspection
stationsin the p lants.
to the drive unit controlmode to
corresponds
The configuration
be describedlater in this manual.

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

Personalcomputer

Movemaster

Fig.2.3.2 Typical System Contiguration Centering Around the Drive unit

2, OPERATION
3.2 Robot-ComputerLink

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

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

3.2.2 RS232Cinterface

The RS232C interface was originally the standard for data

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

2. OPERATION
3.3 ControlModes

Theseparagraphs
describethe two controlmodesavailablewith
the Movemaster,
i.e.,the personalcomputermode and driveunit
mode.

3.3.1 Personal
computer
mode

Lsettingprocedurel
Setthe toggleswitch(ST1) locatedinsidethe driveunit sioeooor
to the lower position,
lExplanationJ
fhis modeallowsthe personalcomputerto executethe intelligent
commandsdirectly,write and transfera program,and start the
programtransferred
to the driveunit RAM (themodecorresponding to 3.1.1Systemconfigurationcenteringaround a personal
computer).The operation in this mode is divided into the
f o l l o w i n gt h r e e p h a s e sj u s t a s i n t h e g e n e r a B
l ASIC.
In the followingoperations,
be sureto keepthe ON/OFFswitchof
t h e t e a c h i n gb o x i n t h e O F Fp o s i t i o n .
(1) Directexecution
This phasedirectlyexecutesthe intelligentcommandsof the
Movemaster,
For example,to movethe robotto a previously
t a u g h tp o i n t( p o s i t i o n1 ) u s i n gt h e c o m m a n d" M O " ( m o v e ) ,
the characterstring:
" M O 1 " ( M o v et o p o s i t i o n
1)
is sent in ASCIIcode. This correspondsto:
"MO 1"
LPRINT
for the Centronicsinterface,and
P R I N Tr 1 , " M O 1 "
for the RS232Cinterface(spacemay be omitted).
The commandssequentially
sent in this phaseare executed
one by one and they do not form into a programstoredin the
drive unit.
(2) Programgeneration
The personalcomputerin this phasegeneratesa program
usingthe Movemastercommands.The programis storedin
the drive unit RAM.
For example,to write a program for the robotic motion
effectedabove,the characterstring:
"10MO 1"
is sent in ASCIIcode; where the number at the beginning,
"10," represents
programlinenumber,which
the Movemaster
identifies
the orderof storagein memorylikethoseusedin the
generalBASIC.The programis executedin the order of the
line number.Be sure,therefore,to assignthe line numberat
the beginningwhen writing a program.Line numbersare
possiblefrom 1 up to 2048.
The Centronicsequivalentto the above ;s:
"10 MO 1".
LPRINT
w h i l et h e R S 2 3 2 C
e q u i v a t e ni ts :
P R | N T# 1 , " 1 0 M O 1 " ,
where the spacemay be omitted.

2. OPERATION
n
13) Programexecutio
In this phase,the programstoredin the drive unit RAM is
executed.The programis startedby sendingthe command
"RN" which corresponds
to "RUN," the programstart command in BASIC,The Centronics
equivalentto this command
IS:

L P R I N T" R N" ,
w h i l et h e R S 2 3 2 C
e q u i v a l e ni ts :
"
R
N".
P R I N T# 1 ,
Now, let us study some of the typical programs.
( E x a m p l e 1 ) D i r e c t e x e c u t i o n( C e n t r o n i c s )

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

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

I n t h i s e x a m p l e ,h i t t i n g" R U N " c a u s e se a c hl i n e ( n u m b e r e d1 0 0t o
1 5 0 ) o f t h e B A S I C p r o g r a m t o b e e x e c u t e d ,w h i c h i n t u r n c a u s e s
each of the Movemaster commands to be directly executed
s e q u e n t i a l l y( w i t h r e s u l t a n t r o b o t i c m o t i o n s ) .
l E x a m p l e 2 ) P r o g r a m g e n e r a t i o nt o e x e c u t i o n ( C e n t r o n i c s )

"10 NT"
l O OL R P I N T
"12SP1"
1 1 0L P R I N T
1 2 0 L P B T N "T1 4 t \ 4 0 1 0 , o "
"16GC"
1 3 0L P R I N T
1 4 0 L P R T N "T1 8 t \ , 4 01 r , c "
1 5 0 L R P I N T" 2 0 E D "
1 6 0E N D
RUN
OK
"BN"
LPRINT

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

I n t h i s e x a m p l e ,h i t t i n g" R U N " c a u s e se a c hl i n e { n u m b e r e d1 0 0t o
1 6 0 ) o f t h e B A S I C p r o g r a m t o b e e x e c u t e d ,w h i c h i n t u r n c a u s e s
the Movemaster program (lines numbered 10 to 20) to be
t r a n s f e r r e dt o t h e d r i v e u n i t . N o t e t h a t , a t t h i s t i m e , t h e r o b o t d o e s
not start its motion.
"RN"
When
i s t h e n t r a n s f e r r e d .i t r e s u l t s i n t h e r o b o t i c m o t i o n .

2. OPERATION
3.3.2Driveunit mode

Iq6+r ih^

n/^^a;

|, 16l

Set the toggleswitch{ST1)locatedinsidethe driveunit sidedoor

to the upper position.
IExplanation]
This mode allowsthe programstoredin the driveunit EPROMor
p RAM to be executed(corresponding
battery-backed-u
to 3.1.2
centering
around
the
drive
System configuration
unit). In this
mode,the frontcontrolswitchesof the driveunit are usedto start,
stop,and resetthe program.lf type ,A16or B'16l/O card is being
used,operationis possibleby means of externalsignals.Any
commandsent from the personalcomputeris not honored.

2. OPERATION
4. FROMPOWER-UP
TO
ORIGINSETTING

This chapterdescribesthe proceduresthat must be performed

afterdeliveryand installation
of the systembeforeinitiatingthe
actualroboticoperations.

4.1 Settingthe SideSetting Beforeturningthe systempowerON,setthe sidesettingswitches

Switches
as followsby referringto 2.1.2Functionsof side settingswitches
and LEDs.
ST1: Lower positlon(Personalcomputermode)
ST2: Lower position{EPROMdata is not transferredto RAM)
4.2 TurningPowerON

T u r n O N t h e p o w e r s w i t c h l o c a t e do n t h e r e a r p a n e l o f t h e d r i v e
u n i t . W h e n t h e d r i v e u n i t i s t u r n e d O N , t h e p o w e r i n d i c a t o rL E D
( P O W E R )o n t h e f r o n t p a n e l o f t h e d r i v e r . r n i tl i g h t s u p .

4.3 OriginSetting

The robot must be returnedto origin as follows after power is

t u r n e d O N . T h i s i s d o n e t o m a t c h t h e r o b o t ' s m e c h a n i c a lo r i g i n
w i t h t h e c o n t r o l s y s t e m ' so r i g i n a n d i s r e q u i r e do n l y o n c e a f t e rt h e
power is turned ON. Here is the motion of each axis:
1l J2, J3, and J4 axes move to their respectivemechanical
ongrns.
2 ) T h e n , J 1 a n d J 5 a x e s m o v e t o t h e i r r e s p e c t i v em e c h a n i c a l
ongins.
B e a l e r t ,a t t h i s t i m e , t h a t t h e a r m c o u l d i n t e r f e r ew i t h t h e o b j e c t s
s u r r o u n d i n gt h e r o b o t . l t m u s t t h e r e f o r eb e m o v e d a s a p p r o p r i a t e
to a safe position using the teaching box before attempting to
r e t u r n t h e r o b o t t o o r i g i n . T h e c o m m a n d e x e c u t i o ni n d i c a t o r L E D
( E X E C U T E )o n t h e d r i v e u n i t f r o n t p a n e l s t a y s l i t d u r i n g o r i g i n
setting and goes out as soon as it completes.
Using the teaching box
1 ) T u r n O N t h e t e a c h i n q b o x O N / O F Fs w i t c h .

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

2. OPERATION
5, POSITIONSETTING
PROCEDURE

T h i s c h a p t e r d e s c r i b e st h e p o s i t i o n- s e t t i n g p r o c e d u r e f o l l o w i n g
t h e o r i g i n - s e t t i n gp r o c e du r e .

5.1 Settingthe Cartesian T h i s s e t t ' n g i s r n a d et o e f f e c ta s a c c u r a t ea x i s m o t i o n s a s p o s s i b l e

CoordinateSystem
a n d i s n o t n e c e s s a r yi f t h e r o b o t i s o n l y m o v e d t h r o u g h a s e r i e so f
ReferencePosition
t a u g h t p o i n t s . l f t h e c o m m a n d s i n t h e c a r t e s i a nc o o r d i n a t e
s y s t e m ,s u c h a s p a l l e tc o m m a n d s ,a r e t o b e u s e d ,h o w e v e r ,t h i s
s e t t i n gm u s t b e m a d e p n o r t o t e a c h i n g O
. n c et h i s s e t t i n gi s m a d e
and is stored in EPROM,the setting procedure is no longer
n e c e s s a r y .( F o r m o r e d e t a i l s ,s e e C H A P T E R4 C A R T E S I A NC O O R D I N A T ES Y S T E MR E F E F E N C P
E O S I T I O NS E T T I N G A
, PPENDIX.)

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

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

NOTE
. When positions are taught with a tool length other
than the standard (107mm)set, be sure to ggulhg
gg$glggJJ-elStj,'at the beginning of the program in
which those taught positionsare used.
Example:(Teaching)
Position1 is set with a 200-mm
tool length.
1 TL 200 2 NT 3 MO 1
{Programming}

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

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

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

( 3 ) C h a n g i n gp o s i t i n
os
Let us change,or redefine,previouslydefinedpositions
1) Movethe arm end to a positionotherthan position10 and
hit the following keys successively:

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

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

EtrtrN]
T h i sc l e a r sp o s i t i o n1 0 m a k i n gi t a v a i l a b lfeo r n e w d e | n r _
tion.
2) To verifythat positionl0 hasbeenproperlydeleted,hit rhe
following keys successivery:

trbvl n tr ENf
lf the positiondatahasbeenproperlydeleted,the teachina
box statusindicatorLEDshows ,,f ', which indicates
tha-t
the functioninvokedcannot be performed.

2. OPERATION
6. PROGRAM
This chapterdescribesthe proceduresrequiredto generatea
GENERATION
programin the personalcomputermode by usingthe positions
AND EXECUTION
previouslydefinedand to executeit.
The descriptionthat follows assumesthe teachingbox ON/OFF
switch is in the OFF position.
6.1 Generating
and
We will heregeneratea modelprogramin the personalcomputer
Transferring
a Program mode describedearlier.Now, why don't we write a simple
p r o g r a mu s i n gt h r e ep o s i t i o n s{ n u m b e r e d1 0 , 1 1 ,a n d 1 2 ) ?T h e
followingliststhe programsequence,
wherethe numbersat the
program
beginningrepresentthe Movemaster
line numbers.For
detailsof the commands,seeDESCRIPTION
OFTHECOMMANDS.
Movemasterprogram
1 ON T
125P7
14 tll0 10, O
1 6 t \ , 1 01 1 , C
1 8 t v t O1 2 , C
20 Tt 30
22 Gr 14

O r i gi n s e t t i n g ( n e s t i n g ) .
Set speed at 7.
lMove to position 10 with hand opened.
Move to position 11 with hand closed.
Move to position 12 with hand closed.
Stop for 3 seconds.
Jump to line number 14.

With the Centronicsinterface,execute the following BASIC

programto transferthe aboveprogramto the driveunit.Notethat
t h e n u m b e r sa t t h e b e g i n n i n gs h o w t h e B A S I Cl i n e n u m b e r s .
BASICprogram
1 O OL P R I N T" 1 0 N T "
1 ' , 1 L0 P R I N T" 1 2 S P 7 "
1 2 0L P R T N"T1 4 M O 1 0 ,O "
1 3 0L P R T N"T1 6 M O 1 1 ,C "
1 4 0 L P R I N T" 1 8 M O 1 2 , C "
1 5 0 L P R T N"T2 0 r 3 0 "
1 6 0 L P R I N T" 2 2 C T 1 4 "
1 7 0E N D
RUN
OK

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

For the RS232Cinterface,

executethe followingBASICprogram.
Fordetailsof the settingsto be made,seeCHAPTER
2 INTERFACE
(RS232C).
WITH THE PERSONAL
COM]PUTER
APPENDIX

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

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

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

procedure.

6.2.1 Step execution

The generated program may be executed, line by line. by

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

tslEFltr tr t-Nil
The command

"NT"

on line number 10 is executed.

"NT" has beenexecuted,

the teaching
3) Afterthe command
box LEDshowsthe subsequentprogramline number (in
this case,"0012"1.To executeline number 12, key in:

tSrEPltEt.lrl
This causesthe command" S P 7 "o n l i n en u m b e r1 2 t o b e
executed,
4) Repeatstep3) to verifythe program,line by line.Notethat
no entry of line number is necessary.
6.2.2 Startingthe program In the personalcomputermode,the generatedprogramcan be
initiatedby the personalcomputer.Here is the procedure.
1) Turn OFFthe teachingbox ON/OFFswitch.

2. OPERATION
2) Executethe command"RN" to directlyrun the program.
L P R I N T" R N " ( C e n t r oi cn s)
P R I N Tl t 1 , " R N " { R S 2 3 2 C )
W h i l et h e p r o g r a mi s r u n n i n gt,h e c u r r e n lt i n e n u m b e rr s
shown on the teachingbox LED.
6.2.3 Stopping/restarting The programcurrentlyrunningcan be stoppedand restartedby
the program
operatingcertainswitcheson the front controlpanelof the drive
unit.
,

E=-;]

Stopping : Pressthe ISTOP; switch, and the robot stops after

c o m p l e t i n g e x e c u t i n gt h e c u r r e n t l i n e n u m b e r . T h i s
means that, if the robot is executing a move command when the switch is pressed,it will complete
reaching the destination point. At this time, the
t e a c h i n gb o x L E Ds h o w s t h e l i n e n u m b e r i n w h i c h t h e
robot was stoDoed.
R e s t a r t i n g : P r e s st h e
switch.This causesthe program
to restart f r o m t h e l i n e n u m b e rf o l l o w i n gt h e o n e
sroppeo.

TurningON the teachingbox ON/OFF

switchwhilethe programis
beinghaltedenablesthe operationfrom the teachingbox.Besure,
however, to turn the switch OFF before pressing ti e [Si[Ril
switchto restartthe program.Notealsothat no commandcan be
executedfrom the personalcomputer even in the personal
computermode while the programis being halted.To execute
commands,performthe following resettingoperation.
6.2.4 Stopping/resetting
the program

The program currentlyrunning can be stoppedand reset by

operatingcertainswitcheson the front controlpanelof the drive
unit. When reset,the program returnsto its beginning.lf the
p r o g r a mi s t e r m i n a t e bd y t h e c o m m a n d" E D , "i t e n d sn o r m a l l y .
.

f ^=::-t

S t o p p i n g : P r e s st h e I S T O P s w i t c h .T h e o p e r a t i o ni s t h e s a m e a s
described before

Resetting : Pressthe _B_LS_ll

switch afterthe STOP switch has
been pressed,and the program is reset.

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

2. OPERATION
7. wRlrlNG THE
The programand positiondatawrittenin the drive unit memory
PROGRAM/POSITION RAM can be storedin the EPROIVI.
The followinqdescribesthe
DATAlN EPROM
procedu re.
(PERSONAL
COMPUTER
MODE)
7.1 InsertingErasedEPRoMInserta new EPROMor one erasedby the EpRoM eraser(the

;"#[::::3,
:i,ffi
T,T
:ff,::i:"y:f:::[ T:i3
"':l:#i:
;ure of the correct installationdirectionof the EPROM:the
Indentationmust be positionedon the left.

7.2 Writing Datainto

EPROM

We shall now write the contentsof the drive unit RAM into the
EPROI\4.
Using the teaching box
1 ) T u r n O N t h e t e a c h i n g b o x O N / O F Fw i t c h .

2) Press WRTj and []!1,] , successivety

in that order.
qsllg t!191!fS9!1_!9
nr !

through the persona|computer

1 ) T u r n O F Ft h e t e a c h i n gb o x O N / O F Fs w i t c h .
2) Executethe command "WR" in direct executionmode.
L P R I N T" W R " ( C e n t r o n i c s )
P R I N Tf 1 , " W R " ( R S 2 3 2 C )

y"'ii""'::i:';fi
?,:H;lffi
?;:"Ti:iil;y;'J;'i:191'.'"?
) u t i n a b o u t 1 0 0 s e c o n d sa f t e r t h e d a t a h a s b e e n w r i t t e n c o r r e c t l y .
D o n o t r e m o v e t h e E P R O Mf r o m t h e s o c k e tu n t i l t h e L E D g o e s o u t .
S h o u l d t h e d a t a b e w r i t t e n i n c o r r e c t l y( d u e t o a n E p R O Mf a i l u r e o r
w r i t e e r r o r ) , i t c a u s e se r r o r m o d e l l . l f t h e e r r o r c o n d i t i o n o c c u r .
reset the condition and trv another EPROM.
7 . 3 P r e c a u t i o n sf o r S t o r a g e B e s u r e t o a f f i x a n u l t r a v i o l e t r a y s s h i e l d i n g s e a l o n t o t h e g l a s s
of EPROM
w i n d o w o f t h e E P R O Mi n t o w h i c h d a t a h a s b e e n w r i t t e n t o e n s u r e
d a t a i n t e g r i t y .W h e n t h e E P R O Mi s t o b e s t o r e d o f f t h e s o c k e t ,t a k e
n e c e s s a r yp r e v e n t i v e m e a s u r e s a g a i n s t e l e c t r o s t a t i cc h a r g e .

8. OPERATION
USINGTHE This chapterdescribesthe procedureto operatethe robot in the
EPROMDATA
driveunit modeusingthe programand positiondatawrittenin the
EPROM.
The proceduregiven in the following startswith the condition
beforeturning power ON.
8.1 Insertingthe EPRoM

Insertthe EPROM,intowhichthe programand positiondatahave

beenwritten,into the usersocketon the driveunit. Makesureof
the correctinstallationdirectionof the EpROM,the indentation
being positionedon the left

8.2 Settingthe SideSetting Beforeturningpower ON, makethe followingswitch

settingsby
Switches
referringto 2.1.2Functionsof side settingswitchesand LEDs.
S T 1 . . . . . . U p p e rp o s i t i o n( D r i v eu n i t m o d e )
ST2 " .. Upper position(EPROMdata to be transferreoro
RAM)
8.3 TurningPowerON

Turn ON the power switch on the rear panelof the drive unit.
Then,the EPROMdata is transferredto the drive unit memory
RAM accordingto the switchsettingmade in the precedingstep.

8.4 Executingthe Program Now, let us executethe program transferredto RAM rn rne
following p rocedu re.
8.4.1 Step execution

The transferred program may be executed, line by line, by

o p e r a t i n g t h e t e a c h i n g b o x k e y s f o r v e r i f i c a t i o n .D e t a i l e d p r o c e _
d u r e i s t h e s a m e a s t h a t f o r t h e p e r s o n a lc o m p u t e r m o d e . ( S e e
6 . 2 . 1 S t e p e x e c u t i o n).

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

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

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

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

2. OPERATION
8.4.3 Stopping/restarting The programcurrentlyrunningcan be stoppedand restarted
by
the program
operatingcertainswitcheson the front controlpanelof the drive
unit.The procedureis the sameas that for the personalcomputer
mode. {See 6.2.3Stopping/resta
rting the program.)
8.4.4 Stopping/resetting
the program

The program currentlyrunning can be stopped and reset bV

operatingcertainswitcheson the front controlpanelof the drive
unit. When reset,the program returnsto its beginning.lf the
p r o g r a mi s t e r m i n a t e b
d y t h e c o m m a n d" E D . "i t e n d sn o r m a r r v .
Stopping : Pressthe I STOPI switch.The operationis the sameas
describedbefore.
Resetting : Pressthe lTSE-il switch afterthe
switch has
been pressed,and the proqram rs reset.
Pressingt h e
s w i t c h f o l l o w i n g r e s e t t r n g c a L r s e st h e
programt o b e e x e c u t e ds t a r t i n g w i t h t h e f i r s t l i n e n u m b e r . N o t e
that the g e n e r a l - p u r p o s el / O o u t p u t s a r e n o t r e s e t .

2. OPERATION
9. OPERATION
USINGTHE In the driveunit mode,the programis run by operatingthe front
EXTERNALSIGNALS controlswitchesof the drive unit as we haveseen.This chaoter
outlines the procedureto effect these operationsusing the
externalsignallineswith an l/O card(typeA16 or 816)insertedin
position.For more details,see CHAPTER3 INTERFACE
WITH
EXTERNAL
I/O EOUIPMENT,
APPENDIX.
9.1 Settingthe Switches

Makethe followingswitchsettingsby referringto 2.1.2Functions

of side settingswitchesand LEDs.
ST1 " "
SW1

Upper position(Driveunit mode)

Bits3 and 5 in upperposition(Type416 or 816 l/O
card selected;externalsignalsenabled)

When power is turnedON with the aboveswitchsettingsmade,

the externalsignalsare enabledfor the executionof the program
in the drive unit mode.In thesesettings,the personalcomputer,
and drive unit front controlswitchesare all disabled,exceptthe
emergencystop switch.
9.2 Executingthe Program
9.2.1 Startingthe program The program is initiatedby a STARTsignal input.
9.2.2 Stopping/restarting Stopping : The program is stoppedby a STOPsignal input.
the program
Restarting: The programis restartedby a STARTsignal input
followingthe STOPsignal.
9.2.3 Stopping/resetting
the program

Stopping : The program is stoppedby a STOPsignaI input.

Resetting: The program is reset by
followingthe STOPsignal.

RESETsignaI input

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

10.1 ErrorMode I

Error mode I is concerned mainly with hardware errors. The

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

2. OPERATION
10.2 ErrorMode II

Error mode ]I is concernedmostly with softwareerrors. No

indicatoris providedfor errormode ll to letthe operatorknowthe
c a u s eo f t h e e r r o r .
( W a r n i n gi n di c a t or s)
TheerrorindicatorLED(red)on the driveunitfrontpanellightsup
steadily.The buzzer,
if setto ON,alsosoundscontinuously.
lf type
A16 or 816 l/O card is beingused,an errorsignalis outputfrom
the dedicatedsignalline of the externall/O equipmentconnector
j u s t a s i n e r r o rm o d e I .
(Condition)
The systementersthe mode waitingfor error reset.lf the error
occurswhile a programis running,the programstopsat the line
numberon whichthe erroroccurs,the line numberbeinoshown
on the teachinobox LED.
(Possiblecauses)
(1) Commandtransfererror by the personalcomputer.More
specifically,
an undefinedcommand,input format error, or
t r a n s m t s s r oenr r o r .
( 2 ) Commandis beingunexecutable.
More precisely,
an entry of
parameterexceedingthe specifiedrangeor move command
to an undefinedposition.
( 3 ) EPROMwrite error.Morespecifically,
the EPROMunerasedor
E P R O Mf ai l ur e ,
( R e m e d i a l a c t i o n)
Perform either of the following resettingoperations.
Using drive unit switch

Pressthe

switch.

U s i n gi n t e l l i g e ncto m m a n d st h r o u g ht h e p e r s o n acl o m p u t e (r i n
personalcomputermode)
Turn OFFthe teachingbox ON/OFFswitch and executethe
command "RS" in direct executionmode.
L P R I N T" R S " { C e n t r o n i c s )
P R I N Tf 1 , " R S " ( R S 2 3 2 C )
Using dedicatedsignal line of l/O connector
T u r n O N t h e R E S E Ti n p u t s i g n a l .
The error indicatorLEDgoesout as soon as the aboveresetting
procedurehas beencompleted.
The program,if it hasbeenbeing
is resetand it will be startedfrom the firstlinenumberif
executed,
restarted.
Notethat general-purpose
l/O outputsare not resetby
this resettingoperation.

l. sPEctFlcATt0l{s
2.0PtRAT|01{

3. DESCRIPTIIIN
tlFTHE
CIIMMANDS
4. iIAINTENANCE
AN0ll{SPECTl0l{
5. APPTNDICTS

CONTENTS(DESCRIPTION
OF THE COMMANDS}

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

2 . 1 Position/Motion
ControlInstructions"""" "" "'

............'.3-1
. . . . .. . . . . 3 - 2

" "" " " "" " ".'' 3-3

""
DP(Decrement
Position) Movingto a positionnumberone smaller" " "" " "" "' 3-3
.Moving a distancespecifiedin the cartesiancoordinate
DW (Draw)
" "..".'3-4
s y s t e m . ." " "
. . . T e a c h i n g t h e c u r r e n t p o s i t"i"o n" " " " " " " " " " . " . ' 3 - 5
H E( H e r e )
......
HO(Home)
Settingthe cartesiancoordinatesystemreferenceposi. . . . . . . .3
. .- 6
t i o n. . . . . . . . . . . . . . . . .
l P( l n c r e m e nPto s i t i o n ) " "" M o v i n g t o a p o s i t i o n n u m b e r o n e g r e a t e r" "" " " " " " 3 - 7
MA (MoveApproach)" "" Movingto a specifiedincremental
dimension"" "" " "' 3-8
....'..
(Move
pointscontinuously.'........
MC
Continuous)
Movingthroughintermediate
3-9
M J ( M o v e J o i n t ) "" " " " " T u r n i n ge a c hi o i n ta s p e c i f i eadn g l e" " " " " " " " " " ' 3 - 1 1
interpolaMO (Move).......
Movingto a specifiedpositionby articulated
"""
tion"""""""
3-12
"
(Move
MP
Position)
Movingto a positionwhosecoordinates
arespecified 3-13
positionby linearinterpolation...'
MS (MoveStraight)
Movingto a specified
3-14
(Move
MT
Tool)
Moving an incrementaldistancespecifiedin the tool
"" " """"'3-16
direction
" R e t u r n i n g t h e r o b o t t o o r"i g i n
"""'3-17
NT(Nest)
OG (Origin)
Moving to the cartesiancoordinatesystem reference
"" """"" "'3-18
oosition
""
"
""
PA (PalletAssign)
Definingthe numberof columnand row grid pointsfor a
pallet "" " ""
specified
3-19
"
""
'Clearing
"
"
"'
position
PC(Position
Clear)""
a specified
3-20
""
"
"
.........
(Position
position
the
of
a
specified
3-21
PD
Define)
Defining coordinates
""""
""
PL(Position
Load)
Assigningthe positiondata of a specifiedpositionto
3-22
anotherspecified position
"
PT(Pallet)
Calculating
the coordinates
of a grid pointon a specified
Dallet" " " "" "
3-23
"""
(Position
PX
Exchange)
Exchanging
the coordinatesof a positionfor those of
3-27
anotner"""" "'
"
"
"
"
"
"
3-28
SF(Shift)........
S h i f t i n tgh ec o o r d i n a t eosf a s p e c i fe dp o s i t i o n
'Setting the operatingvelocityand acceleration/decelSP(Speed)
"" "" 3-29
erationtimd "
"""
" 3-30
.....
.
.
periodof time
Tl (Timer)
Haltingthe motionfor a specified
" "" " "" " " 3-31
"" Settingthe tool length
TL (Tool)
"
"""""""
2.2 ProgramControlInstructions
3-32
"
""
"""'
(Compare
register
CP
Counter)
Loadingcounterdataintothe comparison
3-32
DA (Disable
Act)
Disabling
the interruptby an externalsignal" " "" "" 3-33
DC(Decrement
1 from a valuein a specified
counter"" "" 3-34
Counte.)"" Subtracting
"
"" "3-35
"
"
"
"
"
"
DL(DeleteLine)
D e l e t i nags p e c i f i epdar t o f a p r o gr a m " " " "

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

Enablingthe interruptby an externalsignal. . .. .. .. .. 3-36

" E n d i n gt h e p r o gr a m
""
"" " 3-38
Causinga jump to occurif the contentsof the comparis o nr e g i s t eer q u a al s p e c i f i evda l u e " " ' . . . . . . . . . . . . . . .3. - 3 9
" " - . . . . . .. . 3 - 4 0
G S( G oS u b )
E x e c u t i nags p e c i f i esdu b r o u t i n e"
'
C
a
u
s
i
n
g
j
u
m
p
t
o
o
c
c
u
r
t
o
GT(GoTo)
a
a s p e c i f i eldi n en u m b e r . . . "' 3 - 4 1
l C ( l n c r e m e nCto un t e r .) . . . . . A d d i n gl t o t h e v a l u ei n a s p e c i f i ecdo u n t e r ' . " . . . . . . ...... 3 - 4 2
LG (lf Larger)
Causinga jump to occurif the contentsof the comparis o nr e g i s t ear r eg r e a t etrh a na s p e c i f i evda 1 u e . . . . . . . . . .3. .-.4. 3
(lf
NE Not Equal)
Causinga jump to occurif the contentsof the comparivalue
son registerdo not equala specified
.
.
D
e
l
e
t
i
n
g
(
N
e
w
)
NW
a l l p r o g r a m as n dp o s i t i o n
d a t a " " " " " " " " ' J-4C
""
NX (Next)
Specifying
the rangeof a loopin a program
3-46
".'
"'
.
RC(RepeatCycle)
the numberof repeated
cyclesof a loop"
Specifying
3-47
.. .Executing
partof program
RN (Run)
3-48
a specified
"
(Return)
program
RT
Returningto the main
after completinga
subroutine
3-49
"
"
"
"
"
"
"
"
"
'
"
"
"
"
J-3U
Loading
SC{SetCounter)
a v a l u ei n a s p e c i f i ecdo un t e r
SM (lf Smaller)"" " " " " Causinga jump to occurif the contentsof the comparivalue " "" " 3-51
son registeraresmallerthana specified
" "'3-52
2.5
H a n dC o n t r oIln s t r u c t i o n s . . . . .
"
"" "'3-52
G C ( G r i p C l o s"e )" " " " " C l o s i n tgh e h a n dg r i p " " "
"
"
"
"
"
"
"
"
"
"
" " 3-53
Definingtheopen/closestateofthehand
GF(GripFlag)""
" """""""3-54
" " O p e n i n g t h ea n dg r i p
G O( G r i p
Open) "
G P( G r i pP r e s s u r e ) . " . . . ' . . . . ' . . D e f i nt hi negg r i p p i n gf o r c e / t i m ew h e n t h e h a n d i s
3-55
closedand opened " " "
3-56
2 . 4 l/OControlInstructions
"
"
"
"
'
"
"
"
"
"
(
l
n
p
u
t
3-56
lD
Direct)"
F e t c h i nagn e x t e r n a l s i g n a l "
"
""
"
"
"
5-3 |
Fetching
an externalsignal
synchronously
lN (lnput)
"
""
"
"""
"
"
"
"
""
(Output
specified
bit
3-58
Bit)
Setting
the
output
state
of
a
OB
data '
3-59
OD (OutputDirect) "" " " 'Outputtingspecified
" " """ " " ' 5 - O U
datasynchronously
OT (Output)" '
Outputtingspecified
TB (TestBit)" " " " " " "" Causinga jump to occurdependingon the conditionof
J-O I
bit " '
a specified
externalsignal
2.5

2.6

3-62
RS232C
Readlnstructions
Readingthe datain a specified
counter" "" "" "" " " 5-O Z
CR(CounterRead) " "
" " Reading
3-63
the datain the externalinputport " "
DR(DataRead) " "
"
"
"
"
"
r ead).'.
3-64
E R( E r r o R
R e a d i ntgh es t a t u so f t h ee r r o r" " " " " '
'
""
"
""
"
""
"
(Line
3-65
LR
Read)
Readingthe programon a specifiedlinenumber
position
3-67
PR(Position
Read)" " "" " Reading
the coordinates
of a specified
""
"
'
(Where)
position
3-68
WH
Reading
the coordinates
of the current
Miscellaneous
RS(Reset)
Resetting
the program and error condition"" " "" ""' 3-69
"
"
"
.
.
.
.
.
.
.
.
.
.
3-70
T r a n s f e r r i nEgP R O M
d a t at o R A M " " " " " '
T R( T r a n s f e r )
.
w
r
i
t
i
n
g
(
w
r
i
t
e
)
3-71
R A Md a t ai n t oE P R o M . . . . . .
wR
' ( C o m m e n t )" " " " " " " " W r i t i n ga c o m m e n "t " " " " " " "
5-tz

3. DESCRIPTION
OFTHECOMMANDS
1. COMMANDOVERVIEWThis chaptergives an overviewof a multitudeof commands
providedfor the Movemasteras classifiedaccordingto their
functions.Fordetailsof eachcommand,seeCHAPTER
2 DESCRIPT I O N O F E A C HC O M M A N D .
( 1 ) Position/motion
control instructions(24 instructions)

These commands are concernedwith the positionsand

motionsof the robot.They includethosedefining,replacing,
assigning,and calculating
the positiondata as well as those
effectingthe articulatedand linear interpolations
and continuous-pathmotions.Also includedare the speed-setting,
origin setting,and palletizingcommands.

12) Programcontrol instructions(19 instructions)

These commandscontrol the flow of the program.They
includethose concerningthe subroutines,repetitiveloops,
a n d c o n d i t i o n aj ul m p s .A l s o i n c l u d e da r e t h e c o u n t e ro p e r a tion and the declarations
of interruptoperationby meansof
externalsignals.
( 3 ) Hand control instructions14 instructions)
T h e s e c o m m a n d sc o n t r o lt h e h a n d . C o m m a n d sa r e a l s o
availablefor the motor-operated
hand (option)that set the
grippingforce and open/closetime of the grip.
\ 4 1l/O control instructions(6 instructions)
Thesecommandsare concernedwith the inputand outDutof
datathroughthe general-purpose
l/O port.Eothfor the inputs
and outputs,the data can be exchangedsynchronously
or
asynchronously
and processing
is possiblein bits or parallel.
( 5 ) RS232Cread instructions(6 instructions)

Thesecommandsallow the personalcomputerto read data

from the robot'smemory.The data that can be read include
the positiondata,programdata,counterdata,externalinput
data. error mode, and currentposition.
( 6 ) Miscellaneous
(4 instructions)

Grouped into this categoryare the error reset commano,

read/writecommandsof the userprogramand positiondata,
and the commandgoverningwriting of comments.

3. DESCRIPTION
OFTHECOMMANDS
2. DESCRIPTION
OFEACH The followingpagesexplaineachcommandin the formatshown
COMMAND
below.Note that those commandsmarkedwith X can only be
executeddirectly by the personalcomputer and cannot be
programmed.

IFunction
I

of the function
Givesa briefdescription
invokedbv the command.

IlnputFormatl

Shows the arrangementof the command entry, ( ) indicatingthe command parameterand [ ] indicatingthe
parameterthat can be omitted.

ISampleInputl

Shows a typicalcommandentry.

(Explanation
I

Explainsthe detailedfunctionor functionsto be invokedby the commandand

gives some precautionsfor use.

IsampleProgram
)

' Gives a typical program with exact

meanings of each line and/or some
footnotes.

3. DESCRIPTION
OFTHECOMMANDS
2.1 Position/Motion
Control
Instructions

DP (DecrementPosition)
IFunction
I
Movesthe robotto a predefined
positionwith a positionnumbersmallerthanthe
currentone.
I InputFormatl
DP

Isample Input)
DP
IExplanation
I
(1) This commandcausesthe robotto moveto a predefinedpositionwith a position
number smallerthan, and closestto, the currentone. (Seecommand lp.)
(2) lf there is no predefinedpositionwith a positionnumbersmallerthan the current
one, error mode II is caused.
Isample ProgramI
1 0 L P R I N T" M O 3 "
20 LPRINT''MO 4"
30 LPRINT"IV]O5"
40 LPRINT"DP"

Move to
lvloveto
Move to
Move to

position 3.
position4.
position5.
position4.

3. DESCRIPTION
OF THECOMMANDS

DW (Draw)
(FunctionI
Moves the end of the hano ro a positionaway from the currenr one coveringthe
distancespecifiedin the X-, y-, and Z-axisdirections.
(lnput Formatl
DW [ (Traveldistancein X) ], [ (Traveldistancein y) ], I (Traveldistancein Z) I
(sample tnput)
D W 1 0 . 5 , 2 0 . 5-,3 0 . 5
IExplanation
I
(1) The leastinput incrementfor the distanceof travelis o.1mm.(e.g.specify20.1for
20.1mm.)

t2) The attitudeof the hand,includingopen/closestateof the gripper,do not change

beforeand afterthe movement.Errormode II is causedif the distanceof travel
exceedsthe robot's operationalspace.

( 3 ) The defaultdistanceof travel is 0.

(4) sincethe motionis basedon articulated
interpolation,
the combinedmotionof the
end of the hand generatesan arc when a longer distanceof travel is involved.

{s) The position of

the end of hand is determinedby the tool length currently

(see commandTL.)
established.

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

Startpoint

X In the aboveexample,the end of the hand movesthroughthe four cornersof a

squareto reachthe start point finally.

3. DESCRIPTION
OFTHECOMMANDS

HE (Here)
IFunction
I
Defines
the coordinates
of the currentpositionby assigninga positionnumberto it.
I Input Format]
HE ( Positio
n number)

Where, 1 5 Positionnumber 5 629

ISample Inputl
HE5
(Explanation
I
(1) The coordinatesof the current position is calculatedbased on the currently
established
tool length(seecommandrL). In the initialcondition,the tool lengthis
107 mm, a point 107 mm away from the centerof the hand mountingsurface
toward the end of the hand.

tzJ lf a singlenumberis assignedto two differentpositions.the one definedlasttakes

precedence
with the former creareo.

{ 3 ) The open/closepositionof the hand is also stored as the positiondata.

(4) Execution
of this commandwhen any of the axesof the robotis positionednearthe
boundaryof its operationalspacemay causeerror mode II. In suchcases,avoid
such attitudeof the robot.
( 5 ) Errormode II is causedif thiscommandis executedbeforethe robotreturnsto the
o n gI n .

IsamptePrograml
1 OL P R I N"TM O 1 0 "
"DW 1O,O,O"
20 LPRINT
3 0 L P R I N "TH E 1 1 '

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

3. DESCRIPTION
OFTHECOMMANDS

H O (Ho m e)
IFunction)
Establishes
the referencepositionin the cartesiancoordinatesystem.
I Input FormatI
HO

ISample InputI
HO
(Explanation
I
position(in X-,Y-.and Z-axisand pitch/roll
the reference
{1) Thiscommandestablishes
angles)in the cartesiancoordinatesystem.All subsequentmotionsare basedon
this reference
coordinates.
4 CARTESIAN
{Fordetails.seeCHAPTER
COORDINATE
SYSTEMREFERENCE
POSITIONSETTING,APPENDIX.)
(2) This commandmust be executedto repeatthe roboticmotion through a series
pointspreviouslytaughtafterthe robot has beendisassembled
and reassembled
for mechanicaladjustments.
(3) Thiscommandcannotbe executedwhen bit 4 of SW'l locatedinsidethe sidedoor
of the drive unit is in the lower position(OFF).
Isample Programl
1 OL P R I N T" H O "

3. DESCRIPTION
OF THECOMMANDS

lP (lncrementPosition)
IFunctionl
Movesthe robotto a predefined
positionwith a positionnumbergreaterthan the
currentone.
Ilnput Format)
IP

ISample InputI
IP
IExplanation
I
(1) This commandcausesthe robotto move to a predefinedpositionwith a position
n u m b e rg r e a t e i ' t h a na, n d c l o s e s t o , t h e c u r r e n to n e . ( S e ec o m m a n dD P . )
(2) lf there is no predefinedpositionwith a positionnumbergreaterthan the current
one, error mode 1I is caused.
I Sample ProgramI
1 0 L P R I N T" I V I O5 "
2 0 L P R I N T" M O 4 "
3 0 L P R I N T" M O 3 "
4 0 L P R I N T" I P "

;
;
;
;

Move to
Move to
Move to
Move to

position5.
position4.
position3.
position4.

3. DESCRIPTION
OF THECOMMANDS

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

Ilnput Formatl
M A ( P o s i t i o nn u m b e r( a ) ) , ( P o s i t i o nn u m b e r( b ) ) [ , ( O o r C ) ]
Where, 1 5 Positionnumber (a), (b) < 629
Isample Input)
MA2.3.C
(Explanation
l
(1) This commandcausesthe end of the handto movefrom the currentpositionto a
positionaway from position(a) in increments
as specifiedfor position(b).lt does
not changethe coordinatesof positions(a) and (b). (See commandSF.)
(Each coordinateof position (b) is temporary added to the corresponding
coordinateof position(a).)
(2) lf the open/close
(O:open;C: closed),
the robot
stateofthe handhasbeenspecified
movesafterexecutingthe handcontrolinstruction.
lf it has not beenspecified,
the
hand state in position(a) remainsvalid.
(3) lf the calculatedincrementaldimensionsexceedthe robot's operationalspace,
error mode II is causedbeforethe robot moves.
(4) Error mode II is also causedif positions(a) and (b) have not been definedyet.
(5) The positionof the end of the hand is determinedby the tool lengthcurrently
established.
{see commandTL.)
ISample Program)
"HE1"
10 LPRINT
"PD 5, 0, 0, 30, 0, 0"
20 LPRTNT
3 0 L P R I N T" M A 1 , 5 , O '
N In the aboveexample,the end of the hand is movedwith the hand openedfrom
position1 to a positionin 30-mmincrements
Thevalues
only in the Z-axisdirection.
of coordinatesof positions1 and 5 do not change.

3. DESCRIPTION
OF THECOMMANDS

MC (Move Continuous)
(Function
)
Movesthe robotcontinuously
throughthe predefined
pointsbetweenthe
intermediate
position
two specified
numbers.
(lnput Format)
M C ( P o s i t i o nn u m b e r{ a ) ) , ( P o s i t i o nn u m b e r( b ) )

Where,1 5 Positionnumber(a),(b) < 629

P o s i t i o n u m b e r( a ) - P o s i t i on u m b e r( b ) < 9 9
IsampleInput)
M C 1 0 1 ,2 0 0
(Explanation
)
{1) Thiscommandcausesthe robotto moveat a givenspeedfrom the currentposition
via position{a)to position{b),movingcontinuously
pastthe predefined
intermedipoints
positions
ate
between
{a) and (b).
(2) Dependingon whetherpositionnumber(a)is greaterthan positionnumber(b),or
vice versa,the robot moves through the intermediatepoints in descendingor
ascending
orderof the positionnumber.The robotdecelerates
as it reaches
the end
posrrion.
( 3 ) T h e o p e n / c l o s es t a t e o f t h e h a n d b e f o r e t h e r o b o t s t a r t s m o v i n g r e m a i n s v a l i d
t h r o u g h o u t t h e e n t i r e m o v e m e n t a n d t h e o p e n / c l o s ed e f i n i t i o n s a t i n t e r m e d i a t e
points have no bearing on it.

t4l

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

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

ISample Programl
"MA 1"
10 LPRINT
"
20 LPRINTMO 2"
3 0 L P R I N T" S P 3 "
t\l01
4 0 L P R I N T" M C 5 , 1 5 "

Posrtion
2

Posirion5

MC5,
Positio n 1

P o s i t i o n6

3. DESCRIPTION
OF THECOMMANDS
X In the aboveexamDle,linenumbers10 and 20 causethe robotto moveto Dositions
1 and 2, respectively,
and line number40 causesthe robotto move continuously
points6, 8, and 10 betweenpositions5 and 15
throughthe predefined
intermediate
u n t i l r e a c h i n gp o s i t i o n1 5 .

3. DESCRIPTION
OF THECOMMANDS

MJ X (Move Joint)
IFunctionI
Turns each joint the specifiedangle from the currentposition.
I Input Formatl
M J [ ( W a i s tt u r n i n ga n g l e )] , I ( S h o u l d et ru r n i n ga n g l e )l , [ ( E l b o wt u r n i n ga n g l e )
l , { ( P i t c ha n g l e )l , [ ( R o l l a n g l e )]

ISample Input)
MJ 10,20,-30, 40, -50
(Explanation
I
( 1 ) T h e l e a s ti n p u t i n c r e m e not f t h e t u r n i n ga n g l ei s 0 . ' 1 ' .
(2) The open/close
stateof the handdoesnot changebeforeand afterthe movement.
Errormove II is causedbeforethe axismotionif the turningangleentryexceeds
the robot's operationalspace.
( 3 ) The defaultturning angle is 0.
( 4 ) The positiveand negativedirectionsof each axis of motion are as follows.

S ho u l d e r

Elbow

rist

Wrist roll
)

Isample Program)
1 0 L P R I N T" M J + 9 0 , O , O , O , 0 "
" M J O ,- 3 0 , 0 , 0 , 0 "
20 LPRINT
"MJ 0, 0, 0, +20, 0 "
30 LPRTNT
'10
X I n t h e a b o v e e x a m p l e ,l i n e n u m b e r
c a u s e st h e w a i s t t o s w e e p g 0 ' i n t h e *
d i r e c t i o n ,l i n e n u m b e r 2 0 c a u s e st h e s h o u l d e rt o s w i v e l 3 0 ' i n t h e - d i r e c t i o n ,a n d
line number 30 causesthe wrist to bend 20" in the * direction.

3, DESCRIPTION
OF THECOMMANDS

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

M O ( P o s i t i o nn u m b e r ) [ , ( O o r C ) ]
Where, '1 5 Positionnumber 5 629
Isample Input)
MO2,C
IExplanation
I
(1) This commandcausesthe end of the hand to move to the coordinatesof the
specifiedpositionby articulated
interpolation.
Thepositionof the end of the handls
determinedby the tool lengthcurrentlyestablished.
(See commandTL.)
(2) lf the open/close
stateof the handhasbeenspecified(O: open;C: closed),the end
of the hand movesafterexecutingthe hand controlinstruction.
lf it has not been
specified,the definitionof the specifiedpositionis executed.
(3) Error mode II is causedif the specifiedpositionhas not been predefinedor the
movementexceedsthe robot's operationalsoace.
(sample Program)
10 LPRINT"SP 5"
20 LPRINT"MO 20, C"
30 LPRINT"MO 30, O"

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

3. DESCRIPTION
OF THECOMMANDS

MPX (Move Position)

IFunctionI
Movesthe end of the handto a position
(position
whosecoordinates
andangle)are
specified.
Ilnput Format)
MP [ (X-axiscoordinate)l, [ (Y-axiscoordinate)], [ (Z-axiscoordinate)], [ (pitch
a n g l e )l , [ ( R o l l a n g l e )]
(sample Inputl
MP 0, 380. 300, -70. -40
I Explanation)
(1) The leastinput incrementof the coordinatevaluesis 0.1mmor 0.'1".
(e.g.specify
2 0 . 1f o r 2 0 . 1 m m . )
(21 Errormode II is causedif the specified
coordinates
exceedthe robot'soperational
sDace.
{3) The defaultcoordinatevalue is 0.
(4) The open/closestateof the hand does not changebeforeand afterthe movement.
(5) The positionof the end of the hand is determinedby the tool lengthcurrently
(see commandTL.)
established.
ISample Program)
"PD 1, 0, 380, 300, -70, -40"
10 LPRTNT
2 0 L P R I N T" M O 1 "
30 LPRINT"MP 0, 380, 280, -70, -40"
X In the aboveexample,the end of the hand is first movedto position1 and then
moved20mmdown in Z-axisdirectionby linenumber30,the open/close
stateof the
h a n d r e m a i n i n gu n c h a n g e d .

3. DESCRIPTION
OF THECOMMANDS

MS (Move Straight)
(Function
I
Moves the robot to a specifiedpositionnumber through the specifiednumber of
intermediatepoints o n a s t r a i g h tl i n e .
Ilnput Format)
M S ( P o s i t i o nn u m b e r ) , ( N o . o f i n t e r m e d i a tpeo i n t s ) [ , ( O o r C ) ]
Where, 1 5 Positionnumber 5 629
1 < No. of rntermediate
points < 99
ISample Input]
MS2,5,C
(Explanation
)
pointsbetweenthe currentposltionand the specified
{1) The numberof intermediate
positionnumberis calculated
by equallydividingthe distanceof traveland position
angle(pitch/roll
angle)betweenthetwo positions(thenumberof divisionsequaling
the numberof intermediate
pointsplus '1).Acceleration
and deceleration
duringthe
movementare omitted.
points,the smootherthe straight
{2) The more the numberof specifiedintermediate
line for the movementpath,but the more time requiredfor calculation
beforethe
robot starts moving (99 intermediatepoints requiresabout 2.4 seconds).lt rs
thereforerecommendedthat the number of intermediatepoints be specified
accordingto the distanceof travel and the requiredpath accuracy.
( 3 ) l f a n y o f t h e i n t e r m e d i a t ep o i n t s s p e c i f i e de x c e e d st h e r o b o t ' s o p e r a t i o n a ls p a c e ,
the robot stops in mid-motion and error mode ]I is caused.
( 4 ) l f t h e o p e n / c l o s es t a t eo f t h e h an d h a s b e e n s p e c i f i e d( O : o p e n ; C : c l o s e d) , t h e r o b o t
m o v e s a f t e r e x e c u t i n gt h e h a n d c o n t r o l i n s t r u c t i o n .l f i t h a s n o t b e e n s p e c i f i e d ,t h e
definition of the soecified oosition is executed.

(5) Error mode II is causedif the specifiedpositionhas not been predefined.

( 6 ) T h e p o s i t i o n s o f t h e i n t e r m e d i a t ep o i n t s a r e c a l c u l a t e db a s e d o n t h e t o o l l e n g t h
c u r r e n t l y e s t a b l i s h e d .( S e e c o m m a n d T L . )

(7) Certainpositionsof the robotmay causeoscillations.

In suchcases,keepthe speed
low.

3. DESCRIPTION
OFTHECOMMANDS
Isample Programl
1 0 L P R I N T" H E 2 "
2 0 L P R I N T" M O 3 "
30 LPRINT"MS 2, 3, C"
40 LPRINT"MO 3"
5 0 L P R I N T" M S 2 , 6 , C "
x In the aboveexample,line number20 causesthe robotto move to position3 by
interpolation
and linenumber30 causesit to moveto position2 through
articulated
points
with the hand closed.Line number50 causesthe robot to
3 intermediate
move to oosition2 throuoh 6 intermediateooints.

Intermediate point

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

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

Position2

OF THECOMMANDS
3. DESCRIPTION

MT (Move Tool)
(Function
I
awayfroma specified
to a position
Movestheendof thehandfromthecurrentposition
positionin increments
in the tool direction.
as specified
Ilnput Formatl
MT ( Positionnumber), [ (Traveldistance)] [, (O or C) ]

Where, 1 5 Positionnumber 5 629

Isample Input)
MT 5. +70. O
IExplanation
I
11)The leastinput incrementof the distanceof travelis 0.1mm.(e.9.specify150.5for
15 0 . 5 m
m .)
(2) When the distanceof travelenteredis positive(*), the end of the hand advances
along the specifieddistancein the tool direction.When the distanceof travel is
distancein the tool direction.(The
negative(-), the end retractsalongthe specified
defaultdistanceis 0.)
(3) lf the open/close
stateof the handhas beenspecified(O: open;C: closed),the end
lf it has not been
of the hand movesafterexecutingthe hand controlinstruction.
specified,the definitionof the specifiedpositionis executed.
(4) Error mode II is causedbeforethe end of the hand starts moving when the
space.lt is alsocausedif the specified
destination
exceedsthe robot'soperational
positionhas not been predefinedor is out of the operationalspace.
(5) The positionof the end of the hand is determinedby the tool lengthcurrently
(See commandTL.)
established.
(sample Program)
"HE1"
10 LPRINT
20 LPRINT"IVIT1, +30, C"
positionas the current
X In the aboveexample,line number20 definesthe reference
position;as a result,the end of the hand is advanced30mm, from the current
positionin the tool direction,with the hand closed.

3. DESCRIPTION
OFTHECOMMANDS

NT (Nest)
(FunctionI
Returnsthe robot to mechanicalorigin.
Ilnput Formatl
NT

ISample InputI
NT
I Explanation
I
(1) This commandcausesthe robot to returnto origin,which must be performed
immediatelyafterthe poweris turnedON.Execution
of this commandis necessary
before any move command can be executed.Origin setting is performed
automatically
by the limit switchesand phase-Zof encodersprovidedin eachaxis.
(2) Originsettingof J2, J3, and J4 axesis first executed,
which is followedby origrn
settingof J1 and J5 axes.lf the arm can interferewith the objectssurrounding
the
robot,usethe teachingbox to move it to a safelocationbeforeattemptingto return
the robot to origin.
(3) Caremust be takento preventpersonalinjuryif the handholdsa workpiece,
as the
hand opens as soon as the origin settingoperationis initiated.
(4) Do not touch the limit switchesand robot body until origin settingcompletes.
Isample Program)
10 LPRINT"NT"
2 0 L P R I N T" M O 1 0 "

; Executeorigin setting.
; M o v e t o o o s i t i o n1 0 .

3. DESCRIPTION
OF THECOMMANDS

OG (Ori gin)
IFunction)
Moves the robot to the referencepositionin the cartesiancoordinatesystem.
Ilnput Formatl

(sampleInputI
ULr

I
IExplanation
(1) This command causesthe robot to move to the cartesiancoordinatesyqem
positionestablished
reference
by the HOcommandor by keyingin I P.S and 0 on
4 CARTESIAN
COORDINATE
SYSTEMREFERthe teachingbox. (SeeCHAPTER
ENCEPOSITIONSETTING,APPENDIX.)
{2) lf the referencepositionis yet to be defined.this commandcausesthe robotto a
positionas determinedby tentativedata stored in the system ROM.
(3) Executionof this commandprior to origin setting resultsin error mode II.
ISample Program)
1 O L P R I N T" N T "
2 0 L P R I N T" O G "

; Returnthe robot to origin

;Move to referenceposition in the cartesian
coordinatesystem.

3. DESCRIPTION
OFTHECOMMANDS

PA (PalletAssign)
IFunction
I
for a specified
Defines
the numberof grid pointsin the columnand row directions
Dallet number.
Ilnput Format)
PA (Palletnumber) , (No. of columngrid points) , (No. of row grid points)

W h e r e ,1 3 P a l l e nt u m b e r5 9
1 < No. of column grid points < 255
1 < No. of row orid ooints S 255
ISample InputI
PA 3. 20. 30
IExplanation
I
(1) This command must be executedbeforethe pallet calculationcommand {see
commandPT) is executed.
( 2 ) T h en u m b e ro f g r i d p o i n t s i s e q u i v a l e n t t o t h at h
t oefa c t u awl o r k p i e c easr r a n g eodn
(3 X 5),the numbersof
the pallet.Forexample,with a palletholding15workpieces
column and row grid points are 3 and 5, respectively.
(3) Thecolumnand row directionsaredeterminedby the directionsof the terminating
(Seecommand PT.)
positions,respectively.
Isample Programl
1 0 L P R I N T" P A 5 , 2 0 , 3 0 "
2 0 L P R I N T" S C 5 1 , 1 5 "
30 LPRINT"SC 52, 25"
40 LPRINT"PT 5"
5 0 L P R I N T" M O 5 "
X In the aboveexample,line number10 definespallet5 as the pallethaving20 X 30
grid points.Linenumbers20,30,and 40 then identifythe coordinates
of one of the
grid points (15. 25) as position5 and line number 50 moves the robot to that
oosition.

3. DESCRIPTION
OF THECOMMANDS

PCX (PositionClear)
(FunctionI
Clearsthe positiondata of specifiedpositionnumber or numbers.
I Input FormatI
P C ( P o s i t i o nn u m b e r1 a ) ) [ , ( P o s i t i o nn u m b e r( b ) ) ]
Where, 'l < Positionnumber (a), (b) < 629
(SampleInput)
PC5,8
I ExplanationI
( 1 ) T h i sc o m m a n dc l e a r sa l l p o s i t i o dn a t af r o mp o s i t i o n
( a )u p t o a n di n c l u d i n p
go s i t i o n
(b).
(2) lf position(b) is omitted,the positiondata of only position(a) is cleared.
(3) Be careful,the cartesian
coordinatesystemreference
positiondatais clearedif the
positionnumberis omittedor 0 (zero)is defined,exceptwhen bit 4 of sw1 located
insidethe side door of the drive unit is in the lower position(OFF).
(See CHAPTER4 CARTESIANCOORDINATE
SYSTEMREFERENCE
POS|T|ON
S E T T I N GA, P P E N D I X . )
ISample ProgramI
1 0 L P R I N T" M O 1 0 "
2 0 L P R I N T" M O 1 2 "
3 0 L P R I N T" M O 1 5 "
4 0 L P R I N T" P C 1 2 "
50 LPRINT"DP"

;
;
;
;
;

M o v e t o p o s i t i o n1 0 .
M o v e t o p o s i t i o n1 2 .
M o v e t o p o s i t i o n1 5 .
C l e a rp o s i t i o n1 2 .
Ivloveto position10.

3. DESCRIPTION
OFTHECOMMANDS

PDX (PositionDefine)
IFunction
I
(positionand angle)of a specified
Definesthe coordinates
positionnumber.
Ilnput Format)
PD (Positionnumber) , [ (X-axiscoordinate)], [ (Y-axiscoordinate)], [ (Z-axis
c o o r d i n a t el), { ( P i t c ha n g l e )l , [ < R o l l a n g l e )]
Where, 1 S Positionnumber S 629
(sample Inputl
PD 10, 0, 380, 300 -70, -40
I ExplanationI
(1) The leastinputincrementof the coordinates
is 0.1mmor 0.1'.(e.g.specify20.1for
20.1mm.)
(2) No erroroccursevenwhen the definedcoordinates
exceedthe robot'soperational
space.Thisallowsyou to definea positionrepresenting
an incremental
movement
when the command is used in combinationwith the other command. (See
commandSF. MA)
(3) The defaultcoordinateis 0.
(4) The open/closestate of the hand is definedby the grip flag command.(See
c o m m a n dG F . )
(5) Thiscommandcan definea robotpositiononly when the coordinates
of the end of
the hand as deterrnined
by the tool commandare locatedaheadZ-axis(i.e.,the
directionthe robot faces).
(sample Programl
1 O OL P R I N T" G F 1 "
"PD 10, 0, 380, 300, -70, -40"
110 LPRTNT
"PD 20, O, 0, 20, A, O"
120 LPRTNT
1 3 0 L P R I N T" S F 1 0 , 2 0 "
1 4 0 L P R I N T" M O 1 0 "
X In the aboveexample,line number110definesposition10,at whichhandis closed,
position
while line number120definesposition20.Linenumber130then redefines
10 as position10 beingshifted20mm in Z-axisas determinedby position20. Line
number 140 moves the robot to the new position10.

3. DESCRIPTION
OF THECOMMANDS

PL (PositionLoad)
IFunctionl
Assignsthe coordinates
of a specifiedpositionnumberto anotherspecifiedposition
number,
(lnput Formatl
P L ( P o s i t i o nn u m b e r{ a ) ) , ( P o s i t i o nn u m b e r{ b ) )
W h e r e ,1 5 P o s i t i o nn u m b e r( a ) ,( b ) 5 6 2 9
ISample Inputl
PL5,7
I Explanation
)
(1) After this commandhas been executed,
the coordinates
of position(a) becomes
equivalentto thoseof position(b),the old position(a)coordinates
beingcleared.
(2) After the commandhas beenexecuted,
the positionof the hand at position(b) is
assignedto that at position(a).
(3) Error mode II is causedif position(b) is yet to be defined.
Isampte ProgramI
1 0 L P R I N T" H E 2 "
2 0 L P R I N T" P L 3 , 2 "
X In the aboveexample,afterthe currentcoordinates
and hand positionhavebeen
definedas position2, the positiondata of position2 is copiedto position3.

3. DESCRIPTION
OF THECOMMANDS

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

Where, 'l < Palletnumber 5 9

ISample Inputl
PT3
IExplanation
I
(1) This commandcalculatesthe coordinatesof a grid point on a specifiedpallet
numberand identifies
the coordinates
asthe positionnumbercorresponding
to the
specifiedpalletnumber.The palletdefinitioncommand(pA)must be executedfor
the palletto be usedbeforeexecutingthis command,Afterthe pT commandhas
beenexecuted,
the positiondatapreviouslydefinedfor the targetpositionnumber
is cleared.
(2) ln orderfor this commandto be executed,
the palletpositions(gridpointsat four
cornersof the pallet)mustbe properlydefinedwhichidentifya particular
palletand
the palletcounters(columnand row) be properlyset that specifya particulargrid
point on the pallet.Followingis a listingof a combinationof palletpositionsano
counterscorresponding
to each pallet number.
( P a l l e t1)

Palletreferenceposition
Palletcolumn terminatingposition
Palletrow terminatingposition
Palletcorner positionoppositeto reference
P a l l e tc o l u m nc o u n t e r
Palletrow counter
PT1 position

Position'10
position'l1
Position12
Position13
C o u n t e r1 1
Counter12
position'l

( P a l l e2t )

Palletreferenceposition
P a l l e tc o l u m nt e r m i n a t i n g
position
Palletrow terminatingposition
Palletcorner positionoppositeto reference
P a l l e tc o l u m nc o u n t e r
Palletrow counter
PT2 position

Position20
P o s i t i o n2 1
Position22
Positjon23
C o u n t e r2 l
Counler22
Position2

OF THECOMMANDS
3. DESCRIPTION
( P a l l e t3 )

Palletreferenceposition
position
P a l l e tc o l u m nt e r m i n a t i n g
Pallet row terminatingposition
Palletcorner positionoppositeto reference
Palletcolumn counter
Palletrow counter
PT3 position

Position30
P o s i t i o n3 1
Position32
Position33
Counter31
Counter32
Position3

{ P a l l e t4 )

Palletreferenceposition
position
P a l l e tc o l u m nt e r m i n a t i n g
Palletrow terminatingposition
Palletcorner positionoppositeto reference
Palletcolumn counter
Palletrow counter
PT4 position

Position40
Position41
Position42
Position43
Counter4'1
Counter42
Position4

{Pallet5)

Palletreferenceposition
position
P a l l e tc o l u m nt e r m i n a t i n g
position
Palletrow terminating
Palletcorner positionoppositeto reference
Palletcolumn counter
Palletrow counter
PTs position

Position50
Position51
Position52
Position53
Counter51

Palletreferenceposition
Palletcolumn terminatingposition
Palletrow terminatingposition
Palletcorner positionoppositeto reference
Palletcolumn counter
Palletrow cou nter
PT6 position

Position60
Position6'l
Position62
Position63

( P a l l e t6 )

LOUnTer 52

Position5

LOUnrer b I

Counter62
Position6

3. DESCRIPTION
OFTHECOMMANDS
( P a l l e t7 )

Palletreferenceposition
Palletcolumn terminatingposition
Palletrow terminatingposition
Palletcorner positionoppositeto reference
Palletcolumn counter
Palletrow counter
PT7 position

Position70
Position71
Position72
Position73
Counter71
Counter72
Position7

( P a l l e t8 )

Palletreferenceposition
position
P a l l e tc o l u m nt e r m i n a t i n g
position
Palletrow terminating
Palletcorner positionoppositeto reference
Palletcolumn counter
Palletrow counter
PT8 position

Position80
P o s i t i o n8 1
Position82
Position83
Counter81
Counter82
Position8

( P a l l e t9 )

Palletreferenceposition
Palletcolumn terminatingposition
Palletrow terminatingposition
Palletcorner positionoppositeto reference
Palletcolumn counter
Palletrow counter
PTg position

Position90
Position91
Position92
Position93
Counter91
Counter92
Position9

lf the pallet positions(four corner points of the pallet)and pallet countersare

properlydefined,therefore,executionof commandPT allowsthe coordinates
of a
grid pointto be definedas the positionnumberequivalentto the palletnumber.
(3) Errormode II is causedif the palletpositionshavenot beendefinedand the pallet
countershave not been set or have been set to have valuesexceedingthose
defined by command PA. An error does not occur, however,even when the
coordinatesobtainedfor the grid point exceedthe robot'soperationalspace.
{ 4 ) T h e o p e n / c l o s es t a t e o f t h e h a n d a t t h e t a r g e t g r i d p o i n t i s t h e s a m e a s t h a t i n t h e
pallet referenceposition.
( 5 ) W h e n e x e c u t i n gt h e P T c o m m a n d , t h e t o o l l e n g t h o f t h e h a n d t o b e u s e d m u s t b e
p r o p e r l yd e f i n e db y c o m m a n d T L . T h e r o b o t m u s t a l s c b e t a u g h t t h r o u g h t h e p a l l e t
positions (four corners) using the predefinedcorrect tool length.

3, DESCRIPTION
OFTHECOMMANDS
ISample ProgramI
Supposeyou have a palleton which a total of 24 workpiecesare arranged,4 in the
columndirectionand 6 in the row direction.Now, let us havethe svstemcomputethe
coordinates
ofthe workpieceplacedin the grid position(2,4),i.e,,the secondgrid in the
column directionand the fourth grid in the row direction,and get the robot hand to
reachthat position.
P o s i t i o n7 l

W o r k p i e c e p l a c e d i n t h e g r i d p o s i t i o n ( 2 , 4 ) P o s i t i o n7 3

c
c
o o ol

A
y.:)

C
C

h\
\7

?
o

.)

(,

a)
.)

P a l l e t7

.l

\-r,

o
/n
\-:{

Position 70
( R e f e r e n c ep o s i t i o n )

Row direction 6 pcs.)

P o s i t i o n7 2

LPRINT"rL 200"
1 O L P R I N T"PA 7, 4, 6"
20 LPRINT" s c 7 1 ,2 "
30 LPRINT" s c 1 2 ,4 "
40 LPRINT" P r 7 "
50 LPRINT" M O 7 "
Procedure
( l ) W e n o w h a v e p a l l e t7 .
Definethe tool length{inthiscase,200mm)corresponding
to the handin use.Then,
positions
guidethe arm through
70, 71, 72, and 73 at four cornersof the pallet.
(2) Execute
t h e p a l l e td e f i n i t i o cn o m m a n dI P A7 , 4 , 6 ) t o d e f i n et h e n u m b e ro f g r i d
p o i n t si n t h e c o l u m na n d r o w d i r e c t i o n s( .L i n en u m b e r1 0 )
(3) Defineparameter2 for counter7'l (column)and parameter4 for counter72 lrow\.
Theseparameters
correspondto the targetgrid point.(Linenumbers20 and 30)
(4) Now, executethe pallet calculationcommand (PT7).
This allowsthe coordinates
of the targetgrid pointto be calculated
and they are
identifiedas position7. The handcan now be movedto that positionby MO7.(Line
numbers40 and 50)

3, DESCRIPTION
OFTHECOMMANDS

PX (PositionExchange)
IFunction
I
Exchangesthe coordinatesof a specifiedposition number for those of another
specifiedpositionnumber.
(lnput FormatI
P X ( P o s i t i o nn u m b e r( a ) ) , ( P o s i t i o nn u m b e r( b ) )

W h e r e ,1 5 P o s i t i o nn u m b e r( a ) ,( b ) < 6 2 9
ISample Inputl
P X2 , 3
(Explanation
)
(1) After this command has been executed,the coordinatesof position (a) are
exchangedfor the coordinatesof position(b).
{2) The open/closestate of the hand at position(a) is also exchangedfor that at
p o s i t i o n( b ) .
(3) Error mode II is causedif positions(a) and (b) have not been predefined.
(SampteProgram)
1 0 L P R I N T" H E 2 "
2 0 L P R T N"TM J 2 0 , 3 0 , 0 , 0 , 0 "
3 0 L P R I N T" G O "
4 0 L P R I N T" H E 3 "
50 LPRINT''PX 2, 3"
X In the aboveexample,the coordinates
and hand open/close
stateof position2 are
exchangedfor those of position3.

3. DESCRIPTION
OF THECOMMANDS

sF (shift)
IFunction)
ShiftSthe coordinates
of a specifiedpositionnumberin incrementsrepresenting
the
coordinates
of anotherspecifiedpositionnumberand redefines
the new coordinates.
Ilnput Format)
S F ( P o s i t i o nn u m b e r( a ) ) , ( P o s i t i o nn u m b e r( b ) )

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

(2) Error mode 11 is causedif positions(a) and/or (b) have not been predefined.
(3) This commanddoes not effectany roboticmotion.
ISample ProgramI
1 0 L P R T N"TP D 5 , 0 , 0 , 3 0 , 0 , 0 "
2 0 L P R I N T" H E 1 "
.I,5"
3 0 L P R I N T" S F
4 0 L P R I N T" M O 1 "
x In the aboveexample,Z-coordinate
30mm is addedto the corresponding
coordinate
position
position
1. Then,line number
of
1 and the new coordinates
are definedas
10 causesthe robot to move to that point.

3. DESCRIPTION
OFTHECOMMANDS

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

(21W h e n t w o

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

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

Isample ProgramI
1 OL P R I N T" S P 3 "
2 0 L P R I N T" M O 1 0 "
30 LPRINT"SP 6, L"
4 0 L P R I N T" M O 1 2 "
5 0 L P R I N T" M O 1 5 "

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

3. DESCRIPTION
OF THECOMMANDS

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

Where,0 S Timer counter 5 32767

ISample Inputl

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

Isample ProgramI
1 0 L P R I N T" M O 1 , O "
20 LPRINT"TI 5"
3 0 L P R I N T" G C "
40 LPRINT"TI 5"
5 0 L P R I N T" M O 2 , C "

Move to position1 (with hand open).

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

3. DESCRIPTION
OFTHECOMMANDS

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

TL [ (Tool length) ]

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

Isamplelnputl
TL 145
IExplanation
)
{'1) The least input incrementof the tool length is 0.1mm. (e.g.specify200.5for
200.5m
m.)
remainsvaliduntila new one is defined.When a
{2) Thetool length,onceestablished,
tool lengthis changed,the currentpositionis also changedaccordingly,
which,
however,does not involveany roboticmotion.(lnitialsettingof the tool lengthis
'l07mm.)
(3) The defaultvalue is 0.
{4) Sincethe pointdefinedby this commandis the basisfor calculation
of the current
position,cartesianjogging, and commandsinvolvingthe cartesiancoordinate
system,the accuratetool lengthmust be established
accordingto the tool (hand)
being used.
(5) Whenevera program is to run, be sure to set the same tool length as that
establishedduring teachingat the beginningof the program.
Isample Program)
1O LPRINT"TL 120"
2 0 L P R I N T" H E 1 "
3 0 L P R I N T" T L 1 O O "
4 0 L P R I N T" M O 1 "
X In the aboveexample,linenumber30 changesthe tool lengthandthen linenumber
40 causesthe end of the hand to advance20mm in the tool direction.

3. DESCRIPTION
OFTHECOMMANDS
2.2 Programcontrol
lnstructions

CP (CompareCounter)
I Function
I
L o a d st h e v a l u e i n a specifiedcounterinto the internalccmparisonregister.
Ilnput Formatl
C P ( C o u n t e rn u m b e r )

W h e r e .1 <

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

(sampleInputl
CP 20
I
I Explanation
jump instruction
(seeEO,NE,
(1) Thiscommandmustbe executedbeforea conditional
LG,and SM) is to be executedif the valuein the counterwhosenumberis specified
jump instructions
is usedas the conditionfor the jump.Theseconditional
causea
jump to occur when certainconditionsare met involvingcomparisonwith the
contentsof the internalregisterloadedby the CP command.
(2) Evenwhen the value of the specifiedcounterchangesafterthe executionof the
command,the contentsof the internalregisterare not affected.lf the conditional
jump is specifiedunder the conditionspecifyingcomparisonwith the counter
value.therefore.this command must be executedafter the countervalue has
chanqed.
(commandslD and lN) usethe sameinternalregister,
(3) The inputcontrolinstructions
meaningthat the old contentsof the internalregisterarelostwhen an inputcontrol
instructionis executed.
(4) Thecontentsofthe countercanbe changedor readby meansofthe counter-related
(See commandsSC, lC, DC, and CR.)
instructions.
ISample ProgramI
1 0 L P R I N T" 1 0 0 t c 2 1 "
2 0 L P R I N T" 1 1 OC P 2 1 "
30 LPRTNT"120 EA 255,500"
"130 GT 100"
40 LPRTNT
5 0 L P R I N T" 5 0 0 S C 2 1 , 0 "
6 0 L P R T N"T5 1 0 G T 1 0 0 "
by 1.
X In the aboveexample,line number100causescounter2'1to be incremented
value
255
with
the
the
contents
of
the
counter
Linenumbers110and 120compare
jumps
to linenumber500,wherebythe counter
and,if they equal255,the program
'l30 causesthe
is initialized(resetto 0). lf thev do not equal 255, line number
programto return to line number 100.

3. DESCRIPTION
OF THECOMMANDS

DA {DisableAct}
IFunction
I
Disables
the interruptby a signalthroughthe specified
bit of the externalinput
terminal.
Ilnput Formatl
DA (Bit number)

W h e r e ,0 S B i t n u m b e r< 7 ( 1 5 )
F i g u r ei n ( ) i s f o r t y p e 4 1 6 o r 8 1 6 l / O c a r d .
Isample Input)
DA3
I ExplanationI
(1) Thiscommandclearsthe interruptenabledstateof the bit definedby the interrupt
enableinstruction(see commandEA).
(2) Oncethis commandhas beenexecuted,no interruptoccursevenwhen a signalis
input to the specifiedbit while the robot is in motion.Note, however,that the
executionof this commanddoesnot affectthe interruptenabledconditionof other
otts.
(3) To inhibitrepeatedinterruptsby a singlesignal,eitherlow or high,this command
must be executedat the beginningof a line numberto whichthe programjumps
after the interruDthas occurred.
Isample Program)
See command EA.

3, DESCRIPTION
OFTHECOMMANDS

DC (DecrementCounter)
lFunctionl
Subtractsl from the value in a specifiedcounter.
nput Formatl
D C ( C o u n t e rn u m b e r )

W h e r e ,1 5

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

[SampleInput]
DC 35
IExplanation]
(1) Error mode II is causedif the countervalue becomesless than -32767.
(2) The commandcan be usedto countthe numberof workpieces
and job sequences
and to set the number of grid points in the pallet.
(3) The contents of the counter can be changed,compared,or read by the
(See commandsSC, lC, CP, and CR.)
counter-related
instructions.
[SampleProgram]
1 0 L P R I N T" S C 2 1 , 1 5 "
2 0 L P R I N T" D C 2 1 "
X I n t h ea b o v ee x a m p l el ,i n en u m b e r1 0s e t sv a l u e1 5i n c o u n t e2r 1a n dl i n en u m b e r2 0
causesthe counterto be decrementedby 1.

3. DESCRIPTION
OF THECOMMANDS

DLX (DeleteLine)
I Function)
Deletesthe contentsof a specifiedline number or numbers.
(lnput Formatl
D L ' L i n e n u m b e r( a ) ) l , ( L i n en u m b e r( b ) ) l
Where, 1 5 Line number (a), (b) < 2048
(sample Input)
DL 200, 300
(Explanation
)
( 1 ) T h i sc o m m a n dd e l e t e sa l l c o n t e n t fsr o m l i n en u m b e r{ a )u p t o a n d i n c l u d i n gl i n e
n u m b e r( b ) .
(2) lf line number (b) is omitted,the contentsof line number (a) only are deleted.
(sample Program)
1 0 L P R T N"T1 0 0 M O 1 0 "
2 0 L P R I N T" 1 1 0 M O 1 2 "
3 0 L P R T N"T1 2 0 M O 1 5 "
4 0 L P R T N"T1 3 0 M O 1 7 "
50 LPRINT"140 MO 20"
6 0 L P R I N T" D L 1 3 0 "

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

3. DESCRIPTION
OF THECOMMANDS

EA (EnableAct)
IFunction
I
Enables
theinterrupt
by a signalthrough
thespecified
bitof theexternal
inputterminal,
and specifies
line numberto whichthe programjumpswhen interruptoccurs.
Ilnput Formatl
EA (+ or -)

( B i t n u m b e r ), ( L i n e n u m b e r )

W h e r e ,0 S B i t n u m b e r< 7 ( 1 5 )
1 S Line nulnber < 2048
F i g u r ei n ( ) i s f o r t y p e 4 1 6 o r 8 1 6 l / O c a r d .
ISample Inputl
EA +7, 1024
(Explanation
)
(1) Thiscommandcausesan interruptby an externalinputsignalto be servicedwhile
the robot is in motion,When the specifiedsignal is input while the robot is in
motion after this command has been executed,the robot is brought to an
immediatestop and the programjumpsto the specifiedline number.Avoid using
the commandwhilethe robotis movingat highspeed,as mechanical
failurecould
result.iSet speed below SP5)
(2) The programjumpswhen the specifiedinputbit is ON if the parameter* hasbeen
specified,and when the input bit is OFFif the parameter- has been specifieo.
(3) Two or more bits may be specifiedat one time. lf thereare more than one inputs
received,the bit with a greaterbit number takes precedence.
the interruptenabledconditionis retaineduntil
14) Oncethis commandis executed,
the interruptdisable instruction(DA), program end instruction(ED).or reset
instruction(RS) is executed.
(5) This commandis not honoredduringjoggingby meansof the teachingbox and
while the robot is in motion as a resultof the move .iointinstruction(MJ) or nest
instruction{NT).
ISample Program)
1 0 L P R T N"T1 0 0 E A + 5 , 6 0 0 "
2 0 L P R T N"T1 1 0 V t O 1 "
30 LPRINT" 120 ED"
40 LPRINT"600 DA 5"
5 0 L P R T N"T6 ' 1 0M O 2 "
6 0 L P R T N"T6 2 0 G T 1 1 0 "

3. DESCRIPTION
OF THECOMMANDS
X In the aboveexample,linenumber100declares
an interruptcausingthe programto
jump to line number600when bit 5 turnsON and linenumber110movesthe robot
to position1. When the specifiedsignalis inputduringthis motion,therefore,the
robot is broughtto a halt and then the programjumpsto line number600,where
the interruptis disabled.Linenumber610then movesthe robotto position2 and
l i n en u m b e r6 2 0c a u s e tsh e p r o g r a mt o j u m pt o l i n en u m b e r1 1 0 T
. h er o b o ti s t h e n
moved to position1 agaan.

point

--Signal input

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

3. DESCRIPTION
OF THECOMMANDS

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

ISample Inputl
ED
IExplanation
I
( 1 ) T h i s c o m m a n dm a r k st h e e n d o f a p r o g r a m .
(2) lt is requiredat the end of a programunlessthe programcommandsare directly
executedfrom the personalcomputer.{Thecommandis not required,however,
w h e n t h e p r o g r a mf o r m s a c l o s e dl o o p . )
Isample Program)
1 0 L P R I N T" 1 O OS P 3 "
2 0 L P R T N"T1 1 0 M O 3 "
3 0 L P R I N T" 1 2 0 M O 5 "
4 0 L P R I N T" 1 3 0 E D "

'

qar

cnaa.l

.t

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

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

E O ( C o m p a r e dv a l u e ) , ( J u m p i n gl i n e n u m b e r )
Where, -32767 5 Comparedvalue (decimal)< +32767
< &7FFF
or &8001 5 Comparedvalue {hexadecimal)
'1<
J u m p i n gl i n e n u m b e r5 2 0 4 8
ISample Input)
EA 128, 1024;or EO &80, 1024
(Explanation
I
(1) Thiscommandcausesa jump to occurconditionally
by meansof an externalinput
data or the contentsof the internalcounter.
(2) lf the contentsof the internalcomparisonregisterequalthe comparedvalue(i.e.,
when the conditionis met), the programjumps to the specifiedline number;
otherwise{i.e.,when the conditionis not met),the programcontinuesin sequence.
13)A valuecan be loadedintothe internalcomparisonregisterby executingthe input
instruction(seelD and lN) for an externalinput dataor by executingthe compare
(seeCP)for the counterdata.lt is thereforenecessary
counterinstruction
to execute
previouslyeither of these commandsso that a conditionaliump can occur.
14)The comparedvalue may be definedeitherin decimalor hexadecimal.
When a
hexadecimalnumber is used, be sure to append "&" at the beginningof the
number.
Isample Program)
1 OL P R I N T" 1 O OI D "
2 0 L P R T N"T1 1 0E O 1 0 0 ,1 3 0 "
30 LPRINT"120 ED"
4 0 L P R T N"T1 3 0 M O 7 "

Fetchdata from externalinput portJ u m pt o l i ne n um b e r1 3 0i f t h e i np u td a t ae q u a l s

100.
Endthe programif aboveconditionis not met.
Move to position7.

3. DESCRIPTION
OF THECOMMANDS

GS (Go Sub)
(FunctionI
Permitsthe instruction
to jump to the subroutine
whichstartswith a specified
sequence
l i n e n u mb e r .
Ilnput Formatl
G S ( L i n e n um b e r )

W h e r e ,1 S

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

ISample Inputl
GS 1024
IExplanation
I
(1) Thiscommandpermitsthe instruction
sequence
to jump to a specifiedlinenumber.
The commandRT is usedto returnsubsequently
to the main programafter the
subroutinehas been completed.
(2) Subroutines
arewrittenand storedseparately
from the mainprogramand must oe
terminatedby the command RT.
(3) To call subroutinesincorporated
in othersubroutinesis called"nesting."U p t o 9
nestinglevelsare possible.
ISample Program)
1 0 L P R I N T" 2 0 G S 1 O O "
I
2OOLPRINT"90 ED"
2 1 0 L P R T N"T1 0 0 M O 1 1 "
2 2 0 L P R I N T" 1 1 0 M O 1 2 "
230 LPRINT" 120 MO 13"
240 LPRINT" 130 RT"

End the program.

M o v e t o p o s i t i o n1 1 .
Move to position12.
Move to position13.
End the subroutine.

Subroutine

3. DESCRIPTION
OF THECOMMANDS

GT (Go To)
IFunctionl
Permitsthe programsequence
to jump to a specified
line numberunconditiona
lry.
Ilnput Format]
G T ( L i n e n um b e r )

W h e r e ,1 5

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

Isample Inputl
Gr 1024
I ExplanationI
(1) This commandcausesthe programsequence
to jump to a specifiedline number.
(2) lf the specifiedline number is not available,the first line numberfollowingthe
specifiedone is executed.
Isample ProgramI
1 0 L P R I N T" 2 0 M O 1 "
2 0 L P R I N T" 3 0 G T 1 O O "
2 0 0 L P R T N"T1 0 0 M O 1 2 "
2 r 0 L P R T N"T1 1 0 M O 1 5

l\4oveto position1.
Jump to line number 100 u nconditionally,
Move to position12.
Move to position 15.

3. DESCRIPTION
OF THECOMMANDS

lC (lncrementCounter)
(FunctionI
Adds 1 to the value in a specifiedcounter.
Ilnput Formatl
l C ( C o u n t e rn u m b e r )

W h e r e ,1 : !

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

(SampleInputI
t\- zc

I Explanation
I
(1) Error mode II is causedif the countervalue becomesgreaterthan 32767.
(2) The commandcan be usedto countthe numberof workpiecesand job sequences
and to set the number of grid points in the pallet.
(3) The contents of the counter can be changed,compared,or read by the
(SeecommandsSC, DC, CP, and CR.)
counter-related
instructions.
Isample Program)
1 0 L P R T N"TS C 2 1 , 1 5 "
2 0 L P R I N T" I C 2 1"
X I nt h ea b o v ee x a m p l el ,i n en u m b e r1 0s e t sv a l u e1 5i n c o u n t e2r 1 a n dl i n en u m b e r2 0
causesthe counterto be incrementedby 1.

3. DESCRIPTION
OF THECOMMANDS

LG (lf Larger)
IFunction)
Causesa jump to occur if the contentsof the internalregisterare greaterthan a
specifiedvalue when compared.
Ilnput Formatl
L G ( C o m p a r e dv a l u e ) , ( J u m p i n gl i n e n u m b e r )
Where, -32767 5 Comparedvalue (decimal)< +3T167
< &7FFF
or &8001 S Comparedvalue {hexadecimal)
1 < J u m p i n gl i n e n u m b e r5 2 0 4 8
(SampleInputI
LG 12a, 1024;or LG &80, 1024
IExplanation
I
by meansof an externalinput
{1) Thiscommandcausesa jump to occurconditionally
data or the contentsof the internalcounter.
12) lf the contentsof the internalcomparisonregisteris greaterthan the compared
value 1i.e.,when the condltionis met),the programjumps to the specifiedline
number;otherwise(i.e.,when the conditionis not met),the programcontinuesin
seouence.
{3) A valuecan be loadedintothe internalcomparisonregisterby executingthe input
instruction{seelD and lN)for an externalinputdataor by executingthe compare
(seeCP)for the counterdata.lt is thereforenecessary
to execute
counterinstruction
previouslyeither of these commandsso that a conditional.jumpcan occur.
(4) The comparedvalue may be definedeitherin decimalor hexadecimal.
When a
"&"
hexadecimalnumber is used, be sure to append
at the beginningof the
number.
(sample Programl
1 O L P R I N T" 1 O OI D "
2 0 L P R T N"T1 1 0 L G 1 0 0 ,1 3 0 "
30 LPRINT"120 ED"
4 0 L P R T N"T1 3 0 M O 7 "

Fetchdata from externalinput port.

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

OFTHECOMMANDS
3. DESCRIPTION

NE (lf Not Equal)

(FunctionI
Causesa jump to occurif the contentsof the internalregisterdo not equala specified
v a l u ew h e n c o m p a r e d .
Ilnput Format)
N E ( C o m p a r e dv a l u e ), ( J u m p i n gl i n e n u m b e r )
\Nhere.-32767 S Comparedvalue (decimal)< +32767
< &7FFF
or &8001 5 Comparedvalue (hexadecimal)
1 5 J u m p i n gl i n e n u m b e r5 2 0 4 8
Isample Inputl
NE 128, 1024:or NE &80, 1024
I
IExplanation
by meansof an externalinput
(1) Thiscommandcausesa jump to occurconditionally
data or the contentsof the internalcounter.

t2l lf the contentsof the internalcomparisonregisterdo not equalthe comparedvalue

(i.e.,when the conditionis met),the programjumpsto the specifiedline number;

otherwise(i.e.,when the conditionis not met),the programcontinuesin sequence.
sequence.

( 3 ) A valuecan be loadedintothe internalcomparisonregisterby executingthe input

instruction(seelD and lN) for an externalinputdataor by executingthe compare
ry to execute
counter instruction(seeCP)for the counter data.lt is thereforenecessa
previouslyeither of these commandsso that a conditional.iumpcan occur.
When a
( 4 ) The comparedvalue may be definedeitherin decimalor hexadecimal.

"&" at the beginningof the

hexadecimalnumber is used, be sure to append
numDer.

Isample Program)
1 O L P R I N T" 1 O OI D "
2 0 L P R I N T" 1 1 0 N E 1 0 0 ,1 3 0 "
30 LPRINT"120 ED"
40 LPRINT"130 MO 7"

Fetchdata f rom externalinput port.

J u m p t o l i n en u m b e r1 3 0if the input data does
not equal 100.
End the programif aboveconditionis not met.
Move to position7.

3. DESCRIPTION
OF THECOMMANDS

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

Isample InputI

(Explanation
)
(1) Thiscommanddeletesall programsand positiondatastoredin the driveunit RAM.
(2) The command does not. however,delete the referencepositiondata in the
cartesiancoordinatesystem.
ISample Program)
10 LPRINT"NW"

; Deleteall programsand positiondata.

3. DESCRIPTION
OF THECOMMANDS

NX (Next)
I Function
I
Specifies
the rangeof a loop in a programexecuted
by the commandRC.
Ilnput Format)
NX

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

3, DESCRIPTION
OFTHECOMMANDS

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

R C ' N o . o f r e p e a t e dc y c l e s )

Where,

'l

5 No, of repeatedcycles < 32767

Isample Input)
RC 32
I Explanation)
(1) Thiscommand,used
in combination
with the NX command,causesa loopspecified
by the NX commandto be executeda specified numberof timesandcausesthe line
number following NX to be subsequently
executed.
(2) To incorporate
anotherloop (betweenRCand NX) into the existingloop (between
RC and NX) is called "nesting."Up to 9 nestinglevelsare possible.
ISample Program)
"20 MO 1"
10LPRINT
2 0 L P R I N T" 3 0 R C 3 "
30 LPRINT"40
4 0 L P R I N T" 5 0
50 LPRINT"60
6 0 L P R I N T" 7 0
70 LPRINT"80

MO 2"
MO 3"
MO 4"
NX"
MO 5"

Move to position 1.
Repeat loop delimited by
NX three times.
Move to position 2.
)
^
rvrovero posrron J.
Move to position4.
Delimithe loop.
Move to position5.

i
l

Loop

3, DESCRIPTION
OF THECOMMANDS

RNX (Run)
(Function
I
part of instructions
Executes
a specified
in a program.
(lnput Format)
R N | ( S t a r t i n gl i n e n u m b e r )1 [ , < E n d i n gl i n e n u m b e r )]
Where, 1 5 Starting/ending
line number 5 2048
Isample Inputl
RN 20, 300
I Explanation)
(1) This commandcausesthe programto run startingwith a specifiedstartingline
n u m b e ra n d e n d i n gw i t h t h e l i n e n u m b e ro n e a h e a da s p e c i f i e de n d i n g l i n e
number.
(2) lf the program is to continue,restartwith the ending line number.
(3) lf the teachingbox is connected,
the line numberbeingexecutedis shown on its
LEDdisplay.lf an endingline numberis specified,
the programstopswith that line
n u m b e rs h o w n o n t h e L E D .
(4) lf the startinglinenumberis omitted,the programstartswith the firstline number.
ISample Program)
1 0 L P R T N"T1 0 0 M O 1 0 "
2 0 L P R I N T" 1 1 0 M O 1 2 "
30 LPRINT"120 GC"
4 0 L P R I N T" 1 3 0 M O 1 7 "
50 LPRINT" 140 ED"
60 LPRINT"RN 100"

; Runthe programstartingwith line number100.

3, DESCRIPTION
OFTHECOMMANDS

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

(sample Inputl
RT
IExplanation
)
(1) Thiscommandcompletesthe subroutinecalledby the GS commandand returnsto
the main program.
(2) Error mode II is causedif the mating GS command is not specified.
Isample Program)
S e e c o m m a n dG S .

OFTHECOMMANDS
3. DESCRIPTION

SC (Set Counter)
IFunction)
Loadsa specifiedvalue in a specifiedcounter.
Ilnput Formatl
SC (Counternumber) , [ (Value) ]

W h e r e ,1 5 C o u n t e rn u m b e r< 9 9
-32767 < Value {decimal)< +32767
< &7FFF
or &8001 5 Value (hexadecimal)
Isample Inputl
sc 15,123
(ExplanationI
11)All countersare initiallyset to 0.
(2) The commandcan be usedto countthe numberof workpieces
and job sequences
and to set the number of grid points in the pallet.
(3) The defaultvalue is 0.
(4) The contents of the counter can be changed,compared,or read by the
(See commandslC, DC, CP, and CR.)
instructions.
counter-related
(5) The value loadedin the counteris not changedby the commandRS,NW, or ED.
Isample ProgramI
1 O L P R I N T" S C 2 1 , 1 5 "
2 0 L P R I N T" I C 2 1 "
X l n t h ea b o v ee x a m p l el ,i n en u m b e r1 0s e t sv a l u e1 5i n c o u n t e2r 1 a n dl i n en u m b e r2 0
causesthe counterto be incrementedby 1.

3. DESCRIPTION
OFTHECOMMANDS

SM (lf Smaller)
IFunction
I
Causesa jump to occurif the contentsof the internalregisterare smallerthan a
specified
valuewhen compa
red.
Ilnput Format]
SM

( C o m p a r e dv al ue )

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

Where, -3Z161 5 Comparedvalue (decimal)< +32767

< &7FFF
or &8001 5 Comparedvalue (hexadecimal)
<
1
J u m p i n gl i n e n u m b e r5 2 0 4 8
Isample Input)
SM 128, 1024;or SM &80, 1024
(Explanation
I
(1) Thiscommandcausesa jump to occurconditionally
by meansof an externalinpur
data or the contentsof the internalreqister.
{2) lf the contentsof the internalcomparisonregisteris smallerthan the compared
value (i.e.,when the conditionis met),the programjumps to the specifiedline
number;otherwise(i.e.,when the conditionis not met),the programcontinuesin
sequence.
(3) A valuecan be loadedinto the internalcomparisonregisterby executingthe input
instruction(seelD and lN) for an externalinputdataor by executingthe compare
(seeCP)for the counterdata.lt is thereforenecessa
counterinstruction
ry to execute
previouslyeither of these commandsso that a conditionaliumo can occur.
(4) The comparedvalue may be definedeitherin decimalor hexadecimal.
When a
hexadecimalnumber is used, be sure to append "&" at the beginningof the
number.
Isample Program)
1 O L P R I N T" 1 O OI D "
2 0 L P R T N"T1 1 0 S M 1 0 0 ,1 3 0 "
30 LPRINT"120 ED"
40 LPRINT" 130 MO 7"

Fetchdata from externalinput port.

J u m p t o l i n e n u m b e r1 3 0 i f t h e i n p u t d a t a i s
s m a l l e rt h a n 1 0 0 .
Endthe programif aboveconditionis not met.
Move to position7.

3. DESCRIPTION
OF THECOMMANDS
2.3 HandControl
Instructions

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

Isample Input)

I ExplanationI
( 1 ) M o t o r - o p e r a t ehda n d .
The commandcausesthe grip of the hand to be closedby the grippingforce
waveformdefinedby the commandGP. "Retainedgrippingforce" is only valid
among the command GP parametersif the commandGC is used repeatedly.
(2) Pneumatically-operated
hand:
to closethe hand (or to
The commandcausesthe solenoidvalveto be energized
attractthe workpiece).
(3) A certainperiod of time is requiredbeforethe motion of the robot becomes
to
This may makeit necessary
stabilized
as its handclosesto hold the workpiece.
The
introducea time delayusingthe commandTl beforeand afterthis command.
"startinggripping
executiontime of this commandis determinedby the parameter
force retentiontime" for the GP command.(SeecommandGP.)
Isample Program)
1 0 L P R T N"T1 0 0 M O 1 0 , O "
2 0 L P R T N"T1 1 0 T l 5 "
30 LPRINT"12O GC"
4 0 L P R I N T" 1 3 0 T l 5 "
5 0 L P R T N"T1 4 0 M O 1 5 , C "

Move to position10 (with hand open).

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

3. DESCRIPTION
OF THECOMMANDS

G F (Gri p F lag)
lFunction)
Definesthe open/closestate of the grip of the hand (usedin conjunctionwith the
c o m m a n dP D ) .
(lnput Format)
GF (Switch)

Where,switch: 0 or 1
ISample Inputl
L]T

I ExplanationI
(1) Thiscommanddefinesthe openor closestateofthe handgrip usedin conjunction
with the command PD which definesthe coordinatesof a specifiedposition
(2) The grip stateis openwhen the switchis setto 0 and closedwhen the switchis 1.
The switch is set to 0 (grip opened)when power is turned ON.
(3) The switch setting,once made, remainsvalid until it is newly set.
(sample Program)
See command PD.

3. DESCRIPTION
OFTHECOMMANDS

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

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

(sample Programl
1 0 L P R I N T" 1 0 0 M O 1 0 , C "
2 0 L P R T N"T1 1 0 T t 5 "
30 LPRINT",120GO"
4 0 L P R T N"T1 3 0 T t 5 "
5 0 L P R T N"T1 4 0 M O 1 5 , O "

Move to position10 (with hand closed).

Set 0.5-sec.timer.
Open hand (to releaseworkpiece).
Set 0.s-sec.timer.
Move to position15 (with hand open).

3. DESCRIPTION
OF

GP (Grip Pressure)
(FunctionI
Definesthe grippingforceto be appliedwhen the motor-operated
hand is closeoand
opened.
(lnput Formatl
G P ( S t a r t i n gg r i p p i n gf o r c e )
force retentiontime)

( R e t a i n e dg r i p p i n g f o r c e )

(Startinggripping

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

0 < Startingg rippingforce retentiontime < 99

Stading gripping
force

Startinggripping
retentron time

Close
R e t a i n e dg f l p p i n g
force
Grippingforce

Time

Open

ISample Input]
G P 1 5 .7 . 5
IExplanation
]
(1) This commandsetsthe grippingforce of the motor-operated
hand (option)as it
c h a n g e sw i t h t i m e . ( S e ec o m m a n d sG O a n d G C . )
(2) The startingand retainedgrippingforcesare 15 at their maximumand 0 at their
minimum.The startinggrippingforceretention
time is the parameterX0.1 seconos
(max.9.9 seconds).
Definethe parameters
optimumfor the workpieceto be heto.
The parametersetting,once made, remainsvalid until a new settingis made.
( 3 ) T h e i n i t i a ls e t t i n g sw h e n t h e p o w e r i s t u r n e dO N a r e , , G p 1 0 , 1 0 , 3 . "
(4) Parameters,
startingand retainedgrippingforces,areinvalidfor the pneumaticallyoperatedhand.
(5) The robot motion stops during the startinggrippingforce retentiontime.
I s a m p l e P r o g r a m)
"GP
10 LPRINT
10,6,10"
"GC"
20 LPRINT

; Set grip pressure.

; Closehand in above settings.

3. DESCRIPTION
OFTHECOMMANDS
2.4 l/O ControlInstructions

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

(sample Inputl
ID
IExplanation
I
(1) This commandcausesa signal{paralleldata)from externalequipmentsuch as a
programmablecontrollerto be fetchedunconditionally
from the input port.
(2) The datafetchedis loadedintothe internalcomparisonregisterand is subsequently used for comparisonand bit test. (SeecommandsEO, NE, LG, SM, and TB.)
(3) For detailed descriptionof connections,see CHAPTER3 INTERFACE
WITH
EXTERNALI/O EOUIPMENT,
APPENDIX.
Isample Program)
1 O L P R I N T" 1 O OI D "
2 0 L P R T N"T' 11 0 E O 1 0 0 ,1 3 0 "
30 LPRINT" 120 ED"
4 0 L P R T N"T1 3 0 M O 7 "

Fetchdata from externalinput port.

J u m pt o l i n en u m b e r1 3 0i f t h e i n p u td a t ae q u a l s
100.
End the programif aboveconditionis not met.
Move to position7.

3. DESCRIPTION
OF THECOMMANDS

lN (l n p u t)
IFunction)
Fetchesan externalsignalsynchronously
from the inputport (usingthe controlsignal
l i ne s) .
Ilnput Formatl
IN

DATA (IN)
BLISY(OUT)

U
F

s T B -( r N )

DATA (IN)

Type 88, 816 l/O

BUSY (OUT)
STB(IN)

Type A8, 416 l/O

_n_

Isample Inputl
IN
(Explanationl
(1) This commandcausesa signal(paralleldata)from externalequipmentsuch as a
programmable
controllerto be fetchedsynchronously
from the input port.At this
time, the controlsignallines (STBand BUSYsignalsor STB and BUSYsignals)
must be previouslyconnectedto the externalequipment(2) The datafetchedis loadedintothe internalcomparisonregisterand is subsequently used for comparisonand bit test. (SeecommandsEO, NE, LG, SM, and TB.)
(3) For detailed descriptionof connections,see CHAPTER3 INTERFACE
WITH
EXTERNAL
YO EOUIPMENT,
APPENDIX,
Isample Programl
1 O L P R I N T" 1 O OI N "
2 0 L P R T N"T1 1 0 E O 1 0 0 ,1 3 0 "
30 LPRINT"120 ED"
4 0 L P R T N"T1 3 0 M O 7 "

Fetchdata from externalinput port.

Jump to linenumber130if the inputdataequals
100.
Endthe programif aboveconditionis not met.
Move to position7.

3. DESCRIPTION
OF THECOMMANDS

OB (Output Bit)
(FunctionI
Sets the output state of a specifiedbit through an externaloutput port.
(lnput Formatl
OB (+ or -)

(Bit number)

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

o B+ 1
IExplanation
I
(1) Set* to turn ON the specifiedbit and - to turn OFFthe specified
bit.Appendthe +
or * sign in front of the bit number.
(2) All bits otherthan the specifiedone are not affectedby this command.The output
stateof the specifiedbit is retaineduntila new settingis madeby the commandOB,
OD, or OT.
(3) lf no bit number is specified,it defaultsto bit 0.
Isample Programl
10 LPRINT"OD & FF"
20 LPRINT"OB -0"

; Output data in hexadecimal(&FF).

X In the aboveexample,linenumber10setsall externalbits(bits0 to 7)to ON and line

number 20 sets bit 0 to oFF.

3. DESCRIPTION
OF THECOMMANDS

OD (Output Direct)
IFunction
I
Outputsspecified
data unconditionally
throughthe outputport.
Ilnput Fo]matl
OD (Output data)

Where, 0 (-327671 5 Output data (decimal) < 255 l+32767l.

< &FF (&7FFF)
&0 {&8001)S Output data (hexadecimal)
Figurein ( ) is for type A16 or 816 l/O card.
lsample Inputl
oD7
I Explanation)
(1) Thiscommandcausesa signal(paralleldata)to be outputunconditionally
through
the outputportto externalequipmentsuchas a programmable
The data
controller.
output to externalequipmentis retained.
(2) The output data is definedeitherin decimalor hexadecimal.
For data definedrn
hexadecimal,
be sure to append "&" at the beginning.
(3) For detailed descriptionof connections,see CHAPTER3 INTERFACE
WITH
EXTERNAL
YO EOUIPMENT,
APPENDIX,
(SamplePrograml
10 LPRINT"OD &FF"

; Set all externaloutput port bits (8 bits)to ON.

3. DESCRIPTION
OF THECOMMANDS

OT (Output)
IFunctionI
Outputs
specified
datasynchronously
throughtheoutputport(usingthecontrolsignal
l i ne s) .

Ilnput Formatl
OT (Output data)

Where, 0 l-32767]. < Output data (decimal) < 255 (+327671

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

nov(our)

Type 48, 416 l/O

A C K( r N )

DATA (OUT)
R D Y( O U T )

Type88,816 l/O

nCr lrr.r
t
ISamptetnput)

or7
IExplanation
I
(1) This commandcausesa signal(paralleldata)to be outputsynchronously
through
the output port to externalequipmentsuchas a programmable
controller.At this
time,the controlsignallines(RDYand ACKsignalsor RDYand ACKsignals)must
be previouslyconnectedto the externalequipment.The data output to external
equipment is retained.
(2) The output data is definedeitherin decimalor hexadecimal.
For data definedin
hexadecimal,
be sure to append "&" at the beginning.
(3) For detailed descriptionof connections,see CHAPTER3 INTERFACE
WITH
EXTERNALYO EOUIPMENT.
APPENDIX.
ISamptePrograml
10 LPRINT"OT &FF"

; Set all externaloutput port bits (8 bits)to ON.

3. DESCRIPTION
OF THECOMMANDS

TB (Test Bit)
(Function)
Causesa jump (or no jump)to occurby meansof the contentsof a specifiedbit in the
internalregister.
Ilnput Formatl
TB (+ or -)

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

W h e r e0, 5 B i t n u m b e r< 7 ( 1 5 )
1 < J u m p i n gl i n en u m b e r5 2 0 4 8
F i g u r ei n ( ) i s f o r t y p e4 1 6 o r 8 1 6 l / O c a r d .
IsampleInput)
TB +7, 1024
I Explanation
I
(1) Thiscommand
input
causes
a jumpto occurconditionally
by meansof an external
data or the contentsof the internalcounter.
(2) The programjumps to the specifiedline numberif the specifiedbit in the internal
comparisonregisteris ON when the parameter* hasbeendefinedor is OFFwhen
parameter- has been defined.Otherwise(i.e.,if the conditionis not met),the
programcontinuesin sequence.
(3) A valuecan be loadedintothe internalcomparisonregisterby executingthe input
instruction(seelD and lN)for an externalinput dataor by executingthe compare
(seeCP)for the counterdata.lt is thereforenecessary
to execute
counterinstruction
previouslyeither of these commandsso that a conditionaljump can occur.
Isample ProgramI
1 O L P R I N T" 1 O OI D "
" 1 1 0T B
20 LPRINT

+1, 130"

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

Fetchdata from externalinput port.

Jump to line number 130 if the first bit of the
i n p u td a t a i s O N .
Endthe programif aboveconditionis not met.
Move to oosition7.

3. DESCRIPTION
OFTHECOMMANDS
2.5 RS232CRead
lnstructions

CR (CounterRead)
IFunctionI
Readsthe contentsof a specified
counter(usingRS232C).
llnput Formatl
CR (Counternumber)

Where, 1 = Counternumber 5 99
ISample Inputl
CR 75
(Explanation
I
(1) This commandcausesthe contentsof a specifiedcounterto be outputfrom the
RS232Cport.
(2) The output format is ASCIIcode decimalnumbers.
(3) The terminatorof output data is carriagereturn(CR,Hex.0D).lf the data is to be
receivedby a personalcomputer,therefore,
it is necessary
to handlethe entiredata
streamup to hex.0D.The BASICequivalent
to this is the LINEINPUT# statement.
(4) lf an undefinedcounteris read,the initial value 0 is returned.
(sample Programl
1 0 O P E N" C O M 1 : 9 6 0 0 ,E , 7 , 2 " A S f r 1
NO. : " ; N
2 0 I N P U T" C O U N T E R
"
C
O
U
N
T
E
R
DATA: " ; D
30 INPUT

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

50
60
70
80

P R | N T # 1 ", C R " + S T R $( N )
L I N EI N P U T + 1 A
, $
PR|NTA$
END
R U NI
N O . : ? 1 0J
COUNTER
C O U N T E R . D A T A :? 2 s 5I
255

X In the aboveexample,in which MitsubishiMULTll6 is employed,line number10

opensthe RS232C
communication
file and linenumbers20 and 30 enterthe desired
counternumber and data. Line number40 usesthe commandSC to definethe
counternumber and data and line number 50 transmitsthe commandCR and
counternumber.Linenumber60then usesthe LINEINPUT# statement
to storethe
receiveddata in A$ and line number70 outputsthe contentsof the dataon to the
displayscreen.

3. DESCRIPTION
OF THECOMMANDS

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

Isampte Inputl
DR
I Explanation
I
(1) This commandcausesthe contentsof the internalregisterto be outputfrom the
RS232Cport. lf executedfollowingan input instruction,
the commandallowsthe
data of the externalinput port to be read from the RS232Cport.
(2) The outputformatis ASCIIcodehexadecimal
numbersappendedwith "&H" at the
beginning.
(3) The terminatorof outputdata is carriagereturn(CR,Hex.0D).lf the data is to be
receivedby a personalcomputer,therefore,it is necessary
to handlethe entiredata
streamup to hex.0D.The BASICequivalent
to this is the LINEINPUT+ statement.
Isample Program)
1 0 O P E N" C O M ' ]: 9 6 0 0 E
, ,7,2" AS#1
"
t
D
"
2 0 P R T Nf T1 ,
3 0 P R I N T f1 , " D R "
4 0 L I N EI N P U T #1 , A $
50 PRINT"INPUTDATA : " ; A$
60 END
R U NI
INPUTDATA : &HFF
X In the aboveexample,in which MitsubishiMULTll6 is employed,line number10
opensthe RS232Ccommunication
file and line number20 loadsthe data of the
inputport intothe internalregisterusingthe directinputcommandlD.Linenumber
30 then transmitsthe commandDR. Line number40 next usesthe LINEINPUT
statementto storethe receiveddatain A$ and line number50 outputsthe contents
of the data to the displayscreen.

3. DESCRIPTION
OF THECOMMANDS

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

ISample Inputl
ER
(Explanation
l
(1) Thiscommandcausesthe statusof the error,as it may or may not be occurringin
the robot, to be output from the RS232Cport.
(2) The correspondingdata is output using ASCIIcode: 0 when there is no error
occurring;1 in error mode I ; and, 2 in error mode II.
(3) The datacan be readnot only in the normalconditionbut alsoin error mode I or
(4) The terminatorof output data is carriagereturn(CR,Hex.0D).lf the data is to be
receivedby a personalcomputer,therefore,
it is necessary
to handlethe entiredata
streamup to hex.0D.The BASICequivalent
to this is the LINEINpUT+ statement.
(5) This commandis effectivewhen usedto checkfor the occurrence
of error before
transferringa data streamfrom a personalcomputerto the robot.
Isample Program)
1 0 O P E N" C O M 1 : 9 6 0 0 ,E , 7 , 2 " A S + 1
20 PRINT1
#, "MO 1"
3 0 G O S U B1 O O
4 0 P R I N T #1 , " M O 2 "
5 0 G O S U B1 O O
i
1 O OP R I N T # 1",E R "
1 1 0 L I N EI N P U T #1 , A $
1 2 0 l F A $ : " 0 " T H E NR E T U R N
1 3 0 P R I N T" E R R O RO C C U R S! "
1 4 0E N D
X I n t h e a b o v ee x a m p l ei,n w h i c hM i t s u b i s hMi U L T l l 6i s e m p l o y e dl ,i n en u m b e r1 0
opens the RS232Ccommunicationfile and line numbersfrom 20 and onwaro
transfercommandsto the robot. Note that subroutine100 is calledeachtime a
command is transferred,
to checkfor the occurrenceof error.

3. DESCRIPTION
OF THECOMMANDS

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

W h e r e ,1 5

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

Isample Input)
LR512
IExplanation
I
(1) Thiscommandcausesthe contentsof the programon a specifiedlinenumberto be
output from the RS232Cport.
(2) The data is output using ASCIIcode.
(3) The terminatorof output data is carriagereturn{CR,Hex.0D).lf the data is to be
receivedby a personalcomputer,therefore,
it is necessary
to handlethe entiredata
streamup to hex.0D.The BASICequivalent
to this is the LINEINPUT# statement.
(4) When an undefinedline number is read, only ODHis returned.
enteredin hex.are convertedinto decimalequivalents
{5) The parameters
which are
output, (Example:"OD & FF" is convertedinto "OD 255.")
Isample ProgramI
1 0 O P E N" C O M 1: 9 6 0 0 ,E , 7 , 2 " A S # 1
2 0 I N P U T" S T A R LT I N E : " ; S
3 0 I N P U T" E N D L I N E: " t E
40 FOR I:S TO E
5 0 P R | N T # 1 ," L R " + S T R ${ r )
6 0 L I N EI N P U T + 1A, $
70 rF A$ :" " rHEN 90
80PR|NTl;:PRINTA$
90 NEXT
l O OE N D
R U NI
STARTLINE:?lj
E N DL I N E: ? 8 l
1 N T
2MO'1
4 D W + 1 0 . 0 ,+ 2 0 . 0 , - 3 0 . 0

6 rvro2

8ED

3, DESCRIPTION
OF THECOMMANDS
X I n t h e a b o v ee x a m p l ei,n w h i c hM i t s u b i s hMi U L T l l 6i s e m p l o y e dl ,i n en u m b e r1 0
opensthe RS232ccommunication
file and linenumbers20 and 30 enterthe starting
and endingline numbersfor a completelistingof programsbetweenthe two lines.
Linenumber50 transmitsthe commandLR and the line numbersrepresented
by a
character
string.Linenumber60 then usesthe LINElNpur # statementto storethe
receiveddatain A$ and line number70 verifiesthe presenceof the data.lf thereis
data,linenumber80 causesits contentsto be shownon the displayscreentogether
with the corresponding
line numbers.lf thereis no data,the programjumpsto line
number 90 and reexecutesline numbers40 and onward.

3. DESCRIPTION
OFTHECOMMANDS

PR (PositionRead)
IFunction
I
Readsthe coordinates
position(usingRS232C).
of a specified
(lnput Formatl
P R ( P o s i t i o nn u m b e r )

Where, 1 5 Positionnumber S 629

ISample Input)
PR5
I Explanation)
(1) Thiscommandcausesthe coordinates
of a specifiedpositionto be outputfrom tne
RS232Cport.
12)The data is output using the ASCII code as shown below. The least outpur
i n c r e m e nits 0 . 1 m mo r 0 . 1 " .
Outputformat:X-axiscoordinate,
Y-axiscoordinate,
pitchangle,
Z-axiscoordinate,
r o l l a n g l e0 D ( H e x . )
(3) The delimiterof the data is a comma (,: Hex.2C) and the terminatoris carriage
return(CR,Hex.0D).lf the datais to be receivedby a personalcomputer,therefore,
it is necessary
to handlethe entiredatastreamup to hex.0D.The BASICequivalent
to this is the LINE INPUT + statement.
( 4 ) W h e n a n u n d e f i n e dp o s i t i o ni s r e a d ,0 ' s a r e r e t u r n e d( 0 , 0 , 0 , 0 , 0 ) .
ISample Programl
1 0 O P E N" C O M 1 : 9 6 0 0 ,E , 7 , 2 " A S # 1
2 0 I N P U T" P O S I T I ONNO . : " ; P
3 0 P R I N T f I , " P R " + S T R $( P )
4 0 L I N EI N P U T # 1A, $
5 0 P R I N TA $
60 END
R U NJ
P O S I T I O N O . : ? 1 sl
+10.0, +380.0, +300.0. -70.0. -40.0
X I n t h e a b o v ee x a m p l ei,n w h i c hM i t s u b i s hMi U L T l l 6i s e m p l o y e dl ,i n en u m b e r' 1 0
opens the RS232Ccommunicationfile and line number 20 entersthe position
numberwhosecoordinates
areto be read.Linenumber30 transmitsthe commano
PRandthe positionnumber.Linenumber40 then usesthe LINE INPUT# statement
to storethe receiveddatain A$ and linenumber50 outputsthe contentsof the dara
to the d isplavscreen.

3. DESCRIPTION
OF THECOMMANDS

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

I InputFo]matl
WH
(SampleInput)
WH
IExplanation
)
(1) This commandcausesthe coordinatesof the currentpositionof the end of the
hand,as determinedby the tool lengthcurrentlyestablished
(by commandTL),to
be output from the RS232Cport.

12) The data is output using the ASCII code as shown below. The least output
i n c r e m e nits 0 . 1 m mo r 0 . 1 ' .
Outputformat:X-axiscoordinate,
Y-axiscoordinate,
Z-axiscoordinate,
pitchangle,
r o l l a n g l e0 D ( H e x . )
( 3 ) The delimiterof the data is a comma (,: Hex.2C) and the terminatoris carriage
return(CR,Hex.0D).lf the datais to be receivedby a personalcomputer,therefore,
it is necessary
to handlethe entiredatastreamup to hex.0D.The BASICequivalent
to this is the LINE INPUT # statement.
ISample ProgramI
1 0 O P E N" C O M 1 : 9 6 0 0 ,E , 7 , 2 " A S # 1
2 0 P R I N T # 1", W H "
3 0 L I N EI N P U T # 1A, S
TOSITION
:" ; A$
4 0 P R I N T" C U R R E N P
50 END
R U NI
cURRENTPOS|T|ON: +10.0, +380.0, +300.0, -70.0, -40.0
X In the aboveexample,in which MitsubishiMULTll6 is employed,line number10
opensthe RS232C
communication
file and line number20 transmitsthe command
WH. Line number30 then usesthe LINEINPUT# statementto storethe received
datain A$ and linenumber40 outputsthe contentsofthe datato the displavscreen.

3. DESCRIPTION
OF THECOMMANDS
2.6 Miscellaneous

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

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

3. DESCRIPTION
OF THECOMMANDS

TRX (Transfer)
(FunctionI
Transfersthe programand positiondata stored in EPROMto the drive unit RAM.
Ilnput Formatl
TR

ISample Inputl
TR
IExplanation
I
(1) Thiscommandcausesthe contentsofthe EPROMinstalledin the usersocketinside
the driveunit sidedoorto be transferred
to the RAM.Oncethe commandhasbeen
executed,the old programand positiondata stored in RAM are all cleared.
(2) The commandexecutionindicatorLEDlEXECUTE)
lightsup instantaneously
when
the data is being transferred.
(3) When bit 4 of SW1 locatedinsidethe driveunit side door is in the upperposition
(ON),the commandalsocausesthe cartesian
position
coordinate
systemreference
datain EPROMto be readinto RAM.Thistransferof datadoesnot takeplacewhen
bit 4 is in the lower position(OFF)and the positiondata in RAM remainsvalid.
ISample Program]
1 O L P R I N T" T R "

3. DESCRIPTION
OF THECOMMANDS

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

WR
(sample Input)
WR
(Explanation
I
(1) This commandcausesthe programand positiondata generatedin the drive unit
RAMto be writtenintothe EPROMinstalledin the usersocketinsidethe driveunrr
side door. The destinationEPROMmust have previouslybeen erasedbefore
executingthe command.
(2) Whilethe datais beingwritteninto the EPROM,
the commandexecutionindicator
LED{EXECUTE)
on the driveunitfront panelstayslit. lt goesout as soonas all data
has been written (whichtakes about 100 seconds).
(3) Errormode II is causedif the EPROMhasnot beenerasedor a writeerroroccurs.
(sample Programl
1 O L P R I N T" W R "

OFTHECOMMANDS
3. DESCRIPTION

' (Gomment)
IFunctionI
to write a comment.
Allowsthe programmer
Ilnput Format)
'

lstring of informationconsistingof up to 7 alphanumericcharacters]

Isample Input)
, MELCO
I
IExplanation
(1) This commandallowsthe programmerto write a commentconsistingof up to 7
'
alphanumericcharactersfollowingthe (apostrophe).
programor to mark
(2) Usethis commandto writethe nameand dateon the generated
the
a subroutine.Commentsare helpfulin later understanding programas the
command LR is used.
(3) The system ignorescommentsas it processesits instructions.
{4) lf the number of charactersexceeds7, the whole excessis ignored.
(sample Programl
"1 'DATE"
1 OL P R I N T
'a70821"
20 LPRINT"2
"3 NT"
30 LPRINT
"4
40 LPRINT MO 1"
X In the aboveexample,line numbers1 and 2 write the datewhen the programwas
written (21 August 1987).

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

4. MAINTENANCE
ANDINSPECTIIIN
5. APPEIIDICES

CONTENTS(MAINTENANCE
AND INSPECTION)

1.

3.
........4-8
C o n s t r u c t i oonf t h e R o b o t . ...
. . . . . . .. . . . . . 4 - 1 0
R e m o v a l ot hf eC o v e r s. . .
.
.
.
.
.
.
.
.
.
.
.............4-12
R e p l a c e m eonf tth eM o t o rB r u s h
..........4-12
3 . 3 . ' 1C h e c k i nagn dr e p l a c i ntgh ew a i s td r i v em o t o rb r u s h e s . .
3 . 3 . 2C h e c k i n g a n d r e p l a c i n g t h e s h o u l d e r / e l b o w d r i v e m o t o r b r u s h e s . . . . . . . . . . . . . . . . . - . 4 - 1 5
.. .. .4-16
3 . 3 . 3R e p l a c i nt g
h ew r i s tp i t c hd r i v em o t o r ' . . . . .
.
.
.
.
.
.
.
.
.
.
.
.
.
. . . . . 4. .-.1. .8.
3 , 3 . 4R e p l a c i n g t h e w r i s t r o l l d r i v e m o t o r . . . . . . . . . . . . .
......-..-.4-20
3.4 Adjustmea
nn
t dR e p l a c e m eonf tt h e T i m i n B
gelt...............
.
.....4-2O
3.4.'1Replacement
frequency.
3 . 4 . 2C h e c k i n g
a ,d j u s t i n ga,n dr e p l a c i ntgh es h o u l d e r d r i v e t i m i b
ne
g | t . . . . . . . . . . . . - . . 4. .-.2. .1
3 . 4 . 3C h e c k i n g , a d j u s t i n g , a n d r e p l a c i n g t h e e l b o w d r i v e t i m i n g b e l t . . . . . . . . . . . . . . . . . . . . . . 4 - 2 4
3 . 4 . 4C h e c k i n g
a ,d j u s t i n ga,n dr e p l a c i ntgh ew r i s tp i t c hd r i v et i m i n g b e l r . - - . - . . . . . . . .4--. 2. .7.
. . . . . . . . . .4. - 3 0
3 . 5 R e p l a c e m eonftt h eC u r l e dC a b l e s. . . . . . . . . . . . .
.......... ..... 4-32
3.6 lnspection,
Adjustment,
and Replacement
of the Brakes
.
.
.
.
.
.
.
.
.
.
.
. . . . . . . . . . . . . . .4 - 3 2
3 . 6 . 1C h e c k i n g
a ,d j u s t i n ga,n dr e p l a c i ntgh es h o u l d ebr r a k e . ' . .
. .. . . .... 4-34
3.6.2 Checking,
adjusting,
and replacing
the elbowbrake
3.1
3.2
3.3

4.1
4.2
4.3

4. MAINTENANCE
AND INSPECTION
1. MAINTENANCEAND The maintenance
procedures
and inspection
recommended
in the
INSPECTION
SCHEDULEfollowingpagesare mandatoryto ensurebest possibleperformance of the robot for an extendedperiod of time. Be sure to
performthe daily as well as periodicinspectionprocedures.
The periodicinspectionproceduremust be performedindependent of the daily inspectionprocedure.
I n s p e c t i o nS c h e d u l e

Differentinspectionitems are covered in differentinspection

procedures:'1-month,
3-month,6-month,and 1-year.The correspondinginspectionitemsare addedeach500 hoursof operation
in the recommendedinspectionschedule.

'l-month
inspection
I monthinspeclion

New
inspection
items are added every 500 hours of
operation.

1 - m o n t ihn s p e c t i o n 3 monthinspection
1 - m o n t ihn s p e c t i o n
1 rnonthinspection
o?
o

'l-month
lnspection 3-monthinspection 6 monthinspection
l - m o n t hi n s p e c t i o n
1-rnonthinspection
1-rnonthinspection 3-monthinspection
1-monthinspection
1 monthinspectior'l
1-monthinspection 3-monthinspection 6-monthinspection

1'yearinspection

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

4. MAINTENANCE
AND INSPECTION
2. INSPECTION
ITEMS
2.1 DailyInspection

The daily inspectionproceduremust be performedbeforeeach

day'soperation,evenwith the 24-houroperation.Table4.2.1lists
the daily inspectionitems and p rocedures.
Inspectionltem (Procedurel

Step
Before power turn'ON

Remedial Action

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

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

Connect properly.

2.

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

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

3.

E n s u r et h a t t h e r o b o t a n d d r i v e u n i t a r e f r e e o { c r a c k i n ga n d c o n t a m i n a n t s . Replaceor take necessary

l M a k es u r e t h e y a r e c l e a r o f o b s t a c l e( f o r o r i g i n s e t t i n g ) .( V i s u a l )
action.

Power tu rn-ON
4.

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

E n s u r et h e r o b o t d o e s n o t m a l t u n c t i o o
n r d e v e l o pu n u s u a n
l o i s ew h e n
p o w e r i s t u r n e dO N . ( V i s u a l )
N O T E rN o t e t h e s o u n d o f J 2 a n d J 3 a x i s b r a k e sb e i n o r e l e a s e d .
Operation

Take necessary action

according to 2.3 Troubleshooting.

Returnthe .obot to origin and run your program.

5.

E n s u r et h e p o i n t o f a x i s m o t i o n i s p r o p e r l ya l i g n e d .I t i t i s o u t o f a l i g n m e n t , Take necessary action

check for followings.
according to 2.3 Troubleshootrng.
1 ) I n s t a l l a t i o nb o l t s l e f t l o o s e ( U s e a t o o l t o r e t i g h t e n . )
Retighten.
2) Hand mounting bolts left loose (Use a tool to retighten.)
Retighten.
3) Jigs out of alignment(Visuali
Correct position.
4) lf the problem persists, use procedures shown in 2.3 Troubleshooting.

6.

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

Take necessary action

according to 2.3 Troubleshooting.

fable 4.2.'l Daily Inspection ltems

lf no trouble
Verify correct operationof peripheralsand start automatic
ooeration.
lftrouble

Performtroubleshootingprocedureaccordingto 2.3 Troubleshooting.

4. MAINTENANCE
AND INSPECTION
2.2 Periodiclnspection

Step

Table 4.2.2 lists the inspectionitems and proceduresaI each

nspectionfrequency.Part of the inspectionand adjustment
procedures
is detailedin
procedures
as well as partsreplacement
PROCEDURES.
AND INSPECTION
]. MAINTENANCE

Inspectionltem

Inspection Proceduie and

Remedial Action

cross-Reference
Paragraph

1 - m o n t hi n s p e c t i o n
1

C h e c kl o s e e i f h a n d r n o u n t i n gb o l t s
are left loose.

Use a wrench to check for looseness

and retighten as necessary.

2.

Check bolts and screws, both visible

a n d i n v i s i b l e ,f o r l o o s e n e s s .

Use a wrench and screwdriver to

check for looseness and retighten as
necessary.

3.

damages, I lsolateand eliminatethe cause.

J Checkcablesfo r scratches,
am
a n d c o n t a m i n a n t lsE. x t e r n aal n d i n - R e p l a cteh e c a b l ei f e x c e s s i v edl Y
aged.
t e r n a le x p o s e dc a b l e s ) .

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

3-month inspectaon
'11

C h e c kt i m i n g b e l t f o r e a c h a x i s ( J 2 ,
J3, and J4). Check teeth for wear.

C h e c ka n d a d j u s ta c c o r d i n gt o t h e
p r o c e d u r e sg i v e n i n 3 . M A I N T E N A N C EA N D I N S P E C T I OPNR O C E '
D UR E S .
worn, replace
lf teethare excessively
with a new belt.

12

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

Check and adjust according to th

procedures given in 3. IMAINTEN A N C E A N D I NS P E C T I O NP R O C E D URE S .
R e p l a c et h e b r a k el i n i n g i f e x c e s s i v e ly damaged.

13

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

R e p l a c et h e b r u s h i f l h e w e d r e x ceedsthe limit.

3.4.3
3.4.4

3.6.2

3.3.1
3.3.2

6 month inspection

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

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

Table 4.2.2 Periodic Inspection ltems (Continue)

Contact our Service

Division for replacement and adjustment.

4. MAINTENANCE
AND INSPECTION

Step

Inspectionltem

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

InspectionProcedureand
RemedialAction

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

Replace J1 , J2-, aod J3-ars DC

servomotorDrusnes.

R e p l a c teh e b r u s h ; f i t h a s n o t b e e n
r e p l a c e dw i t h i n t h e p a s l o n e y e a r .
For procedure, see 3. MAINTE.
N A N C EA N D I N S P E C T I OPNR O C E
DURES,

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

S e e3 . M A I N T E N A N CAEN D I N S P E C
T I O NP R O C E D U R E S .

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

Replace
t h e t i m i n gb e l t i f i t h a s n o .
b e e n r e p l a c e dw i t h i n t h e p a s t o n e
year.For procedure,see 3. MAINTE
N A \ C E A N D I N S P E C T I OPNR O C E
D UR E S .

54

C h e c kJ 3 - a x i sd r i v e l i n k f o r b e n d a n d
roller bearings on both ends lor
excessrve play.

B e p l a c ea s n e c e s s a r y .

55

D i s a s s e m b l ea n d c h a n g e g r e a s e i n
the harmon;( drive reductioogear
for eachaxis.

D i s a s s e m b l et h e h a r m o n i c d r i v e r e '
duction gear and check teeth for
wear and damages.Then, change
or apply grease.

56

R e p l a c em i c r o b e a r i n g sf o r e a c h a x i s .

B e p l a c e m i c r o b e a r i n g su s e d i n J 2 ,
J3, and J4 axes.

5-7

Replacecurled cables(for the robot

and hand).

Replacethe cablesif they have nol

been replacedwithin the past one
year.For procedure,see 3. lvlAlNTEN A N C EA N D I N S P E C T I OPNR O C E ,
DURES,

58

Replacecables used in bent sections

inside the robot.

Replace the cable if it has not been

replaced within the past one year.

59

Checkorigin limit switchesfor cor- Adjust as necessary.

rect operation (positionalreference
wath respectto Z phase of the encooer,.

53

Closs-Reference
Paragraph

Table 4.2.2 Periodic Inspection ltems

3.3.2

3.3.4
3.4.3
3.4.4

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

Contact our Service

Division.

4. MAINTENANCE
AND INSPECTION
2.3 Troubleshooting

Symptom
Power does
turn ON.

proceduresthat may be used

Table 4.2.3 lists troubleshooting
should the systemdevelopany malfunctionupon power-upor
durino roboticoDeration.
Remedy

Possible Cause
not

Robot is not acti'

vated.

'l)

Power cord lett unplugged from the

outlet
2) Blown fuse
3) Wrong sourcevoltage

Connect properly.

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

Verity correct command.

Connect cables properly.
Verify that the emergency stop switch is
not being activated.
Keep the robot clear ot obstacles.

2 ) R o b o t a r m i n c o n t a c tw i t h m e c h a n i c a l
s t o p p e r so r p e r i p h e r a l s
3) Brakesnot released

R e p l a c et h e b l o w n f u s e .
Use correct line voltage.

lf the brakes are leit applied, adjust brake

gaps. (See 3.6.)

4 ) M o t o r p o w e r c a b l el e f t u n p l u g g e d
Robot cannot return Io oflgtn.

1 ) R e t L r n i n gt o o r i g i n n o t i n v o \ e d .
2 ) R e t u r n i n gt o o r i g i n i s n o t t e r m i n a t e d .

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

1 ) Teaching box selectswitch in ON position

2) E R R O RL E D O N

Verify correct command and teaching

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

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

Robotstopsduring
rts operation.

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

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

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

2) Line voltage drop

3) Power failure includinginstantaneous
4) Emergency stop switch pressed inadvertently
5 ) l M o t o r d e v e l o p i n g u n u s L r a sl m e l l
6 ) D r i v i n g p a r t s d e v e l o p i n gu n u s u a l n o i s e
or vibration
Poor repeatability

Select personal computer mode. (Place

drive unit STl in the lower position.)
Press reset switch.

1) Unusual noise developing

2) Robot not securedin position
3) Screws in drive transmitting system left
loose
4) Timing belt slack off
5 ) U n u s u a l r e t ur n - t o - or i gi n o p e r a t i o n
6) Hand attaching screws left loose

hr^LAn.rhlo

Check for excessive robot load.

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

Remove noise source.

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

Table 4.2.3 TroubleshootingChart {Continue)

4. MAINTENANCE
AND INSPECTION

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

1) Robot mounting screws left loose

2 ) B r a k e sb e i n g a p p l i e d
3 ) H a r m o n idc r i v ed e v e l o p i nugn u s u anl o r s e

Hand cannot be
opened or closed.

Remedy

PossibleCause

1) Hand selectswitch in wrong position

2) Wrong parameterdefined for GP comm an d
3) Hand reachingits servicelife

Tighten screws securely.

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

Table 4.2,3TroubleshootingChart

AND INSPECTION
4, MAINTENANCE
3. MAINTENANCEAND
INSPECTION
PROCEDURES

The following parts must be replacedevery 2,000 hours of

recomEX RV-M1operation-(lt is manufacturer's
fMovemaster
ndrs necessa
ent replacement
mendationand more
condition.)
operating
ing on the
procedures
of these
The followingpagescontainthe replacement
parts
at the
parts to aid the service personnelin replacing
carefullyto makeyourselves
customer'ssite.Readthe procedures
f a m i l i a l i zw
eith them.
The replacementwork may be done by our ServiceCenterat
customer'sexDense.
partsnot coveredin the following
Neverattemptto disassemble
pages.
Partsrequiringreplacementevery 2,000hours of operation:
1.
2.
3.
4.

DC servomotorbrush (for waist, shoulder,and elbow)

DC servomotor{for wrist pitch and roll)
Timing belt (for shoulder,elbow, and wrist pitch)
Curledcable (for power and signal)

. The model and quantityof these parts are containedin 4.

AND INSPECTION,
PARTS,MAINTENANCE
SERVICE
WARNING
The replacementprocedureswhen performedmay result
in misalignedmechanicalorigin.The positiondata must
therefore be reviewed after the procedures have been
performed.

4. MAINTENANCE
AND INSPECTION
3.1 Constructionof the
Robot

Fig.4.3.1showsthe construction
schematic
of the Movemaster
EX
RV-M1.
( 1 ) W a i s t( J 1 a x i s )s w e e p
. The waist (J1 axis) is driven by J 1 axis motor (J-rand
harmonicdrive reductiongear(2,'locatedinsidethe base.
. J'1 axis limit switch r:31
is installedon top of the base.
{2) Shoulder{J2 axis) swivel
. The shoulder(J2 axis) is driven by the J2- and J3-axis
compositeharmonic drive reductiongear i6.)which is
locatedat the shoulderjoint and rotatedby the J2-axis
timing belt 15 from J2-axismotor i4r installedinsidethe
shoulder cover.
. lnstalledon the inputshaftof the harmonicdrivereductaon
gear iO is the electromagnetic
brakei7)that preventsthe
shoulder{rom swivelingdown by its own weight when
power is turned OFF.
. The J2-axislimit switchi8-lis instaliedon the side of the
upper arm insidethe shouldercover.
(3) Elbow {J3 axis) extension
. JustaswithJ2 axis,rotationof the J3-axismotor(91located
insidethe shouldercover is transmittedvia the J3-axis
timing belt f,o)to the J2- and J3-axiscompositeharmonic
drive reductiongear .6.r.
. Botationof the J3-axisoutputshaftof the harmonicdrive
reductiongear(0 is transmitted
via the J3-axisdrivelinkto
the elbow shaft,which resultsin the forearmextending.
. As in J2 axis,the electromagnetic
brakeis installedon the
input shaft of the harmonicdrive reductiongear (6).
. TheJ3-axislimitswitchis installedon the sideof the upper
a r m i n s i d et h e s h o u l d e cr o v e r .
(4) Wrist pitch (J4 axis)
. Rotationof the J4-axismotor locatedin the forearm is
transmittedvia the J4-axis timing belt t5) to J4-axis
harmonicdrive reductiongear (10;as a result,the wrist
housingand end effectorare rotated.
. The J4-axislimit switchi.ll is installedunderthe forearm.
(5) Wrist roll (J5 axis)
. The hand mountingflangeis rotatedby the J5-axismotor
(i0and JS-axisharmonicdrivereductiongear(-9,
which are
both mountedon a same shaft insidethe wrist housing.
. The J5-axislimit switch?0ris installedunderthe forearm.

4. MAINTENANCE
AND INSPECTION

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

il' J2-axisbrake J2-axistim

i4.,J2-axismotor

arE)
Js-axis motor

h J2- and J3-axis

compositeharmonic

J3-axis
output shaft

J4-axis timinq belt

J3-axis brake
Hand mounting
flange

uPPerarm

Shou lder cover

J3 axis limit swrtch \

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

J J1 axis limit switch

W r i s th o u s i n g

i
(E)

l1JJ4-axis
limit switch

(lu J5-axls
limit switch

J2-axis limit switch

,r

Base

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

l
Fig. 4.3.1 Robot Construction Schematic

4. MAINTENANCE
AND INSPECTION
3.2 RemovaloftheCovers (1) Wheneverthe robot is to be serviced,removethe coversas
shown in Fig. 4.3.2.
(2) Table4.3.1Iiststhe namesof the covers.Table4.3.2givesa
completelistingof attachingscrews.
(3) Some covers may be hard to remove dependingon the
position of the robot. In such cases,move the robot as
appropriateso that the coverscan be removedeasily.
{4) To replacethe covers,reversethe order of removal
Key

Cover Name

oty

tr

Base side cover

T;-l
1 z l

U p p e rs h o u l d e cr over

fJ
L:]

L o w e r s h o u l d e r cover

upper arm cover

t!l

Forearm cover

Pulleycover

tr

Cable cover

tr
fJ

Table 4.3.1 Cover Names

otv

Key

Screw Name

(a)

P h i l l i o sp a n h e a d m a c h i n e s c r e w l v l 3 X 1 4

(b)

Hexaqon socket head bolt M3 X 12

(c)

Hexagon socket head bolt lvl3 X 14

(d)

P h i l l i p sf l a t h e a d m a c h r n e s c r e w l M 3 y 6

(e)

P h i l l i p so v a l h e a d m a c h i n e s c r e w M 3 X 6

1f)

P h i l l i o so v a l h e a d m a c h i n e s c r e w M 3 X 2 5

Table 4.3.2 Aftaching Screws

AND INSPECTION
4. MAINTENANCE

@ .Q (e)

(u)@@
{u)@@

.-....-.

@@

@@@

t f ,0

lcl

L 0
Fig. 4.3.2 Removal of the Covers

R e n F
d4d, d, G}

q ^J 1 ,i c.l

^
@.,

l{aJ
J

{b}

4. MAINTENANCE
AND INSPECTION
3.3 Replacementof the
Motor Brush

The RV-M1 robot uses the DC servomotorwith brush, which

makesthe replacement
of the brushat given intervalsnecessarV.
The DCservomotorwith brushis usedin all axes;however,for a
reasonof mechanical
construction,
replacethe wholeservomotor
assemblyfor those used as the wrist pitch and roll drives.
As a guideline,replacethe motor brush every 2,000hours of
o peration.

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

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

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

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

Replacement

(1) Followingthe proceduregiven above,remove all brushes.

(2) Usinga vacuumcleaner,removeall carbonparticlesfrom the
brush holder Docket.
(3) Carbonparticleresidualcan be a causeof loss of insulation
and rectification
failurebetweengroundingpoints.Be sureto
remove all particles.
(4) Installthe new brushes.
(5) Afterthe new brusheshavebeeninstalled,move eachaxisof
motionits maximumstrokeat the maximumspeedor run the
robot for 30 minutesusing user program.
NOTES:
1) Beforeinstallinga new brush,makesurethe brushis freefrom
g r e a s eo, i l , a n d m o i s t u r e .
Neverhandlebrusheswith grease-stained
handsor placethem
in locationssubjectto contaminationwith greaseand oil.

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

4. MAINTENANCE
AND INSPECTION

O Brush holder cap

Fig. 4.3.3 Checkingand Replacingthe Waist Drive Motor Brushes

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

Wear limit line

Fig. 4.3.4 Brush Shspe

4. MAINTENANCE
AND INSPECTION
3.3.2 Checkingand
replacingthe
shoulder/elbowdrive
motor brushes

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

Inspection
( 1 )Fig.4.3.5outlinesthe inspection
procedures
and replacement
of the shoulderand elbow drive motor brushes.
(2) Removethe uppershouldercoverby referringto 3.2Removal
of the Covers.
(3) Followingsteps {3) to (6), A. lnspection,given under 3.3.1
Checkingand replacingthe waistdrive motor brushes,check
the brushes.
B. Replacement
(1) Following
s t e p s( 1 )t o ( 5 ) ,B . R e p l a c e m e ngti,v e nu n d e r3 . 3 . 1
Checking
and replacing
the waistdrivemotorbrushes,replace
the brushes.

AND INSPECTION
4. MAINTENANCE
3 . 3 . 3 R e p l a c i n gt h e w r i s t
pitch drive motor

A. Beplacement
( 1 ) F i g .4 . 3 . 6o u t l i n e st h e r e p l a c e m e npt r o c e d u r eo f t h e w r i s t p i t c h
drive motor.
{ 2 i R e m o v et h e f o r e a r m c o v e r a n d p u l l e y c o v e r b y r e f e r r i n gt o 3 . 2
Removal of the Covers.
( 3 ) T h e w r i s t p i t c h d r i v e m o t o r . . l - i s i n s t a l l e di n t h e F o r e a r m . ? ,
( 4 ) T h e J 4 - a x i se n c o d e rc o n n e c t o r 3 ( c o n n e c t o rn a m e : E N C 4 )
a n d J 4 - a x i s m o t o r p o w e r c o n n e c t o r 1 4 .( c o n n e c t o rn a m e : M 4 )
a r e c o n n e c t e dt o t h e m o t o r i n s i d e t h e f o r e a r m . R e m o v et h e s e
wires from the motor.
( 5 ) R e m o v et h e w r i s t p i t c h d r i v e t i m i n g b e l t . . ! , .( F o r p r o c e d u r e ,
s e e 3 . 4 . 4 C h e c k i n g ,a d j u s t i n g , a n d r e p l a c i n g t h e w r i s t p i t c h
d r i v e t i m i n g b e l t ).
( 6 ) R e m o v et h e h e x a g o ns o c k e th e a d s e t s c r e w 7 . t h a t s e c u r e st h e
t i m i n g p u l l e y 1 6 .t o t h e m o t o r s h a f t a n d r e m o v e t h e t i m i n g
p u l l e y . 6 ,f r o m t h e m o t o r s h a f t .
( 7 ) R e m o v e t h e t v r o m o t o r m o u n t i n g s c r e w s i 8 . rt h a t s e c u r e t h e
motor ,1. to forearm ?-,and remove the motor t; f rom the
forearm.!.r.
(8) To install a new motor, reversethe order of removal.

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

4. MAINTENANCE
AND INSPECTION

Motor power connectori

Wrist

drlve motor

{M4)

a3.jEncoderconnector
(ENC4)

||mtngbett

Fig.4.3,6 Replacingthe Wrist pitch Drive Motor

i8) lvlotormounting screw

4. MAINTENANCE
AND INSPECTION
3.3.4 Replacingthe wrist
roll drive motor

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

(3) The J5-axisencoderconnector(11(connectorname: ENC5)

name: M5)
and JS-axismotor powerconnectorl2l (connector
areconnected
to the motorinsidethe fore arm.Removethese
wires from the motor.
14) Removethe motor bracket(r from the wrist housingO by
removingthe four motor bracketmountingscrewsQ.
( 5 ) Removethe six flange mountingscrews(6. to remove the

At this time, the

flange (7) from the motor bracket44,1.
flex-splineshaft(ti)and wave generator(9-lof the harmonrc
drivereductiongeararealsoremovedfrom the motorbracket.
They remain installedon the motor shaft.
(0 that securethe wave generator@)to
( 6 ) Removethe setscrews
the motor shaftand removethe wave generator(9 from the
moror.
shaft 8 and steel
\ 7 ) Makesurethat the splinesin the flex-spline
balls of the wave generator9 are free from contaminants.
(8) Removethe two motor mountingscrewsii from the motor
bracket(4).

(e)To installa

new motor, reversethe order of removal.

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

4. MAINTENANCE
AND INSPECTION

5 Wristhousing

4,r lvlotorbracket

tt Encoderconnector

.-'t.-.---

.2) Motor power connector

:Q-Flange mounting screw

Ftanqe

il0, Setscrew

O Flex-splineshaft

Fig.4.3.7 Replacing the Wrist Roll D.ive Motor

N4otorbracketmounting screw

ii Motor

4. MAINTENANCE
AND INSPECTION
3.4 Adiustmentand
Replacementof the
Timing Belt

Timing belts are used as a drive-tra

nsmittingelement in the
IMovemaster
EX RV-n/l1
as shown in Fi9.4.3.1.Unlikechainsand
gears,the timing belt requiresno lubricationand developslow
noise.Belttension,however,is very importantin the timing belt.
Adjust the belt tension periodicallyand replacethe belt if
necessaryto ensurelong belt life and preventnoise problem.

3.4.1 Replacement
frequency

The timing belts used in RV-M1must be replacedevery 2,000

hours of operationunder normal condition.More frequentreplacementis, however,necessarydependingon the operating
condition.Usethe followingguidelines
for the replacement
of the
belt. The timing belt must be replacedwith a new one when:
(1) The root or back of a tooth cracks.
( 2 ) T h e b e l t s w e l l sd u e t o o i l and greaseon it.
(3) The teeth wear (up to half of the face width).
(4) A belt tooth misengages
with the matingpulleytooth due to
excessrve
wear.
(5) The belt is cut off.
NOTE:The timing belt wears in the initial run-in period as its
roughedgesare reduced.Worn rubberparticlesmay be
present inside the covers after the robot has been
operatedfor about300 hours,which does not, however,
indicatea faulty condition. In this case, wipe these
particlesoff the inner surfacesof the covers.lf rubber
particlesare soon producedagain,replacethe belt.

AND INSPECTION
4. MAINTENANCE
adiusting, A. Inspection
3.4.2 Checking,
and replacingthe
shoulderdrivetiming (1) Fig. 4.3.8outlinesthe inspectionprocedureof the shoulder
drive timing belt.
belt
(2) Removethe uppershouldercoverby referringto 3.2Removal
of the Covers.
(3) Visuallycheckthe belt to makesurethat it does not develop
any of the symptomsgiven in (1) to (5), 3.4.1
(4) Depressthe belt at its centerwith a force of about 20 to 30gf
and ensurethat it deflects2mm. See Fig. 4.3.9.
B. Adlustment
(1) Fig. 4.3.8 also outlines the adjustmentprocedureof the
shoulderdrive timing belt.
(2) Loosenthe four motor mountingscrews[D.
(3) Whilefeelingthe tensionin the timingbelt@, movethe motor
t)in the directionsshown by arrows"a" and "b". Notethat
the motor @ is securedusingthe four screwsin the slotsso
they can be moved in the slots.
"
(4) Moving the motor in the directionshown by arrow a"
tightensthe belt; moving it in the directionshown by arrow
"b" slacksthe belt.
(5) Do not movethe motortoo far in direction"b", or the belt@
comes off the timing pulleys@ and ).
(6) After the belt tension has been adjusted,tighten motor
mountingscrews0l securely.A loosemotor mountingscrew
resultsin the belt slackingoff.
C. Replacement
(1) Fig. 4.3.8 also outlinesthe replacementprocedureof the
timing belt.
(2) Removethe brakeby referringto 3.6.1Checking,adjusting,
and replacingthe shoulderbrake.
13) Removethe three mountingscrews.l0)to removethe brake
mountingplate (z-1.
(4) Usinga marker,markalignmentpointerson the timing beltl
and timingpulleys(0 and (0, whileensuringthatthe beltteeth
are in correctmesh with the pulley teeth. See Fig. 4.3.10.

4. MAINTENANCE
AND INSPECTION
(5) Loosenthe four motor mountingscrews(!-,11
and removethe
timingbelt.
(6) Mark the alignmentpointerson the new timing belt. During
the procedure,keep the belt tightened.
(7) Mountthe new belt,gettingit aroundthe timingpulleysr and
(0. Make sure that the alignmentpointersare lined up.
(8) Adjust the belt tensionby referringto steps (3) to (6) in B.
REMARKS
For more detailedtechnicaldata of the timing belt tension,
see CHAPTER8 TIMING BELT TENSION.APPENDIX.

4. MAINTENANCE
AND INSPECTION

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

.1, Motor
mountino screw

:-llMounting screw

.f&

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

.2. Brakemou

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

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

'2, Timing

belt

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

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

Fig. 4.3.10 Marking the Timing Belt and Pulleys

4. MAINTENANCE
AND INSPECTION
3 . 4 . 3 C h e c k i n g ,a d j u s t i n g ,
and replacing the
e l b o w d r i v et i m i n g
belt

A. lnspection
p r o c e d u r eo f t h e e l b o w d r i v e
{ 1 ) F i g . 4 . 3 . l l o u t l i n e st h e i n s p e c t i o n
timinq belt.

(2) Removethe uppershouldercoverby referringto 3.2Removal

of the Covers.
(3) Visuallycheckthe belt to makesurethat it does not develop
any of the symptomsgiven in (1) to (5), 3.4.1
(4) Depressthe belt at its centerwith a forceof about20 to 30gf
and ensurethat it deflects2mm. See Fig. 4.3.9.
B. Adjustment
(1) Fig4
. .3.11
a l s oo u t l i n e s t haed j u s t m e nptr o c e d u roef t h e e l b o w
drive timing belt.
(2) Loosenthe four motor mountingscrews(1,'.
(3) Whilefeelingthe tensionIn the timingbelt[2),movethe motor
(3,'in the directionsshown by arrows"a" and "b". Note that
the motor (3)is securedusingthe four screwsin the slotsso
they can be moved in the slots.
(4) Moving the motor in the directionshown by arrow "a"
tightensthe belt; moving it in the directionshown by arrow
"b" slacksthe belt.
"b", or the belt
{5) Do not movethe motortoo far in direction
@
comes off the timing pulleysG-land 15r.
{6) After the belt tension has been adjusted,tighten motor
mountingscrewsll) securely.A loosemotor mountingscrew
resultsin the belt slackingoff.
C. Replacement
( 1 ) F i g . 4 . 3 . 1 1a l s o o u t l i n e st h e r e p l a c e m e nptr o c e d u r e
of the
timingbelt.
{2) Removethe brakeby referringto 3.6.2Checking,adjusting,
a n d r e p l a c i n tgh e e l b o w b r a k e .
(3) Removethe three mountingscrewsi6l to removethe brake
m o u n t i n gp l a t e . 7 i ,
{4) Be careful,cablesare securedto the brakemountingplate -7.
Do not apply excessive
force when removingthe mounting
prare.

AND INSPECTION
4. MAINTENANCE
(5) Usinga marker,markalignmentpointerson the timing beltl2l
whileensuringthatthe beltteeth
andtiming pulleys(4)and (51,
are in correctmesh with the pulley teeth.See Fig. 4.3.10.
(6) Duringadjustmentof the belttension,do not allowthe beltto
that the belt comes off the timing
slackoff so excessively
({
(C.
pulleys and
(7) Mark the alignmentpointerson the new timing belt. During
the procedure,keep the belt tightened.(See Fig. 4.3.10.)
(8) Mountthe new belt,gettingit aroundthe timingpulleys4 and
6). wate sure that the alignmentpointersare lined up.
(9) Adjust the belt tensionby referringto steps (3) to (6) in B.
REMARKS
For more detailedtechnicaldata of the timing belt tension,
see CHAPTER8 TIMING BELTTENSION,APPENDIX.

4. MAINTENANCE
AND INSPECTION

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

:2 Timing belt

i4.iTiming pulley

'@%

{ o n m o t o re n d )

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

i0) Mounting screw

(, Brake mou nting plate

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

4. MAINTENANCE
AND INSPECTION
3.4.4 Checking,
adiusting. A. lnspection
and replacingthe wrist
pitchdrivetiming belt (1) Fig.4.3.12outlinesthe inspectionprocedureof the wrist pitch
drive timinq belt.
(2) Removethe upperpulleycoverby referringto 3.2 Removalof
the Covers.
(3) Visuallycheckthe belt to makesurethat it does not develop
any of the symptomsgiven in 11)to (5), 3.4.1
(4) Depressthe belt at its centerwith a forceof about20 to 30gf
and ensurethat it deflects2mm. See Fig. 4.3.9.
B. Adjustment
alsooutlinesthe adjustmentprocedureof the wrist
11)Fig.4.3.12
pitch drive timing belt.
(2) Loosenthe two motor mountingscrews(D.
(3) Whilefeelingthe tensionin the timing belt(2),movethe motor
"a" and "b". Notethat
@ in the directionsshown by arrows
the motor @ is securedusingthe two screwsin the slotsso
they can be moved in the slots.
(4) Moving the motor in the directionshown by artow " a"
tightensthe belt; moving it in the directionshown by arrow
"b" slacksthe belt.
(5) Do not movethe motortoo far in direction"b", or the belt@
comes off the timing pulleysl and ,r.
(6) After the belt tension has been adjusted,tighten motor
mountingscrewsij-lsecurely.A loosemotor mountingscrew
resultsin the belt slackingoff.
C. Replacement
(11 Fig. 4.3.12also outlinesthe replacementprocedureof the
timingbelt.
(2) Usinga marker,markalignmentpointerson the timing belta2l
andtiming pulleysG.rand(5, whileensuringthatthe beltteeth
are in correctmesh with the pulley teeth. See Fig. 4.3.10.
(3) Loosenthe two motor mountingscrews(D and removethe
timing belt.
( 4 ) M a r kt h e a l i g n m e npt o i n t e r so n t h e n e w t i m i n gb e l t .D u r i n g
the procedure,keep the belt tightened.

AND INSPECTION
4, MAINTENANCE
( 5 ) Mountthe new belt,gettingit aroundthe timingpulleysG)and
i5). Make sure that the alignmentpointersare lined up.
( 6 ) Adjust the belt tensionby referringto steps (3) to (6) in B.
REMARKS
For more detailedtechnicaldata ot the timing belt tension,
see CHAPTER8 TIMING BELTTENSION.APPENDIX.

AND INSPECTION
4. MAINTENANCE

il. lMotormounti
-2-tTiming belt

'v'
b

+=+

Trming pulley

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

4. MAINTENANCE
AND INSPECTION
3.5 Replacement
of the
CurledCables

The curledcablesusedas the cablesconnectingthe RV-M1base

unit and arm unit must normallybe replacedevery2,000hoursof
gPeration
fwo curledcablesare used,powerand signal.Thesetwo cables
must be replacedat the same time.
A. Replacement
(1) Fig. 4.3.13outlinesthe replacementprocedureof the two
curled cables.
(2) Makesurethatthe powerswitchon the driveunit rearpanelis
in the oFF position.
13) Removethe baseside coversand upperand lower shoulder
coversby referringto 3.2 Removalof the Covers.
(4) Unplug the three connectors(connectornames: "PW,"
"HND," and "CON3")which are pluggedinto positioninside
the base 1..D.
(5) Unplug the eight connectors{connectornames: "PW,"
" N d" L S " )
" H N D , "" M 2 , " " M 3 , " " E N C 2 , " E N C 3 , " E N C 4 , 5 , A
which are pluggedinto positioninsidethe shouldercovers.
(6) Eachconnectoris identifiedby the connectornameprintedon
t h e m a r k l n gs e a l .
(7) Removethe two mountingscrews(? and pull off the terminal
plateQ) togetherwith the power curledcable[4] and signal
curledcable (0 from the base (11.
(8) Removethe plasticnuts Q),eachof which securesthe power
to the
curledcable@ and signalcurledcableO, respectively,
motor plate @.
(9) Pull off the two cablesa4)and (5)from the motor plate (0.
(10) To installnew cables,reversethe order of removal.
WARNING
When reconnectingthe connectors, be sure they are
connectedin matchedpairsidentifiedby the sameconnector name. A wrong connection can result in a serious
trouble.

4. MAINTENANCE
AND INSPECTION

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

7 P l a s t i cn u t

nal curled cable

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

Connectofl

i-4.Power curled cable

J Iermtnatptate

"CON3"

lr Ease

Fig. 4.3,13Replacingthe Curled Cables

AND INSPECTION
4. MAINTENANCE
brakesinstalledin
3.6 Inspection,
Adtustment,The RV-M'lrobot has built-inelectromagnetic
and Replacement
of the the shoulderswivel and elbow extensionaxes that preventthe
Brakes
arm from droppingby its own weightwhen poweris OFF.Inspect
the brakesat regularintervalsby followingthe inspectionand
adjustmentproceduresgiven below.
3.6.1Checking,
adiusting, A. Inspection
and replacingthe
('l) Duringthe normaloperationof the robot,checkto seeif any of
shoulderbrake
the following symptomsdevelops.
a. The brake is not releasedwhen power is turned ON.
. This is probablydue to an open brakecoil leadwrre or
incorrectarmature-to-coilgap. lf the problempersrsts
evenafterthe gap hasbeenadlusted,replacethe brake.
b. The brakesqueakswhile the arm is being rotated.
. This is probablydue to incorrectgap.Adjustthe gap as
necessa
ry.
c. The arm drops when power is turned OFF.
. T h i s i s p r o b a b l yd u e t o a w o r n b r a k el i n i n go r o i l a n d
greasetrappedinside.Cleanor replacethe brakelining.
B. Adjustment
( 1 ) F i g .4 . 3 . 1 4i d e n t i f i etsh e s h o u l d e rb r a k ep a r t s .
(2) Makesurethat the powerswitchon the driveunit rearpanelis
in the OFF position.
(3) Removethe upperand lower shouldercoversby referringto
3.2 Removalof the Covers.
(4) Loosenthe two setscrews
i3).At thistime, usecarenot to lose
the copperplates(1. Then,usinga feelergauge,adjustthe gap
betweenthe armature(5)and coil :7,rto 0.1 mm.
(5) After the gap has been properlyadjusted,tighten the two
At this time,makesurethat the copper
setscrews
i3.lsecurely.
plate i11)is installed between the setscrewi3l and shaft (8).
C. Replacement
( 1 ) F i g .4 . 3 . 1 5
n rt o c e d u roef t h e s h o u l d e r
o u t l i n e tsh e r e p l a c e m e p
brake.
(2) Makesurethat the powerswitchon the driveunit rearpanelis
in the OFF position.
(3) Removethe upperand lower shouldercoversby referringto
3.2 Removalof the Covers.
(4) The brakeconnectoril) {connectorname: "PW") is plugged
into positioninsidethe shouldercovers.

4. MAINTENANCE
AND INSPECTION
( 5 ) Unplugthe shoulderbrakepin contacts12)(contactNos.1 and
housingin the connectori. See Fig.
2) from the receptacle
4.3.16.
( 6 ) Removethe two setscrews(3t.At this time, use carenot to lose
the copperplatesO. Then,removethe brakedisk[4],armature
,1,and spring [6, from the shaft a0.
(7) Removethe four mountingscrews(91to removethe coil -47)
from the brake mounting plate (0).
(8) To installa new brake,reversethe order oi removal.
(9) Adjust the gap by referringto the proceduregiven in B.
(a may be pluggedintoeitherposition,No. 1
(10) The pin contacts
and No. 2.
i3. Setscrew

(O copper plate

Fig. 4.3.14 Shoulder Brake Parts ldentification

Fig.4.3.16 Removing the Pin Contacts

L3.rSetscrew

-\

.b

o.- \
q

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

4. MAINTENANCE
AND INSPECTION
3 . 6 . 2 C h e c k i n g ,a d i u s t i n g ,
a n d r e p l a c i n gt h e
elbowbrake

A. Inspection
{ 1 ) D u r i n gt h e n o n n a lo p e r a t i o no f t h e r o b o t ,c h e c k t os e e i f a n y o f
the following symptoms develops.
a . T h e b r a k e i s n o t r e l e a s e dw h e n p o w e r i s t u r n e d O N .
. T h i s i s p r o b a b l yd u e t o a n o p e n b r a k ec o i l o r l e a d w i r e
o r i n c o r r e c ta r m a t ur e ' t o - c o i lg a p . l f t h e p r o b l e m p e r s i s t s
e v e n a f t e r t h e g a p h a s b e e n a d j u s t e d ,r e p l a c et h e b r a k e .
s hile the arm is being rotated.
b . T h e b r a k e s q r - r e a kw
. T h i s i s p r o b a b l yd u e t o i n c o r r e c gt a p . A d j u s tt h e g a p a s
n e c e s s ar v .
c. The arm drops when power is turned OFF.
. T h i s i s p r o b a b l yd u e t o a w o r n b r a k e l i n i n g o r o i l a n d
g r e a s et r a p p e di n s i d e .C l e a no r r e p l a c et h e b r a k el i n i n g .
B . A dj u s t m e n t
( 1 ) F i g . 4 . 3 , 1 7i d e n t i f i e st h e e l b o w b r a k e p a r t s .
( 2 ) M a k e s u r e t h a t t h e p o w e r s \ ^ / i t c ho n t h e d r i v e u n i t r e a r p a n e l i s
i n t h e C F F p o si i i on .
( 3 ) R e m o v e t h e r p p e r a n d i o w e r s h o u l d e r c o v e r s b y r e f e r r i n gt o
3 . 2 R e m o v a lc f t h e C o v e r s .
( 4 ) L o o s e nt h e t w o s e t s c r e w s ' 3 : A
. t this time, use care not to lose
p
l
a
t
e
s
T
h
e
n
,
u
s
i
n g a f e e l e rg a u g e ,a d j u s tt h e g a p
the copper
.11,.
b e t w e e nt h e a r m a t u r e 5 a n d c o i l . 7 t o 0 . 1 m m .
( 5 ) A f t e r t h e g a p h a s b e e n p r o p e r l y a d j u s t e d ,t i g h t e n t h e t w o
s e t s c r e w s1 3 s e c u r e l y .A t t h i s t i m e , m a k e s u r e t h a t t h e c o p p e r
p l a t e ' . 1 1i s i n s t a l l e d b e t w e e n t h e s e t s c r e w i . 3 'a n d s h a f t ( 8 ; .
C. Replacement
( 1 ) F i g . 4 . 3 . i 7 a l s o o u t l i n e st h e r e p l a c e m e n tp r o c e d u r eo f t h e
e l b o w b r ak e .
{2) Makesurethat the power switch on the drive unit rearpanelis
in the oFF position.
{ 3 ) R e m o v e t h e u p p e r a n d l o w e r s h o u l d e r c o v e r s b y r e f e r r i n gt o
3.2 Removal of the Covers.
( 4 ) T h e b r a k ec o n n e c t o r I ( c o n n e c t o rn a m e : " P W " ) i s p l u g g e d
i n t o p o s i t i o n i n s i d e t h e s i t o u l d e rc o v e r s .
( 5 ) U n p l u g t h e e l b r : w b r a k e p i n c o n t a c t s: 2 . ( c o n t a c tN o s . 3 a n d 4 )
f r o m t h e r e c e p t a c i eh o u s i n g i n t h e c o n n e c t o r i 1 , . S e e F i g .
4 . 3 . 18 .
( 6 ) R e m o v et h e 1 w o s e t s c r e w s. 3. A t t h i s t i n t e , u s e c a r e n o t t o l o s e
t h e c o p p e r p l a t e s 1 1 .T. h e n , r e m o v e t h e b r a k ed i s k ( 4 r ,a r m a t u r e
.5, and spring 6l from the shaft .8..

AND INSPECTION
4. MAINTENANCE
(7) Removethe four mountingscrews-,1
to removethe coil 0)
plate
from the brake mounting
[0.
(8) To installa new brake,reversethe order of removal.
(9) Adjust the gap by referringto the proceduregiven in B.
(10) The pin contactsi2,may be pluggedintoeitherposition,No.3
and No, 4.
WARNING
The arm falls down when the brakesare removed.Be sure
to securethe arm in position beforeattempting to adiust
or replacethe brakes.

ll

Coil
il-, Connector

--7

i3- Setscrew

7p
%@
M o un t i n g

screw
i-0 Brakemounting plate

/ -@'
d
i4) Brakedisk

Fig.4.3.17 Elbow Blake Parts ldentification

I Connector

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

,/

ll copper plate

AND INSPECTION
4. MAINTENANCE
3 . 6 . 2 C h e c k i n g ,a d j u s t i n g ,
a n d r e p l a c i n gt h e
elbowbrake

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

p a n e li s

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

AND INSPECTION
4. MAINTENANCE
(7) Rernovethe four mountingscrewsI
from the brake mountingplate @.

to removethe coil (D

(8) To installa new brake,reversethe order of removal.

(9) Adjust the gap by referringto the proceduregiven in B.
(10) The pin contacts
!2,may be pluggedintoeitherposition,No.3
and No, 4.
WARNING
The arm falls down when the brakesare removed.Be sure
to securethe arm in position beforeattempting to adiust
or replacethe brakes.

il, Connector

'3.

@
re^:@
lMo u nting

screw

b, Jpfl nq

Brakemounting plate
-f0,,

/9'
d

.41Brakedisk

Fig. 4.3.17 Elbow Brake Parts ldentification

Connector

Fig.4.3.'18 Removing the Pin Contacts

Setscrew

4. MAINTENANCE
AND INSPECTION
4. SERVICE
PARTS

Table 4.4.1 lists those RV-M1 parts which require periodic

replacement.
Tables4.4.2and 4.4.3arethe listingsof spareparts
may
that
be requiredduring serviceprocedures.
parts
manufacturer
All
may be orderedfrom the authorized
or our
ServiceDivision.Note that the oarts recommendedbv us differ
from manufacturer'sstandardparts: bv sure to consult our
ServiceDivisionbeforeordering.

4.1 RobotConsumables

No.

Description

Motorbrush

Model

Manulacturel

3OW-BRSH

lnstalled Location

otv

Waist, elbow,
shoulderj2 each

Wrist pitch/roll

S h o ul d e r

Elbow

Wrist pitch

Power/signalrelay

1 set

lMitsubishiElectric
2

DC servomotor

Timing belt

M M 1 9 09 . 5

Timing belt

Mtvt-132,9.5

Timing belt

Curledcable

11W.J5M

lMitsuboshiBelt

MM-97-4.8

BU142B040G51

M i t s u b i s hEi l e c t r i c

Table 4.4.1 Robot ConsumablesList

4. MAINTENANCE
AND INSPECTION
4.2 RobotSpale Parts
No,

Oescription

Model

DC servomotor

30w-J1M
30w-J2M
3OW-J3M

H ar m o n i c d r i v e
reoucton gear

B U1 4 3 C 1 7 2 H 0 2
R)
lCS-14,100,24,G

Harmonicdrive
reouclton gear

B U1 4 3 Cl 7 3 H 0 1

Harmonicdrive
r e d u c t i o ng e a r

B U1 4 4 D 4 1 3 H 0 1
( F B - 1 4 - 1 1 0B, L
23 - S P )

Harmonic drive
reouclron gear

BU144D366H01
( F B - 1 4 - 1 1 0B- L2 3 )

Limit switch
assemory

Manufactulel

MitsubishiElectric

lnstalled Location
Waist, elbow,
shoulder;1each

otv
3

Base

M i t s u b i s hEi l e c t r i c
( H a r m o n i cD r i v e
Systems)

Shoulder, elbow

Wrist pitch
Wrist roll

LS-ASSY-.
]i ]
MitsubishiElectric

O r i g i n - s e t t i n gs i g n a l
for all axes

5 sets

B U1 4 4 D 4 7 3 G 5 1

M i t s u b i s hEi l e c t r i c

Shoulder, elbow

Note2: ShaJ
designation

netic
Electromag
brake assembly

Roller follower

NART-6EUUV

THK CO,, LTD

E I b o wd r i v e l i n k

R e l a yc a r d

B U1 4 8 8 1 3 6 G 5 1

MitsubishiElectric

Relay in base

NSK CO., LTD

S h o u l d e r ,e l b o w

lnstalled Location

otv

10

M i n i a t u r eb e a r a n g

F69622

Table 4,4.2 Robot Spare Parts List

Note lr Oty per unit
Note2r J1 to J5

4.3 DriveUnit SpareParts

No.

Descliption

Model

Fuse

MF6ONRl
OA-05
(250VAC, 10A)

Manufacturel

TOYO

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

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

1. SPECtFICAT|0l{S

2.0PtRATI01{
3. DtSCRtPil0l{
0FT]|tC0itMAN0s
4. 1||AINTEI{A1{CE
ANDINSPTCTIOI{

5. APPENDICES

CONTENTS(APPENDICES}
1. INTERFACE
WITHTHEPERSONAL
(CENTRONICS)
COMPUTER
1 . 1 C e n t r o n i cCso n n e c t opri nA s s i g n m e n t s
1 . 2 F u n c t i oonf E a c hS i g n aLl i n e . . . . . . . . . . . . . . . . .
'1.3
S i g n aLl i n e T i m i nCgh a r t . . . . . . . . . . .
1 . 4 C e n t r o n iC
c sa b 1 e . . . . . . . . . . . . . . .
1 . 5 C e n t r o n i cI n
s t e r f a c i nEgx a m p l e s

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

2 . T N T E R F A C E W T T H T H E P E R S O N A L C O M P U T E R ( R S 2 3 2 C ) . . . . . . . . . .. . . . . . . . A p p _ s
2 . 1 R S 2 3 2 C C o n n e cpt ionrA s s i g n m e n t s . . . . . . . . . . . . . . . .
2 . 2 F u n c t i oonf E a c hS i g n aLl i n e. . . . . . . . . . . . . . . . .
2 . 3 R S 2 3 2SCe t t i n g s
2 . 4 S i g n aLl i n e T i m i n C
g hart..........
2 . 5 R S 2 3 2C
Ca b | e . .
2 . 6 R S 2 3 2 ICn t e r f a c i nEgx a m p l e s
3. INTERFACE
WITHEXTERNAL
I/O EOUIPMENT

....App_s
..............App_s
........................App_6
...App_8
.......................App_10
....App_11
....... .APP.14

3 . 1 . AE x t e r n al /l OC o n n e c t oPri nA s s i g n m e n (t sT y p eA l / OC a r d .) .
. . . . . . .. . . . . . . . . . . . . A p p _ l 5
3 . 1. 8 E x t e r n al /l OC o n n e c t opri nA s s i g n m e n (t sT y p eB l / OC a r d ). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A p p _ 1 6
3 . 2 . 4 l / OC i r c u iSt p e c i f i c a t i o(nTsy p eA t / OC a r d ) . . . . . . . . . .
.......................App-17
3 . 2 . 8 l / OC i r c u iSt p e c i f i c a t i o(nTsy p eB l / OC a r d ) . . . . . . . .
..App_18
3 . 3 . AF u n c t i o n s ol /fO S i g n aLl i n e s( T y p eA l / OC a r d .) . . . . . . . . . . . . .
.............App_l9
3 . 3B
. Functions
of l/OSignalLines(TypeB t/OCard)
....App-20
3.4.4 E x a m p l oe f C o n n e c t i ot o
n l / OC i r c u i t(sT y p eA l / OC a r d ) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A p p _ 2 1
3.4.B E x a m p l o
e f C o n n e c t i ot n
o l / OC i r c u i t(sT y p eB l / OC a r d .) . . . . . . . . . . ........ . . . . . . . . . . . . . . .A. .p. .p _ 2 2
3 . 5 l / OS i g n aLl i n e T i m i n C
g h a r {t s y n c h r o n o ul /sO ). . . . . . . . . . .
...............App_23
3.5.1.A
S y n c h r o n o iunsp u t t i m i n(gT y p e A l / O c a r d ) .. .
. . . . . . . . . . . . . . . . .A. .p. .p. _. 2 3
3 . 5 . 1 . BS y n c h r o n o ui ns p u t t i m i n g
( T y p eB t / Oc a r d ) . . . . . . . . . . .
.........App-23
3 . 5 . 2 . AS y n c h r o n o uosu t p u t i m i n g( T y p eA l / Oc a r d ) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .A
. .p. .p _ 2 4
3 . 5 . 2 . 8S y n c h r o n o uosu t p u t t i m i n (gT y p eB l / Oc a r d ) . . . . . . . .
..........App_21
3 . 5 . 3 . 4D e d i c a t el d
... . ...
/ Ot i m i n g( T y p eA t / Oc a r d ). . .
......App_25
3.5.3.8Dedicated
t/Otiming(TypeB t/Ocard)
.....App_26
3 . 6 E x t e r n al /| OC a b | e . . . . .....
...........App-27
3 . 7 P r e c ua t i o n sf o r C o nn e c t i o tno E x t e r nIaE q u i p m e n t
.....................App_2g
4. CARTESIAN
COORDINATE
. . ........... .........APP.29
SYSTEMREFERENCE
POSITION
SETTING
4.1
4.2
4.3
4.4

MovingtheRobottoReferenceposition...........
position
Settingthe Reference
S t o r i n gR e f e r e n cpeo s i t i o n
D a t ai n E p R O M
Loading
t h e R e f e r e n cpeo s i t i o n
Data................

..App_29
...App-29
.........App_30
..App_31

5. PROGRAMMING
SYSTEMUSINGPERSONALCOMPUTER

..............APP.32

PROGRAMS...........
6. SAMPLE

.-.......App-36

7 . C O M M A N D L | S T . . . . . .. .. .... . . .

.........APP-44

8. TtMtNGBELTTENSTON
........
9 . D E F | N | T I O N O F W E | G H T C A P A.C. .|.r.Y
10. ROBOTARMSTORAGEPOS|T|ON..............
11.OPERATTONALSPACEDTAGRAM........
1 2 .W | R I N G D T A G R A M
1 3 . D R T VU
EN | T W t R t N D
G| A G R A M . . . . . . . .

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

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

CENTRONICS

Fig. 5.'l.1 Centronics Connectol

Pin No.

Signal

Pin No.

Signal

1
2

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

19
20
21
22

GND
GND
GND
GND
GND
GND
GND

3
5
6
7
I
9
10
11
12
13

1/
'18

24
25
26
27
2a
29
30
31
32
33
34
35
36

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

Table 5.1.1 CentronicsConnectorPin Assignments

N. C: Not connected

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

APPENDICES
1.2 Functionof EachSignal
Line

Signal

Direction

Function

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

ln

T h e s es i g n a l sr e p r e s e n lt n f o r m a t i o no f t h e I b i t s
parallel data, respectively,output frorn the personal computer.

ST8
(Strobe)

ln

T h i s i s t h e p u l s es i g n a li n d i c a t i n gt h a t i n p u t d a t a
f r o m t h e p e r s o n a l c o m p u t e r i s p r e s e n tt o b e
read. Data is read in on the LOW-going negative
edge.

BUSY
(Busy)

Out

This signal goes LOW when the drive unit is

r e a d yt o r r e c e i v i n gd a t a .l t g o e s H I G H i n d i c a t i n g
t h a t t h e d r i v e u n i t i s u n a b l e t o r e c e i v ed a t a .

ACK
(Acknowedge)

Out

A L O W 2 t o 3 p s p u l s e i n d i c a t e st h a t d a t a h a s
b e e n r e c e i v e da n d t h e d r i v e u n i t i s r e a d y t o
accept other data.

GND
( G r o un d)

G r o u n d c o n n e c t i o nf o r t h e a b o v e s i q n a l l i n e s .

Table 5.1.2 Functions of Signal Lines on Centronics Connector

1.3 SignalLineTimingChart
D B Ot o 7 ( l n )

STB {ln)

B U S Y( o u t )
A C K ( Ou t )

Fig, 5.1.2 Timing Chart

( 1 ) Datafrom the personalcomputeris transferred

to DBOto DB7.

t2l The drive unit outputsa HIGHBUSYsignalon the negative

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

"0D,"is input.

APPENDICES
1 . 4 C e n t r o n i c sC a b l e

When connectingyour personalcomputer to the robot through

the Centronics interface, the printer cable of your personal
computer may be used if it can be properly plugged into the
C e n t r o n i c sc o n n e c t o r o f t h e d r i v e u n i t a n d s i g n a l l i n e s m a t c h
c or r e c t l y .
i ULTI'16
A l s o a v a i l a b l ea r e t h e o p t i o n a lc a b l e sf o r t h e M i t s u b i s h M
and NEC PC9801.

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

A c t i v a t eG E N S Y S .
Set Printer configuratlon.
Set 16-pintype.
End GENSYS.

(3) Acrivate MBASIC.

A>MBASIC

Activate MBASIC
(or MBASIC2).

APPENDICES
3) Setting the drive unit
After the drive unit has been turned ON, place ST1 located
i n s i d et h e s i d e d o o r i n t h e l o w e r p o s i t i o n( O F F )T. hi s s e l e c t st h e
p e r s o n a lc o m p u t e rm o d e . M a k e s u r e t h a t t h e t e a c h i n gb o x i s
turned OFF.
4 ) V e r i f y i n g p r o p e r c on n e c t i on
I n p u t t h e f o l l o w i n gc o m m a n d i n M B A S I C .
"
LPRINT NT" I
l f t h e r o b o t p e r f o r m s c o r r e c t r e t u r n - t o - o r i g i no p e r a t i o n , t h e
connection has been made properly.
E x a m p l e _2 : U s _ 4 9 N E C P C 9 8 0 1 F
1 ) C o n n e c t i n gt h e C e n t r o n i c sc a b l e
U s i n g t h e o p t i o n a l c a b l e f o r C e n t r o n i c s( m o d e l : C - P C - C B L ) ,
c o n n e c tt h e d r i v e u n i t t o t h e p e r s o n a lc o m p u t e r { w l t h t h e d r i v e
unit and personal computer turned OFF).
2) Setting the personal computer
No special settings are required on the personal computer.
After N8SDISK-BASIC
h a s b e e n a c t i v a t e d ,t u r n O N t h e d r i v e
unrt.
3) Setting the drive unit
Perform the same procedure as in MULT|l6lll.
4) Verifying proper connection
Perform the same procedure as in MULTI'16III.

APPENDICES
2. INTERFACE
WITHTHE
PERSONAL
COMPUTER
(RS232C)
2 1 RS232cconnectorpin
Assignments

Tabre5.2.'1
showsthe pin assignments
for the RS232cconnector.

25

14

Fi9.5.2.1
RS232C Connector
Pin No.
l

z
3
:5

Signal
i

bb trxot
no tnxot
Rs(Rrs)

I
I

CS (CTS)
DR (DSR)

7
8

sc
N.c

10
t1

1 2
13

N. C

N c

Pin No.

15
16
11
18
'19
20
21
22
23

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

N.C

* .

25

N . C
N . C
N. C
N . C
N, C

N. C

Table. 5.2.1 RS232C Connector pin Assignmenrs

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

2.2 Functionof EachSignal

Line
F r a m e g r o u n d c o n n e c t e dt o t h e F G t e r m i n a l o n
the drive unit.
Provides the lines on which the onve untt
presents data to the personal computer.
P r o v i d e st h e l i n e so n w h i c h t h e p e r s o n a cl o m p u
rer presents data to the drive unit
T h i s s i g n a l m u s t b e s e t w h e n e v e rt h e p e r s o n a l
compurerwrshesto transmit data.
CS (CTS)

In

T h i s s i g n a l i s u s e d t o a u t h o r i z et h e d r i v e u n i t t o
transmit data
T h i s s j g n a l i s u s e d t o i n d i c a t et h a t t h e p e r s o n a l
computer ls ready to transmit and receive data.
Signal ground for data and control ttnes.

ERlDTR)

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

Table 5.2.2 Functions of Signal Lines on RS232C Connector

APPENDICES
2.3 RS232CSettings

W h e n t h e R S 2 3 2 Ci n t e r f a c e i s t o b e u s e d , t h e f o l l o w i n g c o m m u n i c a t i o nc o n d i t i o ns e t t i n g sm u s t b e m a d e o n t h e d r i v e u n i t a s
w e l l a s t h e p e r s o n a lc o m p u t e r .T h e s e t t i n g so n t h e d r i v e u n i t m u s t
b e t h e s a m e a s t h o s e o n t h e p e r s o n a ci o m p u t e r .C o m m u n i c a t i o n
c a n n o t b e a c c o m p l i s h e dp r o p e r l y i f t h e r e i s a n y d i s c r e p a n c y .
T h e f o l l o w i n gp a r a g r a p h se x p l a i nt h e s e t t i n g sm a d e o n t h e d r i v e
u n i t .F o r p e r s o n acl o m p u t e rs e t t i n g ss, e e l n s t r u c t i o nM a nu a l o f t h e
o e r s o n a l c om o u t e r .
/11

Rrrrri

r.to

caftind

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

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

Baud rate lactor

DIPSW3 Bit No.

x1

x16

x64

1200
2

24AA

150

4800

300

75

9600

600

150

1200

300

2404

600

4800

1200

9600

2400

Table 5.2.3 Baud Rate Setiing

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

APPENDICES
D I PS W 2
2

No. of stop bits

1 ' 1 1 b2 i t s 2 bits

Null

l bit

'I
1

1: Even parity; 0: Odd parity

'l:

P a r i t ye n a b l e i 0 r P a r i t y d i s a b l e
Character length
5 bits

6 bits

7 bits

'l

8 bits

Baud rate factor

Null

X1

x16

,I

x64

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

APPENDICES
2.4 SignalLineTiming
Chart

T h e R S 2 3 2 Ci n t e r f a c ew a s o r i g i n a l l y t h e s t a n d a r d
pre_scribing
e l e c t r i c a ls p e c i f i c a t i o n ss, h a p e s o f c o n n e c t o r s ,
unOpin nrrnO"rr.
A s - a r e s u l t , d i f f e r e n t p i e c e s o f c o m m u nj c a t i o n
equipment use
different signal line functions and communication
proceCures.
W h e n c o n n e c t i n gy o u r p e r s o n a lc o m p u t e r t o t h e
robol,tfreretore,
thorough understanding is mandatory of the functions
of the
s i g n a ll i n e sp r o v i d e df o r b o t h t h e p e r s o n a cl o m p u t e r
a n dt h e d r r v e
unit.
1) Data rransfer timhg.lrp11persona|

!9]]lp!1g|1o

]g!Sl

(Robot)
'l
st character:
S i g n a l sE R ( D T R )a n d R S ( R T S )a r e t u r n e dt o H I G H
for up to
1 7 7 m s .l f a n y d a t a i s i n p u rd u r i n gt h i s p e n o d ,
both
1l: ld
E R ( D T R )a n d R S ( R T S )a r e r u r n e d t o L O W a l t o w i n g
rhe data
to be read in.
2 n d c h a r a c t e ra n d o n w a r d
T h e d r i v e u n i t c a u s e s b o t h E R ( D T R )a n d R S ( R T S )
ro go
H I G H t o b e r e a d y f o r a c c e p t i n gd a t a e n t r y . l f
any data is
i n p u t , E R ( D T R )a n d R S ( R T S )a r e t u r n e d t o L O W
allowrng
the data to be read in. This operation repeats
u
n
t
il a hex.
"0D",
c o d e ( C R : c a r r i a g e r e t u r n ) o r a h e x , , , 0 A , ,c o d e ( L F :
l i n e f e e d ) i s i np u t .
( P e r s o n a i c om p u t e r )
T r a n s f e rt h e 1 s t c h a r a c t e rw h i l e D R ( D S R ) r e m a i n s
HIGH.
T r a n s f e r t h e 2 n d a n d s u b s e q u e n t c h a r a c t e r sw h e n
DR (DSR)
latergoes LOW and again goes HIGH.

RS (RrS) -

CS (CTS)

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

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

Fig. 5.2.2 Data Transfer Timing trom personal

Computerto Robot

APPENDICES
2) Datatransfertiming from robot to personalcomputer
( Robot)
Datatransferis initiatedaftercausingER(DTR)to go HIGH.ER
(DTR)is turnedto LOWafterthe lasthex. "0D" codehas been
transferred.
(Personalcomputer)
The personalcomputercausesRSlRTS)togo HIGHwaitingfor
datato be transferred
from the robot.lf the personalcomputer
requiresa hex."0A" code(LF:linefeed)followinghex."0D" as
a terminatorof receiveddata.bit 1 of SW1 locatedinsidethe
driveunit sidedoor must be placedin the upperposition{ON).
(Robot)

(Personalcomputer)

E R ( D T R )-

DR (DSR)

R S ( R r S )-

CS (cTS)
T T s t c h a r a c t eor u t p u t

I 2 n d c h a r a c t eor u t p u t

D R ( D S R )* E R ( D T R )

cs (crs) * RS( R T S )

Fig. 5.2.3 Data TransferTiming from Robot to PersonalComputer

APPENDICES
When connectingyour personalcomputerto the robot through
cableof your personalcomputer
interface,
the RS232C
the RS232C
may be usedif it can be properlypluggedinto the corresponding
connectorof the drive unit and signal lines are connectedas
shown in Fig. 5.2.5.Each signal line must, however,meet the
timing describedearlier.
A l s oa v a i l a b laer et h e o p t i o n acl a b l e sf o r t h e M i t s u b i s hMi U L T l l 6
a n d N E CP C 9 8 0 1 .

2.5 RS232CCable

Drive unit
(signalname, pin number)

P e r s o n a lc o m p u t e r
( s a g n a ln a m e , p i n n u m b e r )

( F G )1

1(FG)

( S D )2

2 {SD)

( R D )3

3 (RD)

1 R S 4)

4 (RS)

(cs)5

5 (CS)

( D R )6

6 (DR)

( E R )2 0

20 (ER)

( S G )7

7 (SG)

Fig. 5.2.4 RS232C Cable Connection

APPENDICES
2.6 RS232Clnterfacing
Examples

@
1) Connectingthe RS232Ccable
(model:RS-MULTI-CBL)'
Usingthe optionalcablefor RS232C
(withthe drlve
the driveunitto the personalcomputer
conn-ect
connectoron
the
unit and personalcomputerturnedOFF) For
the MULT|l6lll,use its built-inRS232Cconnector'
2) Settingthe PersonalcomPuter
(Settingswitches)
(l-SW)on the
Set53 insidethe maincoverand l/O modeswitch
back panel as follows
53: FliP down to C2 and C4 Positions'
l-SW: Placebit 4 in the lower position(OFF)'
Afterthe aboveswitchsettingshavebeen made'turn ON the
personalcomputer.{For locationof 53, see MULTll6lll Owner's Manual.)
(lnvokingsoftware)
(1) Activate cPilvl-86.
(2) Activatethe GENSYScommand to make the following
settings.
A > GENSYSI

ActivateGENSYS.

YI
RS232C?
Async/Sync?ASYNCI
)
END OF GENSYS(Y/N)?Y J

configuraSet RS232C
t i on .

End GENSYS.

(3) Activate lvlBASIC.

I
A > I\,IBASIC

ACtiVAtEM BASIC
(or MBASIC2).

3) Setting the drive unrt

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

P l a c eb i t 1 i n t h e u p p e r P o s l t l o n .
Make the standard settingsaccordingto 2.3 RS232C
Settings.

APPENDICES
4) Verifyingproper connection
I n p u ta n d r u n t h e f o l l o w i n gp r o g r a mi n M B A S I C .
1 0 O P E N" C O M 1: 9 6 0 0E, , 7 , 2 " A s l r l
2 0 P R I N T# 1 , " N T "
30 END
Aboveprogramis executed.
R U NJ
OK
lf the robot performscorrectreturn-to-origin operation,the
connectionhas been made properly.
E x a m p l e2 : U s i n gN E CP C 9 8 0 1 F
1 ) C o n n e c t i ntgh e R S 2 3 2 C
cable
Using the optional cable for RS232C{model: RS-PC-CBL),
connectthe driveunitto the personalcomputer{withthe drive
unit and personalcomputerturned OFF).
2) Settingthe personalcomputer
(Settingswitches)
Set DIPswitchesSW1 and SW2on the backpanelas follows.
SW1: Placebits 7 and 9 in the lower position(OI\,.
Placebits 8 and 10 in the upper position(OFF).
SW2: Placebit 5 in the lower position(ON).
After the aboveswitchsettingshavebeen made,turn ON the
personalcomputer.
{lnvokingsoftware)
(1) ActivateNS8DISK-BASlC.
{2) Set memory switch as follows.
OK
mon I
hlssw2I
08-08I

Activatemachinelanguage monrror.
Set baud rate(at9,600
baud).

(3) Pressthe reset switch for reactivation.

3) Settingthe drive unit
Performthe same procedureas in MULTll6lll
(exceptfor placingbit 1 of SW1 in the lower position)

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

Aboveprogramis executed.

lf the robot performscorrectreturn-to-orig

in operation,the
connectionhas been made properly.
Example3: A6GPP(Mitsubishi
MELSEC-A
seriesgeneral-purpose
programmablecontroller)
1) Connectingthe RS232Ccable
(RS-PC-CBL),
Usingthe optionalcablefor RS232C
connectthe
drive unit to the corresponding
A6GPPconnector(with the
drive unit and personalcomputerturned off.)
2) Settingthe A6GPP
(1) Insertthe optional3.5-inchBASICdisk(SW0GHP-BAS)
into
drive A of the AGGPPand power up the A6GPP.
(2) ActivateBASIC.
A > B A S I CJ
3) Settingthe drive unit
Performthe same procedureas in MULTll6lll.
(exceptfor placingbit 1 of SW'l in the lower position)
4) Verifyingproper connection
Input and run the following program in 8AS|C.
1 0 l N t T% 1 , " 6 E 7 2 " 1
2 0 P R I N T% 1 , " N r "
30 END
RUNI
OK

Aboveprogramis executed.

lf the robot performscorrectreturn-to-origin operation,the

connectionhas been made properly.

APPENDICES
WITH
3. INTERFACE
l/O
EXTERNAL
EOUIPMENT

Item

To connectthe robotto externall/O equipment,plug the external

l/O connector
l/O cable(to be describedlater)into the EXTERNAL
on the l/O card.
A8, 88, A16,and B'16,
Thereare four tvpesof l/O cardsavailable,
each having the following specifics.

l/O
General-purpose

Dedicated l/O
Remalks

Tvpe
A8

Input

Output

8 polnts
STB
BTJSY

8 pohts
RDY
ACK

8 points
STB
BUSY

8 points
RDY

Acr-

Input

Output

Not

Not

available

a v ai l ab l e

O p e r a t i o nb y m e a n s o t e x t e r n a l
signalsls not possible.

Not

Not
a v ai l ab l e

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

available

lD marking
{silk-screenprinted)

#28

3 points
1 6 p o i n t s 1 6 l c oh t s
Operation by means of external
(start,stop, ( r un , w a r t ,
RDY
STB
slgnalsis possible.
error)
ACK
reset)
BTJSY

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

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

switched to a "low voltage" state when a

significantconditionis output from the internal
circuitto the terminal.

APPENDICES
3.1.A Externall/O
ConnectorPin
Assignments
(TypeA l/O Card)

Table 5.3.2.Ashows the pin assignmentsfor the external l/O

"Wire
c o n n e c t o ro n t v p e A l / O c a r d .
colors" shown in the Tableare
keyed to those shown in 3.6 External l/O Cable.Those signals
marked with " are not available in tvpe A8 l/O card.

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

Pin No.

Signai

Wire Color

Pin No.

Signal

Wire Color

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

W h i t e ib l i r . k A
Yel oy//black A
B l u e l b l a c kA
G r e F r n / b 1 aA
ck
O r a n g e / b l a c iA,
P i n U f r l a c kA

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

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

White/black I
Yellow/black B
B l u e / b l a c kI

99tt!til!q
OuF,,l
]t ?
o!ll,i,l9J 1
O u t p u tb t 6

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

G r a y r b l a c kA
R e d / i r l a r kA
V o l e t l b l a c kA
Erown,'blackA
W h i t e / b l a c kC
Yellow,/back C
B l u e / b l a c kC

O1lrpur bit I0

t0
t1
12
1J
14
15
1/

1B
20
21
22
23
24
25

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

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

- {rpl,"E

!,!!t q,t 15

1!
r l!p9!.br
rry"rg!- lj
* I n p L r tb i t I

Bury9,ul?9t
tryq.q! l
lllollt-.bll I
rl!"l.bll !

input blt l
Input port power Input
lnp{rtport power input

G f e e n / b l a c kC
O r a . g e l b l 3 c kC
PiNi(iblack C
G r a y / b l a c kC
R e d ib l a c k C
Vloletibldck C
B r o w n / b l a c kC

44

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

!! J

orr!91!,! !

O u t p u tb i t 7

9!iT!!
, 4
q!tS{ b,t,s
' o Ltlp-Ll_r.
,911.
-1,1

* Oirtpul-blt.'l3
" ol4put bit 15

'
1!1 99!Pu'
. sr4!I
,r'!r,t
' !!!!lI
! " t qlset
!11
t i n p L r tb i t 1 2
t Inputbit 10
*,lip,ut bit 8
STB input

lnq!! b,t 9

Yellow/red A
Bi!e/red A
G r e e n ,e o A

41
Arj
49

O r a n g e l r e dA

50

lls{ !r 1
I'q!. q[ 2

I np u t b i t 0
Input port GND outp!t
Inpui pon GND output

Green/b ack B
O r a n g e / b l a c kB
P i n k / b l a c kB
G r a y / b i a c kB
Red/black I
V i o l e t / b l a c kB
Brown/black B
White/black D
Yellow/black D
B l u e / b l a c k2
G r e e n / b l a c kD
Orange/black D
P i n U b l a c kD
Gray/black D
Bed/black D
V i o l e v b l a c kD
B r o w n / b l a c kD
White/red B
Yel ow/red B
B l u e / r e dB
G r e e n / r e dB
O r a n g e / r e dB

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

(D3). . . (DDK)
R e c e p t a c l em o d e l : 5 7 L E - 4 0 3 6 0 ' 7 7 O O
A p p l i c a b l ep l u g m o d e l : 5 7 E - 3 0 3 6 0. . . ( D D K )

APPENDICES
3.1.8 Externall/O
ConnectorPin
Assignments
(TypeB l/O Card)

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

Fig. 5.3.1.8 External l/O Connector

Pin N o .

Srgnal

Wre Coor

Prn N o .

S gnal

Wire Color

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

Output port power input

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

W h i t e / b l a c kA
Y e l l o w / b l a c kA
B l u e / ba c k A

26
27
28
29
30
31
32
33
34
35
36
31
3B
39
40
41

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

W h i t e / b l a c kB
Y e l l o w / b l a c kB
B l u e / b l a c kB
G r e e n / b l a c kB

17
18
19
20
21
22
23
24
25

BUSY output
Input bit 7
Input bit 5
Input bit 3
Input bit 1
Input port power Input
Input port power Input

G r e e n / b l a c kA
O r a n g e / b l a c kA
P i n U b l a c kA
G r a y / b l a c kA
R e d / b l a c kA
V i o l e t b l a c kA
Brown/black A.
W h i t e / b l a c kC
Y e l l o w / b l a c kC
BlLre/blackC
G r e e n / b l a c kC
O r a n g e / b l a c kC
P i n V b l a c kC
G r a y / b l a c kC
B e d / b l a c kC
V i o l e v b l a c kC
B r o w n / b l a c kC
White/red A
Yellow/red A
Blle/red A
G r e e n / r e dA
Orange/red A

43
44
46
41
48
49
50

O r a n g e / b l a c kB
P i n k / b l a c kB
Gray/black B
R e d / b l a c kB
Violet/black B
Brown/black B
W h i t e / b l a c kD
Yellowblack D
B l u e / b l a c k2
G r e e n / b l a c kD
O r a n g e / b l a c kD
P l n U b l a c kD
Gray/black D
R e d / b l a c kD
V i o l e t / b l a c kD
B r o w n / b l a c kD
White/red B
Yellow/red B
Blue/red B
G r e e n / r e dB
Orange/red B

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

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

APPENDICES
3.2.A l/O Circuit
Specifications
(TypeA l/O Card)

Signal

Input port power lnput

Input port GND output

!
co

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

The input port

The l/o circuitsare all isolatedby photocouplers.
from the outputport block.Each
blockshownbelowareseparated
powersupply,or a single
provided
an
external
with
blockmay be
sourcebe used for the two circults.
Notethat thosesignalsmarkedwith * are not availablein type A8
L/Ocard.

Specifications

lntelnal Circuit

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

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

=
i np u t

I n p u tc u r r e n t
* S T A R Ti n p u t
* S T O Pi n p u t
* R E S E Ti n p u t

BUSY output

' l 2 V D C : 2 . 5 m A( t y p )
2 4 V D C : 1 2 . 5 m A( t y p )

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

Same as output bits

Table 5.3.3.Alnput Port Block Specitications

-9

Signal

Specificalions

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

Regulatedpower supply
12 to 24V DC

*l

,-J

Output bits
0to 7
*8 to 15

R D Yo u t p u t

Internal Circuit

External

12 to 24V D(

Max. appliedvoltage: 26.4V

lMax. load cLrrrent: 0.1A'lPin
N 4 a x .O N v o l t a g e : 1 . 3 V
L e a k a g ec ur r e n t : 1 0 0 p A ( m a x . )

*RUNoutput
*WAIT output
* E R R O Ro u t p u t

ACKinput

Same as input brts

Table 5.3.4.A Output Port Block Specifications

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

APPENDICES
3.2.B l/O Circuit
Specifications
(TypeB l/O Cardl

The l/O circuitsare all insulatedby photocouplers.

The input port
port
blockshownbelowareseparated
from the output
block.Each
blockmay be providedwith an externalpowersupply,or a single
sourcebe used for the two circuits.
Notethat thosesignalsmarkedwith * are not availablein type 88
l/O card.

Signal

Specifications

InpLrt port power nput

I n p L r tp o r t G N D o u t p u t

Regulatedpower supply
12 to 24VDC

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

InternalCi.cuit

External

2 \a 24V D(

lnput voltage

I np u t

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

STBinput
o

Input current

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

B U S Yo u t p u t

12V DCi 2.5mA (typ)

24V DC: 12.5mA (typ)

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

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

Table 5.3.3.8 Input Port Block Specifications

Signal

Output port power input

O u t p u tp o r t G N D o u t p u t

Specitications

lnternal Circuit

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

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

l - l 5 o v l

l r u|
t
--F\f]

_9

lMax. applied voltage: 26.4V

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

*RUNoutput
*WAIT output
* E R R O Ro u t p u t

ACKinput

t{-___sl__4_J

Output bits
0to7
*8 to 15

RDY output

l r

lpo6e

|
|

I, Houtput

|
|

ryl lrJ, i
#

|
t

A l l r t t I
33hol
ll

I
I

lDdrrineron
ltrans'stor

._J-,-r-

i
Same as input bits

Table 5.3.4.8Output Port Block Specifications

(,pply

ltt rc ruv or
:

il

Same as input bits

APPENDICES
3.3.A Functionsof l/O
SignalLines
(TypeA l/O Card)

The following Tablesshow the function of each signal line. Note

t h a t t h o s e s i g n a l s m a r k e d w i t h * a r e n o t a v a i l a b l ei n t y p e A 8 l / O
card.

Signal

Function

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

l eneral'purpose
R e p r e s e n t i n tgh e p a r a l l e g
i n p u t b i t s ,t h e s e
slgnals allow the input state to be read in parallelor
b i t ' b y - b i tw i t h a c o m m a n d ; U s e d f o r c o n d i t i o n a jl u m p o r
interiupt by means of externa signals.

STBlnput
_9

BU S Y
oLrrpur

o_

Used 10 clock parallel data for input; Data sent flg!0

p e r i p h e r a li s r e a c j i n o n t h e n e g a t i v e e d g e o f t h e S T B
s g n aL
U s e d t o c i o c k p a r a l l e ld a t a f o r i n p u t ; D o n o t c h a n g e i n p u t
d a t a f r o m p e r i p h e r a lw h i l e t h e B U S Y s i g n a l i s b e i n g
auIpuI.

*STARI
input

l_lasthe same fLrnctionas the start switch on the drive unit

f i o n l c o n t r o l p a n e i w h l l e t h e e x t e r n a ll / O .

"STOP
input

H a s t h e s a m e f u n c t i o na s t h e s t o p s w i t c h o n t h e d r i v e u n i t
f r o n t c o n t r o l p a n e l w , h i l et h e e x t e r n a l l / O .

*RESET

H a s t h e s a m e f u n c t i o na s t h e r e s e ts w i t c h o n t h e d r i v e u n i t
fronl control panei while the externall/O.

Table 5.3.5.4 Function ol Each Input Signal

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

R e p r e s e n t i n gt h e p a r a l l e l g e n e r a lp u r p o s e o u t p u t b i t s ,
t h e s e s i g n a l s a l l o w t h e o u t p u t s t a t e t o b e s p e c i f i e di n
p a r a J l e lo r b i t - b y b i t w i t h a c o r n m a n d j U s e d t o s e n d
s i g n a l st o p e r i p h e r a l .
lOutput is retained.)

U s e d t o c l o c k p a r a l l e ld a t a f o r o u t p u t ; P e r i p h e r arl e a d s i n
p a r a l l e ld a t a w h e n t h i s s i g n a l i s o u t p u t .

- .,-..,

o_

U s e d t o c l o c k p a r a l l e ld a t a f o r o u t p u t j T h e s t a t eo f o u t p u t
d a t a i s r e t a i n e du n t i l t h i s s i g n a l i s i n p u t .

O u t p u t w h i l e t h e p r o g r a r n s b e i n g e x e c u t e db y t h e d r i v e
unit.
O u t p u t w h i l e t h e p r o g r a m e x e c u t l o nb y t h e d r i v e u n i t i s
being suspended.
O r t p u t w h e n a n e f r o r o c c u r si n t h e d r i v e u n i t ( e r r o rm o d e
I or II)
Table 5.3.6.A Funct;on of Each Output Signal

APPENDICES
of l/O
3.3.8 Functions
SignalLines
(TypeB l/O Card)

T h e f o l l o w i n gT a b l e ss h o w t h e f u n c t i o no f e a c h s i g n a ll i n e . N o t e
t h a t t h o s e s i g n a l s m a r k e d w i t h * a r e n o t a v a i l a b l ei n t y p e 8 8 l / O
c ar d .

B e p r e s e n t i n tgh e p a r a l e l g e n e r a lp u r p o s eI n p u t b i t s ,t h e s e
Input bits
L s i g n as a l l o w t h e i n p u i s t a t e l o b e r e a d i n p a r a l l e l o r
0 t o 7
b i t - b y - bt w i t h a c o m m a n d ; U s e d f o r c o n d i t o n a l j u m p o r
*8 to 15
i n t e r r ! p t b y r r r e a n so i e x t e r n a l s i g n a l s .

-9

.
516 Inpur

J\ed to . ock par.l el ddld 'ot np. t. Da'a senl f'om

p e ' p . p r a l s r p a o n o n h e p u s t i v p e o g p o ll h c s l B s r g n a , .

co

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

-SIART

H a s t h e s a m e f u n c t i o na s t h e s t a r t s w i t c h o n t h e d r i v e u n i t
f r o n t c o n t r o l p a i ' r e lw h i l e t h e e x t e r n a l l / O .

input

H a s t h e s a m e f u n c t i o na s t h e s t o p s w i t c h o n t h e d r l v e u n i t
f r o n t c o n t r o l p a n e l w h i e t h e e x t e r n a ll / O .
H a s t h e s a m e f u n c t l o na s t h e r e s e ts w i t c h o n t h e d r r v eu n i t
front control pane lvhrlethe externall/O.

input

Table 5.3.5.8 Function ol Each Input Signal

_9

Signal

Function

OLrtput bits
0 t o 7
*8 io 15

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

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

ACKinput

U s e d t o c l o c k p a r a l l e ld a t a f o r o u t p u t ; T h e s t a t e o f o u t p u t
d a t a i s r e t a i n e du n t i l t h i s s i g f a l i s i n p u t .

* R UN
ourpur

O u t p u t w h i l e t h e p r o g r a m i s b e n g e x e c u t e db y t h e d r i v e
unrt.

output

by the drlve unit is

Output while the program execLrtion
being suspended.

-ERROR
ourpur

O u t p u t w h e n a n e r r o r o c c u r sl n t h e d r i v e u n i t ( e r r o r m o d e
I or II).

Table 5.3.6.8 Function oI Each Output Signal

3.4.A Exampleof
Connectionto l/O
Circuits(TypeA l/O
Card)

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

(l/O connector)

( E x t e r n a pl e r i p h e r a ld e v i c e )

- - - Inputpon power supply

\12t24VDC)

Input bit O

-J-

48

- -Pushbu on switch

l1p,rt bft 1
- -Transistor

- -Photocoupler

- - Output port power supply

112/24VDC)

L E Dl a m p
t
o

28

nOV o

ACK input

------Transistor

Fig.5.3.2.ATypical l/O Circuit Connection

APPENDICES
3.4.8 Exampleof
Connectionto l/O
Circuits(TypeB l/O
Card)

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

( l / Oc o n n e c t o r )

( E x t e r n ap
l e r i p h e r ad
l evice)

- - - i n P U tP o r t p o w e r s u p p l y
\12t24V DC)

Input bit O :-I

- - P u s h b u t t o ns w r t c h

_e
- - -Transistor

- -Limit switch

------Photocoupler

' O u t p u tp o r t power supply

l12l24v DC)

- -LED lamp

n
--Solenoid or relay

- -Photocouper

- - -Transistor

Fig.5.3.2.8 Typical l/O CiJcuit Connection

APPENDICES
3.5 l/O SignalLineTiming
Chart (Synchronousl/O)
input F i g . 5 . 3 . 3 . 4s h o w s t h e t i m i n g i n v o l v e d i n inputtirrgdatausingthe
3.5.1.ASynchronous
"lN."
timing
command
(TypeA l/O card)
DATA (inpLrt)
B U S Y( o u t p u t )
STB(input)

Fig. 5.3.3.A Synchronous Input Timing

( 1 ) T h e d r i v e u n i t i s r e a d yt o r e c e i v ed a t a f r o m t h e e x t e r n a ld e v i c e
w h i l e t h e B U S Y s i g n a l r e m a i n sH I G H .

(21W h e n t h e e x t e r n a l d e v i c e i n p u t s d a t a a n d a n

S T B s i g n a l ,t h e
d r i v e u n i t c a u s e st h e B U S Y s i g n a l t o g o L O W a n d o u t p u t s t h e
L O W s i g n a l t o t h e e x t e r n a ld e v i c e .T h e e x t e r n a ld e v i c e s h o u l d
not change the data while the BUSY signal remains LOW.

( 3 ) When the drive unit readsthe data in, the BUSY signal goes
HIGH allowinq other data to be entered.

3.5.1.BSynchronous
input Fig.5.3.3.8showsthe timing involvedin inputtingdatausingthe
timing
c o m m a n d" 1 N . "
(TypeB l/O card)
D A T A( i n p u t )
B U S Y( o u t p u t )
STB(input)

InputTiming
Fig.5.3.3.8Synchronous
( 1 ) T h e d r i v e u n i t i s r e a d yt o r e c e i v ed a t a f r o m t h e e x t e r n a ld e v t c e
w h ; l e t h e B U S Y s i g n a l r e m a i n sL O W .

t2) W h e n t h e e x t e r n a l d e v i c e i n p u t s d a t a a n d a S T B s i g n a l , t h e
d r i v eu n i t c a u s e st h e B U S Ys i g n a lt o g o H I G Ha n d o u t p u t st h e
H I G Hs i g n a l t o t h e e x t e r n a ld e v i c e .T h e e x t e r n a ld e v i c es h o u l d
n o t c h a n g et h e d a t a w h i l e t h e B U S Y s i g n a l r e m a i n s H I G H .
(3) When the drive unit readsthe data in, the BUSY signal goes
LOW allowing other data to be entered.

APPENDICES
3 . 5 . 2 . A S y n c h r o n o u so u t p u t F i g . 5 . 3 . 4 . As h o w s t h e t i m i n g i n v o l v e d i n o u t p u t t i n g d a t a u s i n g t h e

timing
(TypeA l/O card)

c o m m a n d" O T . "
D A T A( o u t p u t )
R D Y( o u t p u t )
ACK(input)

Fig. 5.3.4.A Synchronous Outpul Timing

( 1 ) T h e d r i v e u n i t o u t p u t s d a t a a s s p e c r f i e db y p a r a m e t e r sd e f i n e d
"OT"
w h i l e t h e R D Ys i g n a lr e m a i n sH I G Ha n d
in the command
t h e A C K s i g n a l r e m a i n sL O W .

\21 A s s o o n a s t h e d a t a i s o u t p u t , t h e d r i v e u n i t c a u s e s t h e R D Y
signalto go LOW and outputsthe LOW signal to the external
oevtce.

{ 3 ) O n r e c e i v i n ga n A C K s i g n a l i n p u t f r o m t h e e x t e r n a ld e v i c e ,t h e
d r i v e u n i t c a u s e st h e R D Y s i g n a lt o g o H I G H a l l o w i n g o t h e r
data to be output.

3.5.2.8Synchronous
output Fig.5.3.4.8showsthe timinginvolvedin outputtingdatausingthe
c o m m a n d" O T . "
timing
(TypeB l/O card)
D A T A( o u t p u t )
R D Y( o u t p u t )

ACK (input)

Fig. 5.3.4.8 Synchronous Output Timing

( 1 ) T h e d r i v e u n i t o u t p u t s d a t a a s s p e c i f i e db y p a r a m e t e r sd e f i n e d
"OT"
w h i l e t h e R D Ys i g n a la s w e l l a s t h e A C K
in the command
s i g n a l r e m a i n sH I G H .

\ 2 J A s s o o n a s t h e d a t a i s o u t p u t , t h e d r i v e u n i t c a u s e st h e R D Y
s i g n a lt o g o H I G Ha n d o u t p u t st h e H I G Hs i g n a lt o t h e e x t e r n a i
devrce.

{ 3 ) O n r e c e i v i n ga n A C K s i g n a l i n p u t f r o m t h e e x t e r n a ld e v i c e ,t h e
d r i v e u n i t c a u s e st h e R D Y s i g n a lt o g o L O W a l l o w i n g o t h e r
data to be output.

APPENDICES
on the actualproductionfloor,
3.5.3.ADedicated
l/O timingln a roboticoperationenvironment
(TypeA l/O card)
operationis possible(if type A16 l/O card is beingused)through
insteadof usingthe
the dedicated
signaI linesofthe l/Oconnector,
front control switcheson the drive unit.
settingsto be madeand signal
Followingdescribes
the necessary
timino involvedin this oDeration.
(1) Make the following switch settings by referringIo 2.1.2
Functionsof side settingswitchesand LEDs,OPERATION.
Bits 3 and 5 of SW1: Upper position{ON)
(2) When the above settingshave been made, drive unit front
controlswitchesare disabledexceptfor the emergencystop
switch.
(3) In these settings,the program can be started,stopped,
restarted,
and reset(includingresettingof error mode ]I) by
means of dedicatedinput signals.The function of each
to that of the drive unit
dedicatedinput signalcorresponds
front controlswitch as follows.
(Front ControlSwitches)

(DedicatedInput Signals)

STARTswitch
STOPswitch
RESETswitch

STARTinput signaI
S T O Pi n p u t s i gn a l
RESETinput signal

t4l Outputfrom the dedicatedoutputsarethe signalscorresponding to the robotoperatingconditions(RUN,WAIT,and ERROR

outputs).Thesesignalsareoutputin eithersetting,whetherIn
externaloperationor frontcontrolgwitchoperationmode.Fig.
5.3.5.Ashows the dedicatedl/O timing.

E v e n t- - - - - - - - . - - - -

STARTinput

Start

Stop Restart Stop

Reset( p r o g r a m ) R e s e t( e r r o rm o d e i l )

r______l__

STOPinput

R E S E Ti n p u t

RUNoutput

WAfT output

ERRORoutput
Fig. 5.3.5.A Dedicated l/O Timing

APPENDICES
3.5.3'8Dedicated
l/O timing In a roboticoperationenvironmenton the actualproductionfloor,
(TypeB l/O card)
operationis possible(if type B16l/O card is beingused)through
the dedicated
signallinesof the l/Oconnector,
insteadof usinqthe
front control switcheson the drive unit.
:ollowingdescribes
the necessary
settingsto be madeand srqnal
taminginvolvedin this operation.
(1) Make the following switch settings by referringIo 2.1.2
Functionsof side settingswitchesand LEDs.OPERATION.
Bits 3 and 5 of SW1: Upper position(ON)
(2) When the above settingshave been made, drive unit front
controlswitchesare disabledexceptfor the emergencystop
swtlcn.
( 3 ) In these settings, the program can be started, stoppeo,
r e s t a r t e d ,a n d r e s e t { i n c l u d i n g r e s e t t i n go f e r r o r m o d e I I ) b y
means of dedicated input signals. The function of each
d e d i c a t e d i n p u t s i g n a l c o r r e s p o n d st o t h a t o f t h e d r i v e u n t t
front control switch as follows.

(Front ControlSwitches)

(DedicatedInput Signals)

STARTswitch
STOPswitch
RESETswitch

STARTinput signaI
S T O Pi n p u t s i gn aI
R E S E Ti n p u t s i gn aI

(4) Outputfrom the dedicated

outputsarethe signalscorresponding to the robotoperatingconditions(RUN,WAIT,and ERROR
outputs).Thesesignalsareoutputin eithersetting,whetherin
externaloperationor frontcontrolswitchoperationmode.Fig.
5.3.5.Ashows the dedicatedl/O timinq.
Event

Start
r

Srop Restart Stop

t

Reset(program) Reset(error mode II )

i

STARTinput

S T O Pi n p u t

R E S E Ti n p u t

RUNoutput

WAIT output

E R R O Ro u t p u t
Fig. 5.3.5.8 Dedicated l/O Timing

APPENDICES
3.6 Externall/O Cable

A dedicatedcableis availableas an optionto connectthe drive

unitto externalperipheral
equipment.Oneend of this externall/O
cablecan be pluggedinto the externall/O connectoron the drive
unit.Theotherfreeend is usedto hookit up to the externaldevice.
The jacket of each signal line (50 in total) is markedwith an
identification
colorand dot marking.Connectthe rightwire to the
right pin by referringto colorcodingdescribedin 3.1 Externall/O
ConnectorPin Assignments.
Examplei
Pin No.

Signal

Wire Color

21

I n p u tb i t 5

White/redA
-f

(see
markins
berow.)
type

-::-:"::l::
"'
|
TL".t

Dot MarkingType

Dot Pattern
2 | |
--t-r-

t 2

Type A

3 | | l z
--*T--'FrType B

o|
| l z
--l_----rrType C

Type D

Fig.5.3.6 External l/O Cable Malking

APPENDICES
(1) Make sure that the externalpower voltage is within the
3.7 Precautionsfor
Connectionto External
specifiedrange.
Equipment
{2) For the input signal, use the no voltage contactsignal or
transistoropen-collector
signal.
( 3 ) When energizingthe coil in relaysand solenoids,connecta
l i t h t h e l o a d .( N o t et h e
s u r g es u p p r e s s odri o d ei n p a r a l l ew
correctpolarityof the diode.See Fig. 5.3.2,)
( 4 ) When lightingan LED,connecta protectiveresistorin series

to the rated current.

corresponding
( 5 ) When lightingan incandescent
lamp, a rush currentflows
about 10 times largerthan the ratingwhen the lamp is first
To ensurethat a currentabout 20% of the rating
energized.
flows at all times,a resistormust be connectedin series.See
Fig. below.

I n c a n d e s c e n lt a m p

Drive unit
Fig.5.3.7.A Typical Circuit Including an lncandescent Lamp {Type A l/O Card)

uZ

R
I
-7-F

s up p l y

Jrt
lncandescent
lamp

F.-t

Lamp (TypeB l/O Cardl

Fig.5.3.7.8TypicalCircuit Includingan Incandescent

APPENDICES
4. CARTESIAN
COORDINATE
SYSTEM
REFERENCE
POSITION
SETTING

This chaptercontainsthe procedurefor setting the cartesian

coordinatesystem referenceposition to effect as accurateaxis
lt alsodescribes
the procedure
for storingthe
motionsas possible.
referencepositiondata in the EPROM.

4.1 Moving the Robotto

ReferencePosition

(1) Securethe robot onto a referenceplane such as a surface

Dlate.
(2) Turn powerOFFand removethe EPROMfrom the usersocket
SOC2locatedinsidethe driveunit sidedoor.At the sametime,
placeST2 and bit 4 of SWl locatedin the side door in the
upper posrtron.
(3) Turn power ON and performthe return-to-orig
in operation.
(4) After the robot has returnedto the origin, perform the
following operationto move the robot to a temporary
referencepositionwhich will be definedby the systemROM
data.(Thiswill causethe robotarmto be almostfullyextended
in the forward direction.)
Using the teachingbox
TurnON the teachingbox and pressl ORGlandI ENilkeys
in that order.
Usingintelligentcommandsthroughpersonalcomputer{personal computermode)
Turn OFFthe teachingbox and executethe command
"OG" in direct executionmode.
LPRINT"OG" {Centronics)
P R I N T # 1 ", O G " { R S 2 3 2 C )

4.2 Settingthe Reference (1) Usingthe teachingbox, fully extendthe robot arm so that it
planeas shownin Fig.5.4.1.
Position
runsin parallelwith the reference
At thistime,the linejoiningcentersof rotationin alljoints,i.e.,
the shoulder,elbow,and wrist (pitchand roll),should be a
straightline and run in parallelwith the referenceplane.
Performthis operationas accurately
as possibleby usingjigs:
remember,positioningaccuracyin the cartesiancoordinate
system is determinedby this setting.

R e f e r e n c ep l a n e

Fig. 5.4.1 Setting the Relerence Position in the Cartesian Cooidinate System

APPENDICES
(2) Performthe followingoperationto definethe currentposition
as the referenceposition.
Using the teachingbol

boxandpress[F.S-],
TurnONtheteaching
@, anaIENil
keys in that order.

Using intelligentcommandsthrough personalcomputer

Turn OFFthe teachingbox and executethe command
"HO" in direct executionmode.
LPRINT"HO" (Centronics)
P R t N T f i 1", H O " ( R S 2 3 2 C )
(3) Placebit 4 of SW1locatedinsidethe driveunit sidedoor in the
This inhibitsthe settingof the reference
lower position(OFF).
position.
(4) This completesthe referencepositionsetting procedure.
4.3 StoringReference
positiondatajust definedis storedin the driveunit
The reference
PositionDatain EPROMRAMas positionnumber"0." Now,writethe dataintothe EpROM
by followingthe steps given below.Theseproceduresmay be
performedafter other positiondata have been definedand the
)rogram steps have been wntten.
( 1 ) R e a d ya n e r a s e dE P R O Ma n d i n s e r t i t i n t o S O C 2l o c a t e di n s i d e
the drive unit side door.
{ 2 ) P e r f o r mt h e f o l l o w i n g o p e r a t i o nt o w r i t e t h e r e f e r e n c ep o s i t i o n
data into ROM.
Using the teaching bgl

TurnON the teachingbox and pressI WRil and[ENi] keys

in that order.
Using intelligentcommandsthrough personalcomputer
Turn OFFthe teachingbox and executethe command
"WR" in direct executionmode.
L P R I N T" W R " ( C e n t r o n i c s )
P R I N T # 1 ", W R " ( R S 2 3 2 C )

APPENDICES
4.4 Loadingthe Reference The referenceposition data written in the EPROM can be
transferredto the drive unit RAM by performingthe following
PositionData
must be performedbeforeteaching
operation.Theseprocedures
the robot through a seriesof points.
( 1 ) Insertthe EPROM,in which the referencepositiondata has

beenwritten.intoSOC2locatedinsidethe driveunitsidedoor.

t2) Placebit 4 of SW1locatedinsidethe driveunitsidedoor in the

to the
upperposition(ON).Then,transferthe data in EPROIVI
Notethat,at this
RAM by performingthe followingprocedure.
time, the program steps and other positiondata are also
transferred.
Transferringdatq_upon power-up
PlaceST2 locatedinsidethe drive unit side door in the
upper position(ON) and then turn power ON.
Using the teachingbox
T u r nO N t h et e a c h i n b
g o xa n dp r e s sI T R N a n d l E N T l k e y s
in that order,
Using intelligentcommandthrough personalcomputer
Turn OFF the teachingbox and executethe command
"TR" in direct executionmode.
LPRINT"TR" (Centronics)
P R I N T # 1 ", T R " ( R S 2 3 2 C )

(3) Placebit 4 of SW1locatedinsidethe driveunitsidedoor in the

lower positionlOFF).This inhibitsthe settingof the reference
Dosition.
WARNING
All positiondata obtainedthrough teachingare calculated
based on the angle with reference to the reference
position in the cartesiancoordinatesystem. lf the reference position is changed, therefore, the robot moves
through a different series of points than those taught.

APPENDICES
lt is wise to create a programmingsystem when a personal
5. PROGRAMMING
is used to operatethe robot and generateprograms.
computer
USING
SYSTEM
a simpleBASICprogramas an exampleof
This
chapterintroduces
COMPUTER
PERSONAL
Thisprogramassumesthe use
the personalcomputerapplication.
of the RS232Cinterfaceand allows the use of all Movemaster
commands.In addition,by makinguseof the screeneditorfacility
of the personalcomputer,data shown on the displaycan be
)orrectedby means of the cursor and keyboard.
Note that some modificationsof the program are necessary
dependingon the model of your personalcomputer.
l O O O1 * * * * * * * * R V _ M 1P R O G R A M M I NSGY S T E M* * + * * * * *
E IL E C T R I*C* * : + * * I
U S I N GM U L T I1 6 B Y I \ l I T S U B I S H
1020'
V a r i e sw i t h d i f f e r e npt e r s o n acl o m p u t e rm o d e l s .
1 0 3 0 O P E "NC O M 11 9 6 0 0 , E , 7 , 2 " AfS1
1 0 4 0L I N EI N P U T; A $
1 0 5 0c $ : L E F r $ ( A $ , 2 )
1 0 6 0l F C $ : " D R " T H E NP R I N T : G O T1O1 7 0
1 0 7 0l F C $ : " 1 R " T H E NP R I N T : G O T1O2 4 0
1 0 8 0l F C $ : " P R " T H E N P R I N T : G O T1O3 6 0
600
1 0 9 0l F C $ : " W H " T H E NP R I N T T G O T1O
1
7
80
T
H
E
N
P
R
I
N
T
:
G
O
T
O
1 1 0 0i F C $ : " C R "
1
9
1
0
P
R
I
N
T
T
G
O
T
O
T
H
E
N
1 1 1 0l F C $ : " E R "
1 1 2 0P R I N T* 1 , A $ : P R I N T
1 1 3 0G O T O1 0 4 0
1 1 4 0' ,
1150
1160,+*******RS232c|NPUTDATAREAD(,DR,)-"**-***
1 1 7 0P R T N 4
T 1,A$
1 1 8 0L I N EI NP U T + 1 , 8 $
1 1 9 0P R I N T" I N P U TD A T A : " ; B $
't200 GoTo 1040
1210'
1220'
L I N ER E A D1 ' , 1 R*' ,*)* * * * * *
1 2 3 0' + * * * * + + * R S 2 3 2 CP R O G R A M
" S T A R TL I N E : " ; S
1 2 4 0I N P U T
" E N DL I N E : " ; E
1 2 5 0I N P U T
1 2 6 0F O Rl : S T O E
"LR" +STR$(l)
1 2 7 0 P R r N T# 1 ,
'1280 LINE INPUT f, 1,A$
" T H E N1 3 1 0
1290 lF A$:"
(Note)
T$
1 3 0 0 P R I N Tl ; : P R I N A
lf the LPRINTstatementis used insteadof the
the contentsof the programcan
PRINTstatement,
be output to the printer.
1 3 'O
] N E X TI
1 3 2 0G O T O1 0 4 0
1330',
1340',
R E A D1 ' , P R"' ., *) * * * . *
R S 2 3 2 CP O S I T I O N
' ] 3 6 0I N P U T" S T A R TP O S I T I O N : " ; S
T " E N DP O S I T I O N - ;"E
1 3 / OI N P U
1 3 8 0P R I N T" P O S . N O . "S; P C( 3 ) ; " X ( m m ) Y ( m m )Z ( m m i P ( d e s )R ( d e g ) " : P R I N T
1 3 9 0F O Rl : S T O E

APPENDICES
1 4 0 0 P R r N T# 1 , " P R " + S T R $ )
'1410
L I N EI N P U Tf 1 , A 9
1 4 2 0 l F A $ : " 0 , 0 , 0 , 0 , 0 " T H E N1 5 5 0
' 1 4 3 0 P R I N T" P D " ; : P R I N T
",";
U S I N G" # f # " ; l ; : P R I N T
",
"
1440 K$:
1450 K:1
1 4 6 0 F O RJ : l T O 5
14tO
lF J:5 THEN'1490
1480
A I J ) : I N S T R( K , A $ , " , " i : G O T O1 5 0 0
'1490
A(J):LEN (A$)+1 :K$:" "
'1500
v ( J ) : v A L ( M r D $( A $ , K , A { J )- 1 ) )
1510
K:A(J) +1
K$;
1520
P R I N TU S I N G" # + # f i .
* " ; V ( J ) ;: P R I N T
1 5 3 0 N E X TJ
,I540 PRINT
1 5 5 0N E X TI
1560 GOTO 1040
1570',
1580',
R S 2 3 2 CC U R R E N P
TOSITION
R E A D( ' W H ' )* * } * * * * *
1600 PRINI f, 1,A$
1 6 1 0L I N EI N P U Tf 1 , 8 $
1 6 2 0P R I N TS P C ( 1 4 ) ; " X ( m m
Y )( m m )Z ( m m ) P ( d e g )R ( d e s ) " : P R I N T
1 6 3 0K : 1
1 6 4 0P R I N T" C U R .P O S , " ;
1 6 s 0F O Rl : 1 T O 5
1 6 6 0 l F l : s T H E N1 6 8 0
1 6 7 0 A ( l ) : I N S T R ( K , B $ , " , " ) : G O T O1 6 9 0
1680 A(r):LEN (B$)+1
1 6 9 0 V ( r ) : V A L 1 r \ i l r D $ ( B $A, K0,) 1 ) )
'1700 K:A(l)
+1
1710 PRINT
U S I N G" # * # 4 # .
+ " ; V ( l ) ;: P R I N T" ";
1 7 2 0N E X TI
1 7 3 0P R I N T
1 7 4 0G O T O 1 0 4 0
1750
1160'
1770|***x***+RS232ccouNTERREAD(,cR,)******+*
1 7 8 0I N P U T" S T A R TC O U N T E R : "; S
1 7 9 0I N P U T" E N D C O U N T E R - "; E
1 8 0 0P R I N T : P R I N" C
T NT.NO.":PRINT
1 8 1 0F O B l : S T O E
1 8 2 0 P R | N T+ 1 , " C R " + S r R $ ( r )
1 8 3 0 L I N EI NP U T # 1 , A $
1 8 4 0 l F A $ : " 0 " T H E N1 8 6 0
"#
T SING"#
1 8 5 0 P R I N T" S C " ; : P R I N U
* " ; l ; : P R I N TU S I N G # # # # # " ; V A L ( A $ )
1860 NEXT I
1870 GOTO 1040
1880 ',
1890 ',
R S 2 3 2 CE R R O RR E A D( ' E R ' )* * * * * * * *
1 9 1 0P R T N #
T 1,A$
1 9 2 0L I N EI N P U T# 1 , 8 $
1 9 3 0P R I N T" E R R O R
MODE:";B$
1940 GOTO 1040

APPENDICES
(Explanation)
Start:
After the program has been written, run the program.The
cursorlightsup, indicatingthat the systemis readyto accept
key entry.
E x .R U NI
li
Direct execution:
D i r e c t l yk e y i n t h e i n t e l l i g e n tc o m m a n d s . T h e r o b o t e x e c u t e s
t h e c o m m a n d s e n t er e d .
E x . N T I . . . . .E x e c u t e rse t u r n - t o - o r i goi np e r a t i o n .

Forthe RS232C
readinstructions
containingparameter,
enter
the first two lettersonly and definethe parameterusingthe
BASICinput statements{commandsLR, PR, and CR).
Programgeneration:
Directlykey in the intelligentc o m m a n d fso l l o w i n gl i n e n u m bers (1 to 2048).This will generatethe program for the
specifiedline number.
E x . 1 0 M O 1. C . . . . . M o v e s t o o o s i t i o n 1 w i t h h a n d c l o s e d .

Note that part of the commandscannot be programmed

(thosemarkedwith X in DESCRIPTION
OFTHECOMMANDS).
Programexecution:
The generatedprogram can be executedstartingwith the
specifiedline numberby keyingin the startcommand"RN."
E x . R N sL . . . . E x e c u t etsh e p r o g r a ms t a r t i n gw i t h l i n e n u m b e r5 .

Errormode II is causedif a wrong commandhasbeenentered,a

wrong parameterhasbeendefined,or an unexecutable
command
has beenentered.In this case,key in the resetcommand"RS" or
pressthe reset switch on the drive unit front control panel.

APPENDICES
(Applications)
R U NJ
NTJ
MOl l
GOI
M O2 l
D W 1 0 ,2 0 , 3 0I
)
10 MO l,CI
20 MO 2,OJ
30GCI
40 DW 10, -20, 30 J
50 EDJ

..

. . . P r o g r a mg e n e r a t i o n
example

' P r o g r a mr e a d e x a m p l eX l
( R e a d i n gt h e p r o g r a mo n s p e c i f i e d
l i n e n u m b e r st h r o u g hR S 2 3 2 C )

L RJ
S T A R TL I N E : ? ] 0 J
E N D L I N E : ? 5 0I
10MO l,C
20 tvto 2,o
30 GC
40 DW +10.0,-20.0, +30.0
50 ED

' ' ' ' ' ' ' , ' P r o g r a m e x e c u t i o n e x a mp l e

R N l OI

. ... .Current position read example

X {mm)

cuR. Pos.

10.0

PRJ
POSITION:1J
START
E N DP O S I T I O N : 2 J
P O S .N o .
PD 1,
PD 2,

X (mm)
0.0,
- 10.0,

Y (mm)

380.0

Z (mm)

50.0

P (deg)

R (deg)

-70.0

-40.0

' ' ' ' ' ' ' ' ' P o s i t i o nr e a d e x a m p l e X 2

(Reading the position on specitied
l i n e n um b e r s t h r o u g h R S 2 3 2 C )

Y (mm)
380.0,
350.0,

Z (mm)
300.0,
280.0,

P {deg)
-70.0,
-70.0,

R (deg)
-40.0
-30.0

X 1,2: To correctany programand positionread by using the

cursorand requiredkeys,the returnkey (J ) must be hit
at the end (onthe right)of the lineand positioncorrected.
x 3

: Hexadecimal
data in the programread is displayedas
decimaldata (e.g.OD&FF- OD255).

APPENDICES
6. SAMPLEPROGRAMS

T h i s c h a p t e r g i v e s s e v e r a ls a m p l e p r o g r a m s i n w h i c h i n t e l l i g e n t
c o m m a n d s a r e u s e d . N o t e t h a t t h e s t a r t i n gl i n e n u m b e r o f t h e
s a m p l e p r o g r a m s i s t h a t o f t h e M o v e m a s t e rp r o g r a m , a n d n o t t h a t
of the BASIC.
E x am p l e 1 : P i c k - a n d - p l a cweo r k
T h i s p r o g r a m c a u s e st h e r o b o t t o s h i f t t h e w o r k p i e c e f r o m o n e
p l a c et o a n o t h e r .T h e r o b o t i s t a u g h t t h r o u g h o n l y p o s i t i o n s1 a n d
2 a n d t h e a e r i a l d i s t a n c e so f t r a v e l f r o m t h e r e s p e c t i v ep o s i t i o n s
"PD."
are to be predefinedby the command
( P o s i t i o n s u s e d)
P o s i t i o n 1 ; A t w h i c h t h e w o r k p i e c ei s g r a s p e d . t
_
Ieacnrno
I
P o s i t i o n2 i O n t o w h i c h t h e w o r k p i e c e i s p l a c e d .
'10:
Position
Aerial distance of travel lrom position 1 . I N u m e r i c v a l u e s
Position 20: Aerial distance of travel from position 2 . J a r e p r e d e f i n e d .

( S a m p l ep r o g r a m )
P D 1 0 , O , o, 20,o, o
(X, Y, Z, P, R)

Defines aerial distance of travel trom

p o s i t i o n1 ( Z : 2 0 m r n ) i n d i r e c tm o d e
a n d i d e ^ t r l i e st h e a e ' ' a l p o s r l r o na s p o s i -

PO 20, 0. 0 , 3 0 , 0 , 0
- (x'Y . Z , P , R )

tion 10.
Definesaerial distanceof travel from
p o s i t i o n2 ( Z : 3 0 m m ) i n d i r e c tm o d e
a n d i d e n l i f i e sl h e a e f l a lp o s ' t i o na s p o s i -

30SP7
40 tllA 1, 1 0 ,o

tion 20.
Sets initialspeed.
fMoves robot to a location above work
piece (20mm above position I ) wrth

(
)

50 r!10 1 , O
60 GC
70 MA 1, 10, C

80 MA 2, 20, C
90MO2,C
'100Go
1 1 0M A 2 , 2 0 , O

hand opened.
Moves robot to workpiece (to position
1).
C l o s e sh a n d t o g r a s p w o r k p i e c e .
lMoves robot above position 1 (distance
b e i n g 2 0 r n m ) w i t h w o r k p i e c eg r a s p e d .
lMoves robot to a location 30mm above
position2.
lMoves robot to position 2.
Opens hand to release workpiece.
lMoves robot above position 2 (distance
being 30mm) with hand opened.
Returns robot to position 10 allowing it
t o r e p e a t t h e s e q u e n c e ( j L r m pt o l i n e
number 40).

1 2 0G T 4 0

3 0 m m ( P a r a m e t e rf o r
defining position20)

l P a r a m e t e rf o r
delining position 1 0 )
position I

Position

Fi9. 5.6.1 Pick-and-PlaceWork

APPENDICES
E x a m p l e2 : l n t e r r u p t
This programcausesthe robot to grasp workpiecesof varying
heightsby meansof the hand equippedwith a limit switch.lt
assumesthat the limit switchsignalis coupledto the drive unit
input terminal.
( Positio
n used)
P o s i t i o n1 :

A positionabove the workpiece(teaching)

( l n p u t s i g n a lu s e d )
B i t 1 : W o r k p i e c ed e t e c t i n gs i g n a l .

( S a m p l ep r o g r a m )
90sP5
1 0 0 E A +1 , 1 4 0
1 1 0M o 1 , o
1 2 0D W 0 , 0 , - 5 0

Selects speed 5.
Enables the interrupt bY bit 1
Moves robot to a position above the workpiece
Moves robot 50mm in -Z direction.

1 3 0G T 1 1 0

J u m p s t o l i n e n u m b e r 1 1 0 c a u s i n gr o b o t t o r e t u r n
to position 1 as no workpiece has been detected
Disables interruPt bY bit 1
Closes hand to grasp workplece
Moves robot to position 1 with wo.kpiece

1 4 0D A 1
1 5 0G C
1 6 0M O 1 ,

grasped.

In the abovesampleprogram,linenumber120causesthe robot

to move50mm in -Z tool directionand,if thereis a workpiece,
the limit switchsignalis inputand the robot is stopped.Then,
t h e p r o g r a mj u m p st o l i n en u m b e r1 4 0t o d i s a b l ei n t e r r u pat n d
to allow the robotto graspworkpieceand returnto position1.
lf there is no workpiecein the robot'smoving range,no limit
switchsignalis inputand line number130causesthe program
t o j u m p t o l i n en u m b e r1 1 0w h i c h ,i n t u r n ,c a u s e st h e r o b o tt o
return to position I repeatingthe same sequence.

Within 50mm

Workpiece

Fig. 5.5.2 Inierrupt

APPENDICES
E x a m p l e3 : P al l e t i z i n g
from a pallet
Thisprogramcausesthe robotto pickup a workpiece
to
test,
it
up
containingworkpiecessubject
set
on the test
equ;pment,and place it in positionin anotherpalletto contain
workpiecesthat haveundergonethe test.The programassumes
that the shapesof the two palletsare different.
( Positionused)
P o s i t i o n1 l P a l l e t I s e t 'p o s i t o n I ^ . .
I Delinedbv command PT
P o s i t i o n2 : P a l l e t 2 s e t p o s i t i o n J
P o s i t i o n1 0 : Pallet 1 reference position
Position'l'li P a l l e t 1 c o l u m n t e r m i n a t i n g p o s i t i o n
P o s i t i o n1 2 : P a l l e t 1 r o w t e r m i n a t i n g p o s i t i o n
P o s i t i o n1 3 1Pallet I corner position opposite to reference
Teaching
P o s i t i o n2 0 : Pallet 2 reference position
P o s i t i o n2 1 : P a l l e t 2 c o l u m n t e r m i n a t i n g p o s i t i o n
Position22; P a l l e t 2 r o w t e r m i n a t i n g p o s i t i o n
P o s i t i o n2 3 : Pallet 2 corner position opposite to reference
P o s i t i o n3 0 : Test equipment set position
N u m e r i cv a l u e sa r e
Position50: A e r i a l d i s t a n c eo t t r a v e l f r o m p a l l e t s
predefined.

(Counterused)
Counter 11:
Counter 12:
Counter21:
Counter22r

PalletI
Pallet1
P a l l e t2
P a l l e t2

column counter
row counter
column counter
row counter

( Input signaI used)

Bit 7: Test complete signal

(Parameterfor
defining position 50)

20mm
Position 22

Position10
Position

Posilion 13

( P a l l e 1t >

( P a l l e t2 )

Test equ ipment

Position21
Fig. 5.5.3 Palletizing

Position

APPENDlCES
( S a m p l ep r o g r a m )
PD 50, 0, 0. 20, 0, 0
(X, Y, Z, P, R)

; D e f i n e sa e r i a l d i s t a n c eo f t r a v e l ( Z :
2 0 m m ) i n d i f e c t m o d e a n d i d e n t i f i e st h e
aerialpositionas position50.

. 2 17 . 5 ( l n i t i asle t t i n g )
10 NT
15TL 145
2 0 G P 1 0 ,B , 1 0
2 5 P A 1 , 1 0 ,6
3 0 P A 2 , 1 5 ,4
3 5 S C 1r , 1
40 sc 12,1
45 SC21,1
50 sc 22,1

; Nesting
; Sets tool length at 145mm.
; Sets hand open/close parameters
D e { i e n st h e n u m b e r o f g r i d p o i n t s i n t h e c o l u m n
'l
and row directions{or pallet (vert- l0 X horiz. 6).
D e f i e n st h e n u m b e r o f g r i d p o i n t s i n t h e c o l u m n
a n d r o w d i r e c t i o n sf o r p a l l e t2 ( v e r t .1 5 X h o r i z .4 ) .
Loads initialvalue
Loads initiaivalue
Loads initialvalue
Loads initialvalue

in pallet l column counter.

in pallet 1 row counter.
in pallet2 column counter.
in pallet2 row counter.

( M a i np r o g r a m
)
1 0 0R c 6 0
1 1 0G S 2 0 0
1 2 0G S 3 0 0
1 3 0G S 4 0 0
1 4 0N X
,I50
ED

S e t s t h e n u m b e r o f r e p e a tc y c l e so f a l o o p u p t o
line number140.
Causes robot to pick up a workpiece from pallet 1.
Causes robot to set up the wo.kpiece on test
e q ui p m e n t .
C a u s e s' o b o r l o p l a c e w o r k p i e ( e i n p a l l e t 2 .
R e t u r n st o l i n e n u m b e r ' 1 0 0 .
En d .

* The followingsare subroutinesused in the main program.

( S u b r o u t i n e rP i c k i n g u p w o r k p i e c ef o r t e s t )

200 sP 7
202 PT 1
204MA 1,50,O
206 SP 2
208MO 1,O
2 1 0G c
212MA 1,50,C

2 1 4l C 1 1
2 1 6C P 1 1
21a EA 11,230
220 BT
2 3 0S C 1 1 , 1

Sets speed.
l d e n t i f i e st h e c o o r d i n a t e so J c a l c u l a t e dg r i d p o i n t
on pallet 1 as position L
fMoves robot to a location above position 1
( d i s t a n c eb e i n g 2 0 m m i n Z d i r e c t i o n ) .
Sets speed.
Moves robot to position 1.
Closes hand to grasp workpiece.
Moves robot to a location above position 1 with
w o r k p i e c e g r a s p e d ( d i s t a n c eb e i n g 2 0 m m i n Z
d i r e c t i o n) .
I n c r e m e n t sp a l l e t 1 c o l L i m nc o u n t e r b y 1 .
'11
L o a d sv a l u e i n c o u n t e r
i n t o i n t e r n a lc o m p a r i
son register.
J u m p s t o l i n e n u m b e r 2 3 0 o n c o m p l e t i n gc o l u m n
lrne.
E n d s s u b r o u t i n eo t h e r w i s e .
I ni t i a l i z e sc o u n t e r 11 .

APPENDlCES
232 lC 12
234 RT

; I n c r e m e n t sp a l l e t 1 r o w c o u n t e r b y 1
; Ends subroutine.

( S u b r o u t i n e iS e t t i n g u p w o r k p i e c e o n t e s t e q u i p m e n t )

300 sP 7
302 MT 30, 50,C

Sets speed.
M o v e s r o b o t t o a l o c a t i o n5 0 m m a h e a d o f t e s t
e q! i p m e n t .

304 SP 2
306 MO 30, C

Sets speedCauses robot to set up workpiece on test equipment.

Fetches input data.
Causes robot to wait for test to complete.
Moves robot to a location 50mm ahead test
e q ui p m e n t .

308 rD
3',10TB -7,308
312 tVtT30, 50,C
314 RT

Ends subroutine.

( S u b r o u t i n e rP l a c i n gt e s t e d w o r k p i e c e i n p a l l e t 2 )

400 sP 7
402 Pr 2

Sets speed.
l d e n t i l i e st h e c o o r d i n a t e so f c a l c u l a t e dg r i d p o i n t
^n

n:llat,

re

n^.iti^n

404 l\,,1A2,50,C

Moves robot to a location above position 2

( d i s t a n c eb e i n g 2 0 m m i n Z d i r e c t i o n ) .

406 SP 2
408 tv102,c
4 1 0G O
412 MA 2,50,0

Sets speed.
Moves robot to position 2.
O p e n s h a n d t o r e l e a s ew o r k p i e c e .
Moves robot to a location above position 2
( d i s t a n c eb e i n g 2 0 m m i n Z d i r e c t i o n ) .
I n c r e m e n t sp a l l e t 2 c o l u m n c o u n t e r b y 1 .
L o a d s v a l u e i n c o u n t e r 2 1 i n t o i n t e r n a lc o m p a r i -

4 1 4l C 2 1
4 1 6C P 2 1
418 EO 16,430
420 RT
430SC 21,1
432 lC 22
434 RT

son regrster.
Jumps to line number 430 on completing row
lrne.
E n d s s u b r o u t i n eo t h e r w i s e .
l n i t i a l i z e sc o u n t e r 2 ' 1 .
I n c r e m e n t sp a l l e t 2 r o w c o u n t e r b y 1 .
Ends subroutine.

* In the abovesampleprogram,the columncounterof eachpallet

the
whenthe robotreaches
is incremented
by 1 and is initialized
terminatingend of the column. The row counter is then
incremented
to allowthe robotto moveto the followingcolumn
lrne.
(See line numbers214 to 232, 414 to 432.l
* Robot waits until a test completesignal is input. (See line
n u m b e r3 ' 1 0 . )
* The completionof the entiresequenceis determinedby the
n u m b e ro f m a i n p r o g r a mc y c l e s (. S e el i n e n u m b e r1 0 0 . )

APPENDICES
Example4: Connectionwith externall/O equipment
This programcausesthe robotto selectany of 8 worksthrough8
switchesconnected
to the inputsfor useas externall/Oequipment
and displaythe work currentlybeing executedby any of the 8
LEDs connectedto the outputs.
(Connection)

Type A UO Card

l/O port power supply

112Io 24V DC)
Input bit 0
l^put blt 1

n
E

Input bit 2

I n p u tb i t 3
[,prt bit 4

lnputbit 5
Input bit 6

lnputbit 7

. . . . .L E D l

Output bit 0

'''...1ED2

Ortprt bfr 1

' . . . .L E D 3

Output bit 2

. ..LED4

O u t p u tb i t 3

' ' . . .L E D 5

O u t p u tb i t 4

. . . . .L E D 6

Output bit 5

'. LED7
...'..LEDB

Output bit 6
O u t p u tb i t 7

SeeFig.5.3.2.8for Type B l/O card Fig.5.6.4Connection

with
externall/O equipment.

APPENDICES
( F l o w c h ar t )

rn tia speed settlng

Example

F i 9 . 5 . 6 . 5 F l o w c h ar t

APPENDICES
( S a m p l ep r o g r a m )
( M a i nr o u t i n e )
10 NT
150D0
20SP5
25 lD
30 TB +0, 100
31 TB +1, 200
32 TB +2, 300
33 TB +3, 400
34 TB +4. 500
35 TB +5, 600
36 TB +6, 700
37 TB +7, 800
38 GT 25

Nesting
Switchesoff all LEDS.
Sets speed.
Input
'100whenswitch'l is turned
Jumpsto linenumber
'
1
1
on. (Work
Jumpsto line number200when switch2 is turned
on. (Work 2)
Jumpsto line number300when switch3 is turned
on. (Work 3)
Jumpsto linenumber400when switch4 is turned
on. (Work 4)
Jumpsto line number500when switch5 is turned
on. (Work 5)
Jumpsto line number600when switch6 is turned
on. (Work 6)
Jumpsto linenumber700when switch7 is turned
o n . ( W o r k7 )
Jumpsto line number800when switchI is turned
o n . ( W o r k8 )
Returnsto line number25 {whenall switchesare
oif.)

(Subroutines)
1 0 00 B + 0
105 lvto 10
)
1 9 80 B - 0
1 9 9G T 2 5

Switcheson LEDl (work started).

Executeswork 1.
Work I
Switchesoff LEDl (work complete).
Returnsto line number 25.

)
800 0B +7
805 MO 80
)
898 0B -7
899 GT 25

Switcheson LEDS(work startedl.

Executeswork 8.
WorkI
Switchesofl LEDg(work complele).
R e t u r n st o l i n e n u m b e r2 5 .

APPENDICES
7. COMMANDLIST

ControlInstructions
]A Position/Motion
Program yes
no

Input Format

,]

Decrement Posllion

DP

HE a

HO

IP

D e f i n e st h e c o o r d i n a t e s o i t h e
current position by assigning
p o s i t l o nn u r n b e r l a ) t o l t .

Moves fobot to a Predelinecj

position with a posrlron num
ber greater lhan the current

Move Approach

MA aj, a, [, OiC]

fvlove Cortinuous

MC ar, a,

M o v e s r o b o t c o r i t l nu o u s Y
through predefinedinlermedi
ate po nts Detween postlon
n u m b e r s ( a r) a n d ( a , ) .

Move Joint

1l

Move Straight

't4

11

11a1,a2<629

Moves hand end to postion

(a)

1 5 a = 6 2 9
; : Hand
O : H a n do p e n e d C

Moves hand end to a Posrtlon

whose coordLnates (pos ilon
and angie) are specifiedas x,
p, and

1 = a 5 6 2 9
1 5 n 5 9 9
; : Hand
O : H a n do p e n e d C

MSa,nLOiCI

Moves robot to posllion (a)

t h r o u g h n i n t e r m e d r a t ep o r n t s
on a straight line,

MT a, b [, O/C]

Moves hand end frorn the cur

rent posrl on 10 a pos llon
a w a y f r o m a s p e c i f i e dp o s l l i o n
{ a ) l n i n c r e m e n t a l d l s t a n cbei n
the too direction.

NT

R e t u r n s r o b o t l o r n e c h an l c aI
o r L gI n .

Origin

OG

Moves robol to the reterence

p o s i t l o n i n t h e c a r t e s r a nc o o r

Pallet Assign

PA r, j, k

Defines the n!mber of grld

points (j, k) in ihe column and
row directions for pallet (i).

1 = i 5 9
1 < j , k 5 2 5 5

Posrlion Clear

PC a,, [, az]

C l e a r sa l l p o s i t o n d a t a l r o m
posrlron ar ro 42.

a 1S a 2
1 < a 1 ,a , < 6 2 9 ( o r a 1 : 0 )

Positron Define

PDa,x,y,z, p, l

D e f i n e s t h e c o o r d i r l a t e s( x , Y ,
z, p, r) of position {a).

l 5 a = 6 2 9

12

13

1 = a j , a , = 6 2 9
O: Hand opened;C: Hand

Turns each ioint the specified

angle from the current Posi_

MO a L OiCI

Move Position

1 5 a < 6 2 9

E s l a b l i s h e st h e r e l e r e n c ep o s r tlon ln the carlesian coordln

10

Remarks

Movs robol to a predefined

position wlth a posrt on n|lm_
ber smallerthan the current

Moves hand end from lhe cur

rent pos tron lo a posll on
a w a y f r o r n p o s i t i o n l a L )i n n
cremntsas speofled for posl'
tion (ar).

Program

Possible
Nol possib e

Moves hand end to a position

awav trom the current one
covef ng the dlstance sPecif r e d l n X - , Y , a n d Z - a x r sd i r e c

Draw

lncremenr Position

Function

Nest

1 5 a 5 6 2 9
; i Hand
O : H a n do p e n e d C

APPENDICES

Name

Input Format

Program

Function

Remarks

18

Position Load

Assigns the coordinates of

p o s i t l o n( a r ) t o p o s t i o n ( a 1 )

15ar,a,5629

19

Pallet

C a l c u l a t e st h e c o o r d i n a t e so f a
grid polnt on pallet {a) and
idenlifies the coordinates as
posilion(a).

1 5 a 5 9

20

P o s t i o n E x c ha n g e

PX aj. a,

E x c h a n g e st h e c o o r d l n a t e s o f
position lar) for those of posilion (ar).

15

SF al, a,

S h i f t s t h e c o o r d i n a t e so f p o s i tion (ar) in increments representing the coordlnates of

p o s i | o n ( a r ) a n d r e d e f i n e st h e
new coorornales.

1<ar,a,5629

Sets lhe operating velocity

and acceleration/deceeration
lime for robol.
0 : l M i n i m u ms p e e d ; 9 : M a x imum speed

0 5 a 5 9
H: High acceleration/deceleration time; L: Low accel
e r a t i o n / d e c e l e r a t i o nt i m e

21

Sh ift

22

Speed

SP a L H/Ll

23

Timer

Tl a

Halts motion for time

(Unlt:0.1 second)

24

Tool

T L a

Establishes the distance between hand rrounting surface

and hand elld.

(a)

a 1 , a 21 6 2 9

05_a332161
0SaS+300.0
U n i t :m m

IBl Progr"rnControlInstructions
Name

Input Format

Function

25

Compare Counter

CPa

Loads va ue n counter (a) into

the lnternal register.

I 5 a 5 9 9

26

Disable Act

DAa

Dlsablesinterruptby a signal
throughbit {a) of externalinpu1lerrnrnal.

0 5 a 5 7 { 1 5 )

Program

Remarks

27

DecrementCounter

DCa

Decrementscounter (a) by 1

I < a 5 9 9

2A

Delete Line

DL ar [, a?]

Deletescontents of iine numbers from a1 to a2.

a15a2
1 5 a1, a2 S 2O4A

29

Enable Act

EA a1, a2

30

End

ED

32

l{ Equal

E Oa r ( o r & b ) ,a ,

Go Sub

GS a

Permlts the lnstruction sequence to iump to sub routine

which slarts with line number
(a)

Increment Countcr

(-15)

1+15)

+i ON; -: OFF
13a252044

Endsthe program.
Calses a jump to occur to llne
number (ar) if external inpul
data or counter data equals al
(or &b).

33
34

Enables interrupl bv a signal

through bil (a1) of external
inpul terminal and specifies
l i n e n u m b e r ( a 2 )t o w h i c h t h e
program lumps wnen Inrer-

| 32167) \321611
0 < a1 5 255 (decimal)
0<b<&FF(hex.)
(&8001)(&7FFF)
13 a, 12048
1 = a 5 2 0 4 8

GTa

P e r m i t st h e p r o g r a m s e q u e n c e
to jump to line number (a)

15a32048

l C a

lncrernents counter (a) by 1

1 5 a 5 9 9

APPENDICES

Name

35

36

lf Larger

lf Not Equal

Remarks

Program

Input Format

Function

LG a1 (or &b), a?

causes a iump to occur to Ine

number {ar) if external inpul
data or counter data ts greater
than a1 (or &b).

l-32761) 132161l
0 5 a 1 < 2 5 5( d e c m a l )
0<b5&FF(hex.)
(&8001)(&7FFF)
1<a252048

N E a r ( o r & b ) ,a ,

C a u s e sa j u m p t o o c c u r t o l l n e
number {ar) if externai inPut
data or counter data does not
equal al (or &b).

l-32161) \327671
0 < aj 5 255 (decimal)
05b5&FF(hex.)
(&8001)l&7FFFl
1Sar52048

Deletesall program and posi

tion data in RAM.

38

NX

S p e c i f i e st h e r a n g e o f a l o o p l n
a program execlrted by cornmand BC.

39

Repeat Cycle

RCa

B e p e a t st h e l o o p s p e c i f i e d b y
command NX {a) limes.

15a332167

40

Bun

RN a1 L a,l

Executes line numbers from

( a r ) 1 o ( a r ) , ( a ? )n o t i n c l u d e d

1 3 aj, a2 S 2048

52

Return

RT

Completes subroutine actrvated by command GS and

returns to main program,

42

Set Counter

SC ar, [ar]

Loads (a2)into counter {a1).

1 < ar 5 99
327613 az 5 32761

s M a 1 ( o r & b ) ,a ,

C a u s e sa j u m p t o o c c u r t o l i n e
number (ar) if external lnput
data or co!nter data is smaller
than a1 (or &b).

\-32161) 1327671
0 < ar 5 255 (decimal)
0<b5&FF(hex.)
(&8001)(&7FFF)
13a2<2044

43

lf Smaller

@ XanCControlInstructions
Input Format

Function

Remarks

Program

Closes hand grip.

44

Grip Close

45

Grip Flag

GFa

46

Grip Open

GO

47

Grip Pressure

GP aj, ar, a3

D e f i n e st h e o p e n / c l o s es t a t e o t
hand grip, used in conjunction
with command PD.

a -

0 ( o p e n ) ,1 ( c l o s e d l

Opensh a n d g r i p
0 5 a r , a r < 1 5
0 5 a 3 < 9 3 ( U n i t :0 . 1

Defines gripping force and

gripping force retention time.

lDl l/O ControlInstructions

Name

Input Format

Function

48

Input Direct

ID

F e t c h e se x t e r n a l s i g n a l u n c o n
ditionally from input pon.

49

Input

IN

Fetches external signal syn

chronously from input port.

Program

Remarks

APPENDICES

Input Format
50

51

52

53

Function

Program

Remarks

Output Bit

OBa

Sets the output state of bit (a)

of external outPut termlnal

-73a5+1
{ 15) (+15)
+: oN;-: oFF

OLrtputDirect

OD a (or &b)

Oulputs data a (or &b) uncon'

ditionallythrough outPut Pon

\-327611 \32761)
o=a5255(decimal)
0 0 5 b < & F F( h e x )
(&8001)(&7FFF)

Output

OT a (or &b)

Outputsdata a (or &b) sYn

chronously through output
pon.

l-32167) 1327671
05a<255(decimal)
005b<&FF{hex.)
(&2701)(&7FFF)

TB ar, a,

C a u s e sa j u r n P t o o c c u r t o l l n e
number a, by means of bit (ar)
i n e x t e r n a l I n p L l tt e r m l n a l

-1 3 a15 +7
( 15) (+15)
+: ON; : OFF
15a252048

Test Bil

lr I nszszcReadInstructions
Program

Remarks

Name

Input Format

Function

54

Counter Read

C B a

R e a d sc o n t e n t s o f c o u n t e r ( a )

55

Data Read

DR

Reads data in external InPUt

lermlnal, used in conjunctlon
with cornmands lO and lN

56

Error Read

ER

Reads status ol efror lno

error:0; errof mode I : 1;
error mode Il: 2).

51

Line Read

LRa

R e a d sc o n t e n t s o f l i n e n u m b e r
( a) .

15a52044

58

Position Read

Feads coordinatesof Position

( a) .

1 = a < 6 2 9

Reads coordinates of current

59

fl

Miscellaneous

Input Format
RS

60

TR

Function
Resets error mode II.
Transfers contents of EPROM
Writes contents of RAM lnto
EPHOM.

62
63

1 < a 5 9 9

Comment

Allows programmer to write a

corFment following .

Program

Remerks

APPENDICES
8 . T I M I N G B E L TT E N S I O N G i v i n g a n a d e q u a t et e n s i o n t o t h e t i m i n g b e l t i s t h e p r e r e q u i s i t e
f o r p r o p e r d r i v e t r a n s m i s s i o na n d s u f f i c i e n td u r a b i l i t y .D o n o t k e e p
t h e b e l t t o o t i g h t o r s l a c k : g i v e i t a p p r o p r i a t et e n s i o n s o t h a t y o u
f e e l r e a c t i o nw h e n p r e s s i n gi t w i t h y o u r t h u m b , A b e l t l e f t t o o s l a c k
c a u s e st h e s l a c k e n d o f t h e b e l t t o v i b r a t e ; a t i g h t b e l t d e v e l o p s
k e e n n o i s e a n d v i b r a t e so n t h e t i g h t e n e de n d .
F i g . 5 . 8 . 1 a n d T a b l e 5 . 8 . 1 s h o w s p e c i f i c a t i o n sf o r b e l t d e f l e c t i o n
and load.Alust the belt tension to obtain the deflection Z when
load Pk is aoolied.

Timing belt

Span length

D e f l e c t i o nC
(at center of span length)

Fig. 5.8.1 Belt Deflection and Load

Deflection

Load Pk

Shoulder

2.7mm

22 to 37 gI

Elbow

1.6mm

22 to 37 gI

Wrist pitch

1 . 2m m

11 to 19 gf

Table 5.8.1 Belt Deflection and Load

APPENDICES
9. DEFINITION
OF
WEIGHT
CAPACITY

The weight capacityof the robot is generallyexpressedonly in

weight.Weight,however,differswith differentpositionsof center
of g ravity.
Fig. 5.9.1shows the definitionof the weight capacitygiven on
Observeth is definitionwhen selecting
catalogsand specifications.
workpiecesand custom-madehands.
Fig. 5.9.2shows the definitionof the weight capacitywhen the
hand (option)is attached.
motor-ooerated
M e c h a n i c a linterface
surface

Fig. 5.9.1 Definition

Weight Capacity
Centerot gravity
o f o p t i o n a lh a n d
Center of gravity
hand plus

Center of gravity
of
6009f

6009f

1.2kgJ
Fig. 5.9.2 Definition ot Weight Capacity When Motor-Operated Hand (Optionl is Attached

APPENDICES
STORAGEThe positionin whichthe robot is storedwith brakesnot applied
10. ROBOTARM
(servolocked)must be withinthe operational
spaceshownin Fig.
POSITION
5 . 1 01..
lf the robot is storedin a positionoutsidethe spaceshown for
lonoerthan 10 minutes,a reducedmotor life could result.

Avoid storage in this space for a long time.

Fig. 5.10.1 Robot Storage Position Space

APPENDICES
SPACE Use the following diagramfor examininglayout of peripheral
11. oPERATIONAL
equipmentand pallet sizes'
DIAGRAM

142
750

Mechanical interface

-_'-

550
-

500
_

450

J2 axis centerof rolation

350
300

25O

200
150

,r

100
50

21.9

1.ffi

Fig. 5.11.1 Operational Space Diagram

-57

1 ' - ' , 1i - 1 t - i ' i ' - 1

l'-i l'-1 1'-

-a

!--

.---rt

.-{

}--a

}-a

l.-

12, WIRINGDIAGRAM

q l

i l
t - _ l

i : 5 6 i , E ; 5 ? 3

? { ? 3 r

3 8 6 i 5

* The RV-Ml'sJ1 to J3 axis motor buildersdependon lots as

follows:
* Sanyo ElectricCo., Ltd. motor (frame in black)wire color are
indicatedoutside parentheses.
DaitoSeisakushoCo.,Ltd. motor (framein gold) wire colorsare
indicatedin oarentheses.

13, DRIVE UNTTWIRING DIAGRAM

{Moth6r card)

'|
2
3
5
6
7
8
I
10
11
12

I
Option for trsvetl

Rear

2
3

Molor sional

5
6

Hand slect switch

{AODC)

G r e n / y e l l o ws p i r a l

E X E C U T EE R R O R
LED
LED
{Green) lRed)

SIAST
STOP
(Green) (FBd)

Fronl

BESET E M G ,
{Whire) STOP

EXT. _
EMG. :
STOP (

RM27'21 cabl

Tr 2SC3012

5600
1t2v'l
l n l e t w i t h N o i s eF i l t e r
lAC rN)
POWER
r L E D I

G-

terminalcaulking
SoHe.tess

O-

soldrins

$|-

rasteneatrminalcsulkins

Diode srack
KBPC2s_MX2

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